diff --git a/LibCarla/cmake/fast_dds/CMakeLists.txt b/LibCarla/cmake/fast_dds/CMakeLists.txt
index 4ff74c21d57..f51bbc430f7 100644
--- a/LibCarla/cmake/fast_dds/CMakeLists.txt
+++ b/LibCarla/cmake/fast_dds/CMakeLists.txt
@@ -9,6 +9,7 @@ file(GLOB libcarla_carla_fastdds_headers
   "${libcarla_source_path}/carla/ros2/subscribers/*.h"
   "${libcarla_source_path}/carla/ros2/listeners/*.h"
   "${libcarla_source_path}/carla/ros2/types/*.h"
+  "${libcarla_source_path}/carla/ros2/types/msg/*.h"
   "${libcarla_source_path}/carla/ros2/dds/*.h"
   "${libcarla_source_path}/carla/ros2/dds/fastdds/*.h"
   )
diff --git a/LibCarla/source/carla/ros2/dds/DDSMiddleware.h b/LibCarla/source/carla/ros2/dds/DDSMiddleware.h
index 35a4d89be47..20f8804c628 100644
--- a/LibCarla/source/carla/ros2/dds/DDSMiddleware.h
+++ b/LibCarla/source/carla/ros2/dds/DDSMiddleware.h
@@ -52,5 +52,17 @@ inline std::string GetAvailableMiddlewareString() {
   return result;
 }
 
+/// Mangle a DDS type name into the ROS2-compatible format.
+/// "sensor_msgs::msg::Image" becomes "sensor_msgs::msg::dds_::Image_".
+/// A bare name like "Image" becomes "dds_::Image_".
+inline std::string ToROS2DDSTypeName(const std::string& dds_type_name) {
+  auto pos = dds_type_name.rfind("::");
+  if (pos == std::string::npos) {
+    return "dds_::" + dds_type_name + "_";
+  }
+  return dds_type_name.substr(0, pos) +
+      "::dds_::" + dds_type_name.substr(pos + 2) + "_";
+}
+
 } // namespace ros2
 } // namespace carla
diff --git a/LibCarla/source/carla/ros2/dds/DDSMiddlewareFactory.h b/LibCarla/source/carla/ros2/dds/DDSMiddlewareFactory.h
index 5b7b2adcd9a..51cc8f81143 100644
--- a/LibCarla/source/carla/ros2/dds/DDSMiddlewareFactory.h
+++ b/LibCarla/source/carla/ros2/dds/DDSMiddlewareFactory.h
@@ -12,7 +12,7 @@
 #include "carla/ros2/dds/IDDSSubscriberMiddleware.h"
 #include "carla/Logging.h"
 
-#if defined(CARLA_ROS2_DDS_FASTDDS)
+#if defined(CARLA_ROS2_DDS_FASTDDS) && !defined(CARLA_ROS2_DDS_TESTING)
 #  include "carla/ros2/dds/fastdds/FastDDSPublisherMiddleware.h"
 #  include "carla/ros2/dds/fastdds/FastDDSSubscriberMiddleware.h"
 #endif
@@ -77,7 +77,7 @@ class DDSMiddlewareFactory {
   static std::unique_ptr<IDDSPublisherMiddleware> CreatePublisher() {
     switch (GetActiveMiddleware()) {
       case DDSMiddleware::FastDDS:
-#if defined(CARLA_ROS2_DDS_FASTDDS)
+#if defined(CARLA_ROS2_DDS_FASTDDS) && !defined(CARLA_ROS2_DDS_TESTING)
         return std::unique_ptr<IDDSPublisherMiddleware>(
             new FastDDSPublisherMiddleware<T>());
 #else
@@ -95,7 +95,7 @@ class DDSMiddlewareFactory {
   static std::unique_ptr<IDDSSubscriberMiddleware> CreateSubscriber() {
     switch (GetActiveMiddleware()) {
       case DDSMiddleware::FastDDS:
-#if defined(CARLA_ROS2_DDS_FASTDDS)
+#if defined(CARLA_ROS2_DDS_FASTDDS) && !defined(CARLA_ROS2_DDS_TESTING)
         return std::unique_ptr<IDDSSubscriberMiddleware>(
             new FastDDSSubscriberMiddleware<S>());
 #else
diff --git a/LibCarla/source/carla/ros2/dds/fastdds/FastDDSTypeMap.h b/LibCarla/source/carla/ros2/dds/fastdds/FastDDSTypeMap.h
index 7a292f3a2b1..1a9ad1935a1 100644
--- a/LibCarla/source/carla/ros2/dds/fastdds/FastDDSTypeMap.h
+++ b/LibCarla/source/carla/ros2/dds/fastdds/FastDDSTypeMap.h
@@ -2,22 +2,42 @@
 // This work is licensed under the terms of the MIT license.
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
-// Identity-mapping version: msg_type IS the FastDDS type, so each
-// specialization maps a type to itself.
-
 #pragma once
 
+#include "carla/ros2/types/FastDDSConversions.h"
+
 // PubSubType headers for type registration
+#include "carla/ros2/types/TimePubSubTypes.h"
+#include "carla/ros2/types/HeaderPubSubTypes.h"
+#include "carla/ros2/types/Vector3PubSubTypes.h"
+#include "carla/ros2/types/QuaternionPubSubTypes.h"
+#include "carla/ros2/types/PointPubSubTypes.h"
+#include "carla/ros2/types/Point32PubSubTypes.h"
+#include "carla/ros2/types/PosePubSubTypes.h"
+#include "carla/ros2/types/PoseWithCovariancePubSubTypes.h"
+#include "carla/ros2/types/TwistPubSubTypes.h"
+#include "carla/ros2/types/TwistWithCovariancePubSubTypes.h"
+#include "carla/ros2/types/TransformPubSubTypes.h"
+#include "carla/ros2/types/TransformStampedPubSubTypes.h"
+#include "carla/ros2/types/OdometryPubSubTypes.h"
+#include "carla/ros2/types/RegionOfInterestPubSubTypes.h"
+#include "carla/ros2/types/PointFieldPubSubTypes.h"
+#include "carla/ros2/types/NavSatStatusPubSubTypes.h"
 #include "carla/ros2/types/NavSatFixPubSubTypes.h"
+#include "carla/ros2/types/ClockPubSubTypes.h"
+#include "carla/ros2/types/Float32PubSubTypes.h"
+#include "carla/ros2/types/StringPubSubTypes.h"
+#include "carla/ros2/types/ImuPubSubTypes.h"
 #include "carla/ros2/types/ImagePubSubTypes.h"
 #include "carla/ros2/types/CameraInfoPubSubTypes.h"
-#include "carla/ros2/types/ImuPubSubTypes.h"
 #include "carla/ros2/types/PointCloud2PubSubTypes.h"
-#include "carla/ros2/types/ClockPubSubTypes.h"
 #include "carla/ros2/types/TFMessagePubSubTypes.h"
+#include "carla/ros2/types/TF2ErrorPubSubTypes.h"
+#include "carla/ros2/types/AckermannDrivePubSubTypes.h"
+#include "carla/ros2/types/AckermannDriveStampedPubSubTypes.h"
 #include "carla/ros2/types/CarlaCollisionEventPubSubTypes.h"
 #include "carla/ros2/types/CarlaEgoVehicleControlPubSubTypes.h"
-#include "carla/ros2/types/AckermannDriveStampedPubSubTypes.h"
+#include "carla/ros2/types/CarlaLineInvasionPubSubTypes.h"
 
 namespace carla {
 namespace ros2 {
@@ -26,9 +46,11 @@ namespace ros2 {
 /// Primary template is intentionally undefined — only specializations are valid.
 template<typename MsgType> struct FastDDSTypeMap;
 
-// --- Identity specializations ---
-// In the current codebase, msg_type is already the FastDDS-generated type.
-// Each specialization maps the type to itself and its corresponding PubSubType.
+// ============================================================
+// Identity specializations (msg_type IS the FastDDS type)
+// Used by current publishers/subscribers until they are migrated
+// to POD message types in PR #2b.
+// ============================================================
 
 template<> struct FastDDSTypeMap<sensor_msgs::msg::NavSatFix> {
   using fastdds_type = sensor_msgs::msg::NavSatFix;
@@ -81,7 +103,7 @@ template<> struct FastDDSTypeMap<ackermann_msgs::msg::AckermannDriveStamped> {
 };
 
 /// Identity conversion: copy src to dst when both types are the same.
-/// In the next phase, we will replace these with real POD-to-FastDDS conversions.
+/// Used by publishers/subscribers that have not yet migrated to POD types.
 template<typename T>
 inline void to_fastdds(const T& src, T& dst) {
   dst = src;
@@ -92,5 +114,166 @@ inline void from_fastdds(const T& src, T& dst) {
   dst = src;
 }
 
+// ============================================================
+// Real specializations (POD msg types -> FastDDS types)
+// These map backend-neutral POD structs to FastDDS-generated types.
+// Conversion functions are in types/FastDDSConversions.h.
+// ============================================================
+
+template<> struct FastDDSTypeMap<msg::Time> {
+  using fastdds_type = builtin_interfaces::msg::Time;
+  using fastdds_pubsub_type = builtin_interfaces::msg::TimePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Header> {
+  using fastdds_type = std_msgs::msg::Header;
+  using fastdds_pubsub_type = std_msgs::msg::HeaderPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Vector3> {
+  using fastdds_type = geometry_msgs::msg::Vector3;
+  using fastdds_pubsub_type = geometry_msgs::msg::Vector3PubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Quaternion> {
+  using fastdds_type = geometry_msgs::msg::Quaternion;
+  using fastdds_pubsub_type = geometry_msgs::msg::QuaternionPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Point> {
+  using fastdds_type = geometry_msgs::msg::Point;
+  using fastdds_pubsub_type = geometry_msgs::msg::PointPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Point32> {
+  using fastdds_type = geometry_msgs::msg::Point32;
+  using fastdds_pubsub_type = geometry_msgs::msg::Point32PubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Pose> {
+  using fastdds_type = geometry_msgs::msg::Pose;
+  using fastdds_pubsub_type = geometry_msgs::msg::PosePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::PoseWithCovariance> {
+  using fastdds_type = geometry_msgs::msg::PoseWithCovariance;
+  using fastdds_pubsub_type = geometry_msgs::msg::PoseWithCovariancePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Twist> {
+  using fastdds_type = geometry_msgs::msg::Twist;
+  using fastdds_pubsub_type = geometry_msgs::msg::TwistPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::TwistWithCovariance> {
+  using fastdds_type = geometry_msgs::msg::TwistWithCovariance;
+  using fastdds_pubsub_type = geometry_msgs::msg::TwistWithCovariancePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Transform> {
+  using fastdds_type = geometry_msgs::msg::Transform;
+  using fastdds_pubsub_type = geometry_msgs::msg::TransformPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::TransformStamped> {
+  using fastdds_type = geometry_msgs::msg::TransformStamped;
+  using fastdds_pubsub_type = geometry_msgs::msg::TransformStampedPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Odometry> {
+  using fastdds_type = nav_msgs::msg::Odometry;
+  using fastdds_pubsub_type = nav_msgs::msg::OdometryPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::RegionOfInterest> {
+  using fastdds_type = sensor_msgs::msg::RegionOfInterest;
+  using fastdds_pubsub_type = sensor_msgs::msg::RegionOfInterestPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::PointField> {
+  using fastdds_type = sensor_msgs::msg::PointField;
+  using fastdds_pubsub_type = sensor_msgs::msg::PointFieldPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::NavSatStatus> {
+  using fastdds_type = sensor_msgs::msg::NavSatStatus;
+  using fastdds_pubsub_type = sensor_msgs::msg::NavSatStatusPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::NavSatFix> {
+  using fastdds_type = sensor_msgs::msg::NavSatFix;
+  using fastdds_pubsub_type = sensor_msgs::msg::NavSatFixPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Clock> {
+  using fastdds_type = rosgraph::msg::Clock;
+  using fastdds_pubsub_type = rosgraph::msg::ClockPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Float32> {
+  using fastdds_type = std_msgs::msg::Float32;
+  using fastdds_pubsub_type = std_msgs::msg::Float32PubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::String> {
+  using fastdds_type = std_msgs::msg::String;
+  using fastdds_pubsub_type = std_msgs::msg::StringPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Imu> {
+  using fastdds_type = sensor_msgs::msg::Imu;
+  using fastdds_pubsub_type = sensor_msgs::msg::ImuPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::Image> {
+  using fastdds_type = sensor_msgs::msg::Image;
+  using fastdds_pubsub_type = sensor_msgs::msg::ImagePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::CameraInfo> {
+  using fastdds_type = sensor_msgs::msg::CameraInfo;
+  using fastdds_pubsub_type = sensor_msgs::msg::CameraInfoPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::PointCloud2> {
+  using fastdds_type = sensor_msgs::msg::PointCloud2;
+  using fastdds_pubsub_type = sensor_msgs::msg::PointCloud2PubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::TFMessage> {
+  using fastdds_type = tf2_msgs::msg::TFMessage;
+  using fastdds_pubsub_type = tf2_msgs::msg::TFMessagePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::TF2Error> {
+  using fastdds_type = tf2_msgs::msg::TF2Error;
+  using fastdds_pubsub_type = tf2_msgs::msg::TF2ErrorPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::AckermannDrive> {
+  using fastdds_type = ackermann_msgs::msg::AckermannDrive;
+  using fastdds_pubsub_type = ackermann_msgs::msg::AckermannDrivePubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::AckermannDriveStamped> {
+  using fastdds_type = ackermann_msgs::msg::AckermannDriveStamped;
+  using fastdds_pubsub_type = ackermann_msgs::msg::AckermannDriveStampedPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::CarlaCollisionEvent> {
+  using fastdds_type = carla_msgs::msg::CarlaCollisionEvent;
+  using fastdds_pubsub_type = carla_msgs::msg::CarlaCollisionEventPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::CarlaEgoVehicleControl> {
+  using fastdds_type = carla_msgs::msg::CarlaEgoVehicleControl;
+  using fastdds_pubsub_type = carla_msgs::msg::CarlaEgoVehicleControlPubSubType;
+};
+
+template<> struct FastDDSTypeMap<msg::CarlaLineInvasion> {
+  using fastdds_type = carla_msgs::msg::LaneInvasionEvent;
+  using fastdds_pubsub_type = carla_msgs::msg::LaneInvasionEventPubSubType;
+};
+
 } // namespace ros2
 } // namespace carla
diff --git a/LibCarla/source/carla/ros2/publishers/PublisherImpl.h b/LibCarla/source/carla/ros2/publishers/PublisherImpl.h
index 9d46419eab7..63495013725 100644
--- a/LibCarla/source/carla/ros2/publishers/PublisherImpl.h
+++ b/LibCarla/source/carla/ros2/publishers/PublisherImpl.h
@@ -19,11 +19,17 @@ namespace ros2 {
     using msg_type = typename T::msg_type;
 
     bool Init(std::string topic_name) {
-      _middleware = DDSMiddlewareFactory::CreatePublisher<T>();
+#ifdef LIBCARLA_WITH_GTEST
       if (!_middleware) {
-        log_error("PublisherImpl: Failed to create middleware publisher");
-        return false;
+#endif
+        _middleware = DDSMiddlewareFactory::CreatePublisher<T>();
+        if (!_middleware) {
+          log_error("PublisherImpl: Failed to create middleware publisher");
+          return false;
+        }
+#ifdef LIBCARLA_WITH_GTEST
       }
+#endif
       return _middleware->Init(topic_name);
     }
 
@@ -53,6 +59,12 @@ namespace ros2 {
       return _middleware->Publish(&_message);
     }
 
+#ifdef LIBCARLA_WITH_GTEST
+    void SetMiddlewareForTesting(std::unique_ptr<IDDSPublisherMiddleware> middleware) {
+      _middleware = std::move(middleware);
+    }
+#endif
+
   private:
     std::unique_ptr<IDDSPublisherMiddleware> _middleware;
     msg_type _message;
diff --git a/LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h b/LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h
index 5d1f21ea5c5..8938496d64e 100644
--- a/LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h
+++ b/LibCarla/source/carla/ros2/subscribers/SubscriberImpl.h
@@ -20,11 +20,17 @@ namespace ros2 {
     using msg_type = typename S::msg_type;
 
     bool Init(std::string topic_name) {
-      _middleware = DDSMiddlewareFactory::CreateSubscriber<S>();
+#ifdef LIBCARLA_WITH_GTEST
       if (!_middleware) {
-        log_error("SubscriberImpl: Failed to create middleware subscriber");
-        return false;
+#endif
+        _middleware = DDSMiddlewareFactory::CreateSubscriber<S>();
+        if (!_middleware) {
+          log_error("SubscriberImpl: Failed to create middleware subscriber");
+          return false;
+        }
+#ifdef LIBCARLA_WITH_GTEST
       }
+#endif
       return _middleware->Init(topic_name, &_message, &_new_message);
     }
 
@@ -49,6 +55,17 @@ namespace ros2 {
 
     bool HasNewMessage() { return _new_message; }
 
+#ifdef LIBCARLA_WITH_GTEST
+    void SetMiddlewareForTesting(std::unique_ptr<IDDSSubscriberMiddleware> middleware) {
+      _middleware = std::move(middleware);
+    }
+
+    void SimulateMessageReceiptForTesting(const msg_type& msg) {
+      _message = msg;
+      _new_message = true;
+    }
+#endif
+
   private:
     std::unique_ptr<IDDSSubscriberMiddleware> _middleware;
     msg_type _message;
diff --git a/LibCarla/source/carla/ros2/types/FastDDSConversions.h b/LibCarla/source/carla/ros2/types/FastDDSConversions.h
new file mode 100644
index 00000000000..9fdb7739ed7
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/FastDDSConversions.h
@@ -0,0 +1,623 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+// POD message types
+#include "carla/ros2/types/msg/Time.h"
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/Vector3.h"
+#include "carla/ros2/types/msg/Quaternion.h"
+#include "carla/ros2/types/msg/Point.h"
+#include "carla/ros2/types/msg/Point32.h"
+#include "carla/ros2/types/msg/Pose.h"
+#include "carla/ros2/types/msg/PoseWithCovariance.h"
+#include "carla/ros2/types/msg/Twist.h"
+#include "carla/ros2/types/msg/TwistWithCovariance.h"
+#include "carla/ros2/types/msg/Transform.h"
+#include "carla/ros2/types/msg/TransformStamped.h"
+#include "carla/ros2/types/msg/Odometry.h"
+#include "carla/ros2/types/msg/RegionOfInterest.h"
+#include "carla/ros2/types/msg/PointField.h"
+#include "carla/ros2/types/msg/NavSatStatus.h"
+#include "carla/ros2/types/msg/NavSatFix.h"
+#include "carla/ros2/types/msg/Clock.h"
+#include "carla/ros2/types/msg/Float32.h"
+#include "carla/ros2/types/msg/String.h"
+#include "carla/ros2/types/msg/Imu.h"
+#include "carla/ros2/types/msg/Image.h"
+#include "carla/ros2/types/msg/CameraInfo.h"
+#include "carla/ros2/types/msg/PointCloud2.h"
+#include "carla/ros2/types/msg/TFMessage.h"
+#include "carla/ros2/types/msg/TF2Error.h"
+#include "carla/ros2/types/msg/AckermannDrive.h"
+#include "carla/ros2/types/msg/AckermannDriveStamped.h"
+#include "carla/ros2/types/msg/CarlaCollisionEvent.h"
+#include "carla/ros2/types/msg/CarlaEgoVehicleControl.h"
+#include "carla/ros2/types/msg/CarlaLineInvasion.h"
+
+// FastDDS-generated types (current flat layout)
+#include "carla/ros2/types/Time.h"
+#include "carla/ros2/types/Header.h"
+#include "carla/ros2/types/Vector3.h"
+#include "carla/ros2/types/Quaternion.h"
+#include "carla/ros2/types/Point.h"
+#include "carla/ros2/types/Point32.h"
+#include "carla/ros2/types/Pose.h"
+#include "carla/ros2/types/PoseWithCovariance.h"
+#include "carla/ros2/types/Twist.h"
+#include "carla/ros2/types/TwistWithCovariance.h"
+#include "carla/ros2/types/Transform.h"
+#include "carla/ros2/types/TransformStamped.h"
+#include "carla/ros2/types/Odometry.h"
+#include "carla/ros2/types/RegionOfInterest.h"
+#include "carla/ros2/types/PointField.h"
+#include "carla/ros2/types/NavSatStatus.h"
+#include "carla/ros2/types/NavSatFix.h"
+#include "carla/ros2/types/Clock.h"
+#include "carla/ros2/types/Float32.h"
+#include "carla/ros2/types/String.h"
+#include "carla/ros2/types/Imu.h"
+#include "carla/ros2/types/Image.h"
+#include "carla/ros2/types/CameraInfo.h"
+#include "carla/ros2/types/PointCloud2.h"
+#include "carla/ros2/types/TFMessage.h"
+#include "carla/ros2/types/TF2Error.h"
+#include "carla/ros2/types/AckermannDrive.h"
+#include "carla/ros2/types/AckermannDriveStamped.h"
+#include "carla/ros2/types/CarlaCollisionEvent.h"
+#include "carla/ros2/types/CarlaEgoVehicleControl.h"
+#include "carla/ros2/types/CarlaLineInvasion.h"
+
+#include <utility>
+
+namespace carla {
+namespace ros2 {
+
+// ============================================================
+// Conversion functions: POD msg types <-> FastDDS-generated types
+// Order matters — composites call primitives.
+// ============================================================
+
+// --- Primitives ---
+
+inline void to_fastdds(const msg::Time& src, builtin_interfaces::msg::Time& dst) {
+  dst.sec(src.sec);
+  dst.nanosec(src.nanosec);
+}
+
+inline void from_fastdds(const builtin_interfaces::msg::Time& src, msg::Time& dst) {
+  dst.sec = src.sec();
+  dst.nanosec = src.nanosec();
+}
+
+inline void to_fastdds(const msg::Header& src, std_msgs::msg::Header& dst) {
+  to_fastdds(src.stamp, dst.stamp());
+  dst.frame_id(src.frame_id);
+}
+
+inline void from_fastdds(const std_msgs::msg::Header& src, msg::Header& dst) {
+  from_fastdds(src.stamp(), dst.stamp);
+  dst.frame_id = src.frame_id();
+}
+
+inline void to_fastdds(const msg::Vector3& src, geometry_msgs::msg::Vector3& dst) {
+  dst.x(src.x);
+  dst.y(src.y);
+  dst.z(src.z);
+}
+
+inline void from_fastdds(const geometry_msgs::msg::Vector3& src, msg::Vector3& dst) {
+  dst.x = src.x();
+  dst.y = src.y();
+  dst.z = src.z();
+}
+
+inline void to_fastdds(
+    const msg::Quaternion& src,
+    geometry_msgs::msg::Quaternion& dst) {
+  dst.x(src.x);
+  dst.y(src.y);
+  dst.z(src.z);
+  dst.w(src.w);
+}
+
+inline void from_fastdds(
+    const geometry_msgs::msg::Quaternion& src,
+    msg::Quaternion& dst) {
+  dst.x = src.x();
+  dst.y = src.y();
+  dst.z = src.z();
+  dst.w = src.w();
+}
+
+inline void to_fastdds(const msg::Point& src, geometry_msgs::msg::Point& dst) {
+  dst.x(src.x);
+  dst.y(src.y);
+  dst.z(src.z);
+}
+
+inline void from_fastdds(const geometry_msgs::msg::Point& src, msg::Point& dst) {
+  dst.x = src.x();
+  dst.y = src.y();
+  dst.z = src.z();
+}
+
+inline void to_fastdds(const msg::Point32& src, geometry_msgs::msg::Point32& dst) {
+  dst.x(src.x);
+  dst.y(src.y);
+  dst.z(src.z);
+}
+
+inline void from_fastdds(const geometry_msgs::msg::Point32& src, msg::Point32& dst) {
+  dst.x = src.x();
+  dst.y = src.y();
+  dst.z = src.z();
+}
+
+// --- Geometry composites ---
+
+inline void to_fastdds(const msg::Pose& src, geometry_msgs::msg::Pose& dst) {
+  to_fastdds(src.position, dst.position());
+  to_fastdds(src.orientation, dst.orientation());
+}
+
+inline void from_fastdds(const geometry_msgs::msg::Pose& src, msg::Pose& dst) {
+  from_fastdds(src.position(), dst.position);
+  from_fastdds(src.orientation(), dst.orientation);
+}
+
+inline void to_fastdds(
+    const msg::PoseWithCovariance& src,
+    geometry_msgs::msg::PoseWithCovariance& dst) {
+  to_fastdds(src.pose, dst.pose());
+  dst.covariance(src.covariance);
+}
+
+inline void from_fastdds(
+    const geometry_msgs::msg::PoseWithCovariance& src,
+    msg::PoseWithCovariance& dst) {
+  from_fastdds(src.pose(), dst.pose);
+  dst.covariance = src.covariance();
+}
+
+inline void to_fastdds(const msg::Twist& src, geometry_msgs::msg::Twist& dst) {
+  to_fastdds(src.linear, dst.linear());
+  to_fastdds(src.angular, dst.angular());
+}
+
+inline void from_fastdds(const geometry_msgs::msg::Twist& src, msg::Twist& dst) {
+  from_fastdds(src.linear(), dst.linear);
+  from_fastdds(src.angular(), dst.angular);
+}
+
+inline void to_fastdds(
+    const msg::TwistWithCovariance& src,
+    geometry_msgs::msg::TwistWithCovariance& dst) {
+  to_fastdds(src.twist, dst.twist());
+  dst.covariance(src.covariance);
+}
+
+inline void from_fastdds(
+    const geometry_msgs::msg::TwistWithCovariance& src,
+    msg::TwistWithCovariance& dst) {
+  from_fastdds(src.twist(), dst.twist);
+  dst.covariance = src.covariance();
+}
+
+inline void to_fastdds(
+    const msg::Transform& src,
+    geometry_msgs::msg::Transform& dst) {
+  to_fastdds(src.translation, dst.translation());
+  to_fastdds(src.rotation, dst.rotation());
+}
+
+inline void from_fastdds(
+    const geometry_msgs::msg::Transform& src,
+    msg::Transform& dst) {
+  from_fastdds(src.translation(), dst.translation);
+  from_fastdds(src.rotation(), dst.rotation);
+}
+
+inline void to_fastdds(
+    const msg::TransformStamped& src,
+    geometry_msgs::msg::TransformStamped& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.child_frame_id(src.child_frame_id);
+  to_fastdds(src.transform, dst.transform());
+}
+
+inline void from_fastdds(
+    const geometry_msgs::msg::TransformStamped& src,
+    msg::TransformStamped& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.child_frame_id = src.child_frame_id();
+  from_fastdds(src.transform(), dst.transform);
+}
+
+// --- Sensor primitives ---
+
+inline void to_fastdds(
+    const msg::RegionOfInterest& src,
+    sensor_msgs::msg::RegionOfInterest& dst) {
+  dst.x_offset(src.x_offset);
+  dst.y_offset(src.y_offset);
+  dst.height(src.height);
+  dst.width(src.width);
+  dst.do_rectify(src.do_rectify);
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::RegionOfInterest& src,
+    msg::RegionOfInterest& dst) {
+  dst.x_offset = src.x_offset();
+  dst.y_offset = src.y_offset();
+  dst.height = src.height();
+  dst.width = src.width();
+  dst.do_rectify = src.do_rectify();
+}
+
+inline void to_fastdds(
+    const msg::PointField& src,
+    sensor_msgs::msg::PointField& dst) {
+  dst.name(src.name);
+  dst.offset(src.offset);
+  dst.datatype(src.datatype);
+  dst.count(src.count);
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::PointField& src,
+    msg::PointField& dst) {
+  dst.name = src.name();
+  dst.offset = src.offset();
+  dst.datatype = src.datatype();
+  dst.count = src.count();
+}
+
+inline void to_fastdds(
+    const msg::NavSatStatus& src,
+    sensor_msgs::msg::NavSatStatus& dst) {
+  dst.status(src.status);
+  dst.service(src.service);
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::NavSatStatus& src,
+    msg::NavSatStatus& dst) {
+  dst.status = src.status();
+  dst.service = src.service();
+}
+
+// --- Simple messages ---
+
+inline void to_fastdds(const msg::Clock& src, rosgraph::msg::Clock& dst) {
+  to_fastdds(src.clock, dst.clock());
+}
+
+inline void from_fastdds(const rosgraph::msg::Clock& src, msg::Clock& dst) {
+  from_fastdds(src.clock(), dst.clock);
+}
+
+inline void to_fastdds(const msg::Float32& src, std_msgs::msg::Float32& dst) {
+  dst.data(src.data);
+}
+
+inline void from_fastdds(const std_msgs::msg::Float32& src, msg::Float32& dst) {
+  dst.data = src.data();
+}
+
+inline void to_fastdds(const msg::String& src, std_msgs::msg::String& dst) {
+  dst.data(src.data);
+}
+
+inline void from_fastdds(const std_msgs::msg::String& src, msg::String& dst) {
+  dst.data = src.data();
+}
+
+// --- Complex sensor messages ---
+
+inline void to_fastdds(const msg::Imu& src, sensor_msgs::msg::Imu& dst) {
+  to_fastdds(src.header, dst.header());
+  to_fastdds(src.orientation, dst.orientation());
+  dst.orientation_covariance(src.orientation_covariance);
+  to_fastdds(src.angular_velocity, dst.angular_velocity());
+  dst.angular_velocity_covariance(src.angular_velocity_covariance);
+  to_fastdds(src.linear_acceleration, dst.linear_acceleration());
+  dst.linear_acceleration_covariance(src.linear_acceleration_covariance);
+}
+
+inline void from_fastdds(const sensor_msgs::msg::Imu& src, msg::Imu& dst) {
+  from_fastdds(src.header(), dst.header);
+  from_fastdds(src.orientation(), dst.orientation);
+  dst.orientation_covariance = src.orientation_covariance();
+  from_fastdds(src.angular_velocity(), dst.angular_velocity);
+  dst.angular_velocity_covariance = src.angular_velocity_covariance();
+  from_fastdds(src.linear_acceleration(), dst.linear_acceleration);
+  dst.linear_acceleration_covariance = src.linear_acceleration_covariance();
+}
+
+inline void to_fastdds(
+    const msg::NavSatFix& src,
+    sensor_msgs::msg::NavSatFix& dst) {
+  to_fastdds(src.header, dst.header());
+  to_fastdds(src.status, dst.status());
+  dst.latitude(src.latitude);
+  dst.longitude(src.longitude);
+  dst.altitude(src.altitude);
+  dst.position_covariance(src.position_covariance);
+  dst.position_covariance_type(src.position_covariance_type);
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::NavSatFix& src,
+    msg::NavSatFix& dst) {
+  from_fastdds(src.header(), dst.header);
+  from_fastdds(src.status(), dst.status);
+  dst.latitude = src.latitude();
+  dst.longitude = src.longitude();
+  dst.altitude = src.altitude();
+  dst.position_covariance = src.position_covariance();
+  dst.position_covariance_type = src.position_covariance_type();
+}
+
+// Image: const-ref overload (copies data vector)
+inline void to_fastdds(const msg::Image& src, sensor_msgs::msg::Image& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.height(src.height);
+  dst.width(src.width);
+  dst.encoding(src.encoding);
+  dst.is_bigendian(src.is_bigendian);
+  dst.step(src.step);
+  dst.data(src.data);
+}
+
+// Image: non-const overload (moves data vector)
+inline void to_fastdds(msg::Image& src, sensor_msgs::msg::Image& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.height(src.height);
+  dst.width(src.width);
+  dst.encoding(std::move(src.encoding));
+  dst.is_bigendian(src.is_bigendian);
+  dst.step(src.step);
+  dst.data(std::move(src.data));
+}
+
+inline void from_fastdds(const sensor_msgs::msg::Image& src, msg::Image& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.height = src.height();
+  dst.width = src.width();
+  dst.encoding = src.encoding();
+  dst.is_bigendian = src.is_bigendian();
+  dst.step = src.step();
+  dst.data = src.data();
+}
+
+inline void to_fastdds(
+    const msg::CameraInfo& src,
+    sensor_msgs::msg::CameraInfo& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.height(src.height);
+  dst.width(src.width);
+  dst.distortion_model(src.distortion_model);
+  dst.D(src.d);
+  dst.k(src.k);
+  dst.r(src.r);
+  dst.p(src.p);
+  dst.binning_x(src.binning_x);
+  dst.binning_y(src.binning_y);
+  to_fastdds(src.roi, dst.roi());
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::CameraInfo& src,
+    msg::CameraInfo& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.height = src.height();
+  dst.width = src.width();
+  dst.distortion_model = src.distortion_model();
+  dst.d = src.D();
+  dst.k = src.k();
+  dst.r = src.r();
+  dst.p = src.p();
+  dst.binning_x = src.binning_x();
+  dst.binning_y = src.binning_y();
+  from_fastdds(src.roi(), dst.roi);
+}
+
+// PointCloud2: const-ref overload (copies data vector)
+inline void to_fastdds(
+    const msg::PointCloud2& src,
+    sensor_msgs::msg::PointCloud2& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.height(src.height);
+  dst.width(src.width);
+  std::vector<sensor_msgs::msg::PointField> fields(src.fields.size());
+  for (size_t i = 0; i < src.fields.size(); ++i) {
+    to_fastdds(src.fields[i], fields[i]);
+  }
+  dst.fields(std::move(fields));
+  dst.is_bigendian(src.is_bigendian);
+  dst.point_step(src.point_step);
+  dst.row_step(src.row_step);
+  dst.data(src.data);
+  dst.is_dense(src.is_dense);
+}
+
+// PointCloud2: non-const overload (moves data vector)
+inline void to_fastdds(
+    msg::PointCloud2& src,
+    sensor_msgs::msg::PointCloud2& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.height(src.height);
+  dst.width(src.width);
+  std::vector<sensor_msgs::msg::PointField> fields(src.fields.size());
+  for (size_t i = 0; i < src.fields.size(); ++i) {
+    to_fastdds(src.fields[i], fields[i]);
+  }
+  dst.fields(std::move(fields));
+  dst.is_bigendian(src.is_bigendian);
+  dst.point_step(src.point_step);
+  dst.row_step(src.row_step);
+  dst.data(std::move(src.data));
+  dst.is_dense(src.is_dense);
+}
+
+inline void from_fastdds(
+    const sensor_msgs::msg::PointCloud2& src,
+    msg::PointCloud2& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.height = src.height();
+  dst.width = src.width();
+  dst.fields.resize(src.fields().size());
+  for (size_t i = 0; i < src.fields().size(); ++i) {
+    from_fastdds(src.fields()[i], dst.fields[i]);
+  }
+  dst.is_bigendian = src.is_bigendian();
+  dst.point_step = src.point_step();
+  dst.row_step = src.row_step();
+  dst.data = src.data();
+  dst.is_dense = src.is_dense();
+}
+
+// --- tf2 messages ---
+
+inline void to_fastdds(const msg::TFMessage& src, tf2_msgs::msg::TFMessage& dst) {
+  std::vector<geometry_msgs::msg::TransformStamped> transforms(src.transforms.size());
+  for (size_t i = 0; i < src.transforms.size(); ++i) {
+    to_fastdds(src.transforms[i], transforms[i]);
+  }
+  dst.transforms(std::move(transforms));
+}
+
+inline void from_fastdds(const tf2_msgs::msg::TFMessage& src, msg::TFMessage& dst) {
+  dst.transforms.resize(src.transforms().size());
+  for (size_t i = 0; i < src.transforms().size(); ++i) {
+    from_fastdds(src.transforms()[i], dst.transforms[i]);
+  }
+}
+
+inline void to_fastdds(const msg::TF2Error& src, tf2_msgs::msg::TF2Error& dst) {
+  dst.error(src.error);
+  dst.error_string(src.error_string);
+}
+
+inline void from_fastdds(const tf2_msgs::msg::TF2Error& src, msg::TF2Error& dst) {
+  dst.error = src.error();
+  dst.error_string = src.error_string();
+}
+
+// --- Navigation ---
+
+inline void to_fastdds(const msg::Odometry& src, nav_msgs::msg::Odometry& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.child_frame_id(src.child_frame_id);
+  to_fastdds(src.pose, dst.pose());
+  to_fastdds(src.twist, dst.twist());
+}
+
+inline void from_fastdds(const nav_msgs::msg::Odometry& src, msg::Odometry& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.child_frame_id = src.child_frame_id();
+  from_fastdds(src.pose(), dst.pose);
+  from_fastdds(src.twist(), dst.twist);
+}
+
+// --- Ackermann ---
+
+inline void to_fastdds(
+    const msg::AckermannDrive& src,
+    ackermann_msgs::msg::AckermannDrive& dst) {
+  dst.steering_angle(src.steering_angle);
+  dst.steering_angle_velocity(src.steering_angle_velocity);
+  dst.speed(src.speed);
+  dst.acceleration(src.acceleration);
+  dst.jerk(src.jerk);
+}
+
+inline void from_fastdds(
+    const ackermann_msgs::msg::AckermannDrive& src,
+    msg::AckermannDrive& dst) {
+  dst.steering_angle = src.steering_angle();
+  dst.steering_angle_velocity = src.steering_angle_velocity();
+  dst.speed = src.speed();
+  dst.acceleration = src.acceleration();
+  dst.jerk = src.jerk();
+}
+
+inline void to_fastdds(
+    const msg::AckermannDriveStamped& src,
+    ackermann_msgs::msg::AckermannDriveStamped& dst) {
+  to_fastdds(src.header, dst.header());
+  to_fastdds(src.drive, dst.drive());
+}
+
+inline void from_fastdds(
+    const ackermann_msgs::msg::AckermannDriveStamped& src,
+    msg::AckermannDriveStamped& dst) {
+  from_fastdds(src.header(), dst.header);
+  from_fastdds(src.drive(), dst.drive);
+}
+
+// --- CARLA custom messages ---
+
+inline void to_fastdds(
+    const msg::CarlaCollisionEvent& src,
+    carla_msgs::msg::CarlaCollisionEvent& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.other_actor_id(src.other_actor_id);
+  to_fastdds(src.normal_impulse, dst.normal_impulse());
+}
+
+inline void from_fastdds(
+    const carla_msgs::msg::CarlaCollisionEvent& src,
+    msg::CarlaCollisionEvent& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.other_actor_id = src.other_actor_id();
+  from_fastdds(src.normal_impulse(), dst.normal_impulse);
+}
+
+inline void to_fastdds(
+    const msg::CarlaEgoVehicleControl& src,
+    carla_msgs::msg::CarlaEgoVehicleControl& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.throttle(src.throttle);
+  dst.steer(src.steer);
+  dst.brake(src.brake);
+  dst.hand_brake(src.hand_brake);
+  dst.reverse(src.reverse);
+  dst.gear(src.gear);
+  dst.manual_gear_shift(src.manual_gear_shift);
+}
+
+inline void from_fastdds(
+    const carla_msgs::msg::CarlaEgoVehicleControl& src,
+    msg::CarlaEgoVehicleControl& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.throttle = src.throttle();
+  dst.steer = src.steer();
+  dst.brake = src.brake();
+  dst.hand_brake = src.hand_brake();
+  dst.reverse = src.reverse();
+  dst.gear = src.gear();
+  dst.manual_gear_shift = src.manual_gear_shift();
+}
+
+// POD is CarlaLineInvasion, FastDDS class is LaneInvasionEvent
+inline void to_fastdds(
+    const msg::CarlaLineInvasion& src,
+    carla_msgs::msg::LaneInvasionEvent& dst) {
+  to_fastdds(src.header, dst.header());
+  dst.crossed_lane_markings(src.crossed_lane_markings);
+}
+
+inline void from_fastdds(
+    const carla_msgs::msg::LaneInvasionEvent& src,
+    msg::CarlaLineInvasion& dst) {
+  from_fastdds(src.header(), dst.header);
+  dst.crossed_lane_markings = src.crossed_lane_markings();
+}
+
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/AckermannDrive.h b/LibCarla/source/carla/ros2/types/msg/AckermannDrive.h
new file mode 100644
index 00000000000..259021b6f96
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/AckermannDrive.h
@@ -0,0 +1,21 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct AckermannDrive {
+  float steering_angle = 0.0f;
+  float steering_angle_velocity = 0.0f;
+  float speed = 0.0f;
+  float acceleration = 0.0f;
+  float jerk = 0.0f;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/AckermannDriveStamped.h b/LibCarla/source/carla/ros2/types/msg/AckermannDriveStamped.h
new file mode 100644
index 00000000000..003fe6823c1
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/AckermannDriveStamped.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/AckermannDrive.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct AckermannDriveStamped {
+  Header header;
+  AckermannDrive drive;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/CameraInfo.h b/LibCarla/source/carla/ros2/types/msg/CameraInfo.h
new file mode 100644
index 00000000000..1bc8fbf3a73
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/CameraInfo.h
@@ -0,0 +1,33 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <array>
+#include <cstdint>
+#include <string>
+#include <vector>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/RegionOfInterest.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct CameraInfo {
+  Header header;
+  uint32_t height = 0;
+  uint32_t width = 0;
+  std::string distortion_model;
+  std::vector<double> d;
+  std::array<double, 9> k = {};
+  std::array<double, 9> r = {};
+  std::array<double, 12> p = {};
+  uint32_t binning_x = 0;
+  uint32_t binning_y = 0;
+  RegionOfInterest roi;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/CarlaCollisionEvent.h b/LibCarla/source/carla/ros2/types/msg/CarlaCollisionEvent.h
new file mode 100644
index 00000000000..791cc9f90b9
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/CarlaCollisionEvent.h
@@ -0,0 +1,22 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/Vector3.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct CarlaCollisionEvent {
+  Header header;
+  uint32_t other_actor_id = 0;
+  Vector3 normal_impulse;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/CarlaEgoVehicleControl.h b/LibCarla/source/carla/ros2/types/msg/CarlaEgoVehicleControl.h
new file mode 100644
index 00000000000..9c7b90c4b96
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/CarlaEgoVehicleControl.h
@@ -0,0 +1,26 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include "carla/ros2/types/msg/Header.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct CarlaEgoVehicleControl {
+  Header header;
+  float throttle = 0.0f;
+  float steer = 0.0f;
+  float brake = 0.0f;
+  bool hand_brake = false;
+  bool reverse = false;
+  int32_t gear = 0;
+  bool manual_gear_shift = false;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/CarlaLineInvasion.h b/LibCarla/source/carla/ros2/types/msg/CarlaLineInvasion.h
new file mode 100644
index 00000000000..758ace94505
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/CarlaLineInvasion.h
@@ -0,0 +1,21 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include <vector>
+#include "carla/ros2/types/msg/Header.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct CarlaLineInvasion {
+  Header header;
+  std::vector<int32_t> crossed_lane_markings;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Clock.h b/LibCarla/source/carla/ros2/types/msg/Clock.h
new file mode 100644
index 00000000000..c3aeb22ef23
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Clock.h
@@ -0,0 +1,18 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "carla/ros2/types/msg/Time.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Clock {
+  Time clock;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Float32.h b/LibCarla/source/carla/ros2/types/msg/Float32.h
new file mode 100644
index 00000000000..6452f152256
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Float32.h
@@ -0,0 +1,17 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Float32 {
+  float data = 0.0f;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Header.h b/LibCarla/source/carla/ros2/types/msg/Header.h
new file mode 100644
index 00000000000..7def89c2f96
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Header.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <string>
+#include "carla/ros2/types/msg/Time.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Header {
+  Time stamp;
+  std::string frame_id;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Image.h b/LibCarla/source/carla/ros2/types/msg/Image.h
new file mode 100644
index 00000000000..6f106c1735e
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Image.h
@@ -0,0 +1,27 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include <string>
+#include <vector>
+#include "carla/ros2/types/msg/Header.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Image {
+  Header header;
+  uint32_t height = 0;
+  uint32_t width = 0;
+  std::string encoding;
+  uint8_t is_bigendian = 0;
+  uint32_t step = 0;
+  std::vector<uint8_t> data;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Imu.h b/LibCarla/source/carla/ros2/types/msg/Imu.h
new file mode 100644
index 00000000000..357c4e8fe07
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Imu.h
@@ -0,0 +1,27 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <array>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/Quaternion.h"
+#include "carla/ros2/types/msg/Vector3.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Imu {
+  Header header;
+  Quaternion orientation;
+  std::array<double, 9> orientation_covariance = {};
+  Vector3 angular_velocity;
+  std::array<double, 9> angular_velocity_covariance = {};
+  Vector3 linear_acceleration;
+  std::array<double, 9> linear_acceleration_covariance = {};
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/NavSatFix.h b/LibCarla/source/carla/ros2/types/msg/NavSatFix.h
new file mode 100644
index 00000000000..842b777faef
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/NavSatFix.h
@@ -0,0 +1,32 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <array>
+#include <cstdint>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/NavSatStatus.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct NavSatFix {
+  static const uint8_t COVARIANCE_TYPE_UNKNOWN = 0;
+  static const uint8_t COVARIANCE_TYPE_APPROXIMATED = 1;
+  static const uint8_t COVARIANCE_TYPE_DIAGONAL_KNOWN = 2;
+  static const uint8_t COVARIANCE_TYPE_KNOWN = 3;
+
+  Header header;
+  NavSatStatus status;
+  double latitude = 0.0;
+  double longitude = 0.0;
+  double altitude = 0.0;
+  std::array<double, 9> position_covariance = {};
+  uint8_t position_covariance_type = 0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/NavSatStatus.h b/LibCarla/source/carla/ros2/types/msg/NavSatStatus.h
new file mode 100644
index 00000000000..2470b2e9968
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/NavSatStatus.h
@@ -0,0 +1,28 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct NavSatStatus {
+  static const uint8_t STATUS_NO_FIX = 255;
+  static const uint8_t STATUS_FIX = 0;
+  static const uint8_t STATUS_SBAS_FIX = 1;
+  static const uint8_t STATUS_GBAS_FIX = 2;
+  static const uint16_t SERVICE_GPS = 1;
+  static const uint16_t SERVICE_GLONASS = 2;
+  static const uint16_t SERVICE_COMPASS = 4;
+  static const uint16_t SERVICE_GALILEO = 8;
+
+  uint8_t status = 0;
+  uint16_t service = 0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Odometry.h b/LibCarla/source/carla/ros2/types/msg/Odometry.h
new file mode 100644
index 00000000000..4d4e2d0a3e8
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Odometry.h
@@ -0,0 +1,24 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <string>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/PoseWithCovariance.h"
+#include "carla/ros2/types/msg/TwistWithCovariance.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Odometry {
+  Header header;
+  std::string child_frame_id;
+  PoseWithCovariance pose;
+  TwistWithCovariance twist;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Point.h b/LibCarla/source/carla/ros2/types/msg/Point.h
new file mode 100644
index 00000000000..b731e4a19df
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Point.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Point {
+  double x = 0.0;
+  double y = 0.0;
+  double z = 0.0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Point32.h b/LibCarla/source/carla/ros2/types/msg/Point32.h
new file mode 100644
index 00000000000..f3ee652542d
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Point32.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Point32 {
+  float x = 0.0f;
+  float y = 0.0f;
+  float z = 0.0f;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/PointCloud2.h b/LibCarla/source/carla/ros2/types/msg/PointCloud2.h
new file mode 100644
index 00000000000..4cd62edb0d7
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/PointCloud2.h
@@ -0,0 +1,29 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include <vector>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/PointField.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct PointCloud2 {
+  Header header;
+  uint32_t height = 0;
+  uint32_t width = 0;
+  std::vector<PointField> fields;
+  bool is_bigendian = false;
+  uint32_t point_step = 0;
+  uint32_t row_step = 0;
+  std::vector<uint8_t> data;
+  bool is_dense = false;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/PointField.h b/LibCarla/source/carla/ros2/types/msg/PointField.h
new file mode 100644
index 00000000000..85d9f8da983
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/PointField.h
@@ -0,0 +1,31 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include <string>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct PointField {
+  static const uint8_t INT8 = 1;
+  static const uint8_t UINT8 = 2;
+  static const uint8_t INT16 = 3;
+  static const uint8_t UINT16 = 4;
+  static const uint8_t INT32 = 5;
+  static const uint8_t UINT32 = 6;
+  static const uint8_t FLOAT32 = 7;
+  static const uint8_t FLOAT64 = 8;
+
+  std::string name;
+  uint32_t offset = 0;
+  uint8_t datatype = 0;
+  uint32_t count = 0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Pose.h b/LibCarla/source/carla/ros2/types/msg/Pose.h
new file mode 100644
index 00000000000..bf3c81b869a
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Pose.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "carla/ros2/types/msg/Point.h"
+#include "carla/ros2/types/msg/Quaternion.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Pose {
+  Point position;
+  Quaternion orientation;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/PoseWithCovariance.h b/LibCarla/source/carla/ros2/types/msg/PoseWithCovariance.h
new file mode 100644
index 00000000000..3570f8f0a50
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/PoseWithCovariance.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <array>
+#include "carla/ros2/types/msg/Pose.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct PoseWithCovariance {
+  Pose pose;
+  std::array<double, 36> covariance = {};
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Quaternion.h b/LibCarla/source/carla/ros2/types/msg/Quaternion.h
new file mode 100644
index 00000000000..59cecdf4725
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Quaternion.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Quaternion {
+  double x = 0.0;
+  double y = 0.0;
+  double z = 0.0;
+  double w = 0.0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/RegionOfInterest.h b/LibCarla/source/carla/ros2/types/msg/RegionOfInterest.h
new file mode 100644
index 00000000000..0a21608c655
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/RegionOfInterest.h
@@ -0,0 +1,22 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct RegionOfInterest {
+  uint32_t x_offset = 0;
+  uint32_t y_offset = 0;
+  uint32_t height = 0;
+  uint32_t width = 0;
+  bool do_rectify = false;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/String.h b/LibCarla/source/carla/ros2/types/msg/String.h
new file mode 100644
index 00000000000..81a50e40248
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/String.h
@@ -0,0 +1,18 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <string>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct String {
+  std::string data;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/TF2Error.h b/LibCarla/source/carla/ros2/types/msg/TF2Error.h
new file mode 100644
index 00000000000..33f4bf46e8f
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/TF2Error.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+#include <string>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct TF2Error {
+  uint8_t error = 0;
+  std::string error_string;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/TFMessage.h b/LibCarla/source/carla/ros2/types/msg/TFMessage.h
new file mode 100644
index 00000000000..54636dffa79
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/TFMessage.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <vector>
+#include "carla/ros2/types/msg/TransformStamped.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct TFMessage {
+  std::vector<TransformStamped> transforms;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Time.h b/LibCarla/source/carla/ros2/types/msg/Time.h
new file mode 100644
index 00000000000..4183173ee83
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Time.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <cstdint>
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Time {
+  int32_t sec = 0;
+  uint32_t nanosec = 0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Transform.h b/LibCarla/source/carla/ros2/types/msg/Transform.h
new file mode 100644
index 00000000000..99ec1d2b9c7
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Transform.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "carla/ros2/types/msg/Vector3.h"
+#include "carla/ros2/types/msg/Quaternion.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Transform {
+  Vector3 translation;
+  Quaternion rotation;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/TransformStamped.h b/LibCarla/source/carla/ros2/types/msg/TransformStamped.h
new file mode 100644
index 00000000000..cb9d471c3bd
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/TransformStamped.h
@@ -0,0 +1,22 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <string>
+#include "carla/ros2/types/msg/Header.h"
+#include "carla/ros2/types/msg/Transform.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct TransformStamped {
+  Header header;
+  std::string child_frame_id;
+  Transform transform;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Twist.h b/LibCarla/source/carla/ros2/types/msg/Twist.h
new file mode 100644
index 00000000000..ed2d8d42e36
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Twist.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include "carla/ros2/types/msg/Vector3.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Twist {
+  Vector3 linear;
+  Vector3 angular;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/TwistWithCovariance.h b/LibCarla/source/carla/ros2/types/msg/TwistWithCovariance.h
new file mode 100644
index 00000000000..6e00857d6c1
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/TwistWithCovariance.h
@@ -0,0 +1,20 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+#include <array>
+#include "carla/ros2/types/msg/Twist.h"
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct TwistWithCovariance {
+  Twist twist;
+  std::array<double, 36> covariance = {};
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/carla/ros2/types/msg/Vector3.h b/LibCarla/source/carla/ros2/types/msg/Vector3.h
new file mode 100644
index 00000000000..1b879020e11
--- /dev/null
+++ b/LibCarla/source/carla/ros2/types/msg/Vector3.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace ros2 {
+namespace msg {
+
+struct Vector3 {
+  double x = 0.0;
+  double y = 0.0;
+  double z = 0.0;
+};
+
+} // namespace msg
+} // namespace ros2
+} // namespace carla
diff --git a/LibCarla/source/test/server/test_dds_middleware.cpp b/LibCarla/source/test/server/test_dds_middleware.cpp
new file mode 100644
index 00000000000..a4563b94c81
--- /dev/null
+++ b/LibCarla/source/test/server/test_dds_middleware.cpp
@@ -0,0 +1,490 @@
+// Copyright (c) 2025 Computer Vision Center (CVC) at the Universitat Autonoma de Barcelona (UAB).
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+// Must be defined before any includes to suppress real DDS auto-includes
+// while keeping CARLA_ROS2_DDS_FASTDDS compile-time checks active.
+#define CARLA_ROS2_DDS_TESTING
+#define CARLA_ROS2_DDS_FASTDDS
+
+#include "test.h"
+
+#include <carla/ros2/dds/DDSMiddleware.h>
+#include <carla/ros2/dds/DDSMiddlewareFactory.h>
+#include <carla/ros2/dds/IDDSPublisherMiddleware.h>
+#include <carla/ros2/dds/IDDSSubscriberMiddleware.h>
+#include <carla/ros2/publishers/PublisherImpl.h>
+#include <carla/ros2/subscribers/SubscriberImpl.h>
+
+#include <memory>
+#include <string>
+
+using namespace carla::ros2;
+
+// ==========================================================================
+// Test infrastructure
+// ==========================================================================
+
+struct TestMsg {
+  int value{0};
+};
+
+struct TestPubTraits {
+  using msg_type = TestMsg;
+};
+
+struct TestSubTraits {
+  using msg_type = TestMsg;
+};
+
+// -- Mock publisher middleware ------------------------------------------------
+
+class MockPublisherMiddleware : public IDDSPublisherMiddleware {
+ public:
+  bool init_return_value{true};
+  bool publish_return_value{true};
+  bool alive{true};
+
+  bool init_called{false};
+  bool publish_called{false};
+  std::string last_topic_name;
+  void* last_published_data{nullptr};
+
+  bool Init(const std::string& topic_name) override {
+    init_called = true;
+    last_topic_name = topic_name;
+    return init_return_value;
+  }
+
+  bool Publish(void* message_data) override {
+    publish_called = true;
+    last_published_data = message_data;
+    return publish_return_value;
+  }
+
+  bool IsAlive() const override { return alive; }
+  std::string GetTopicName() const override { return last_topic_name; }
+};
+
+// -- Mock subscriber middleware -----------------------------------------------
+
+class MockSubscriberMiddleware : public IDDSSubscriberMiddleware {
+ public:
+  bool init_return_value{true};
+  bool alive{true};
+
+  bool init_called{false};
+  std::string last_topic_name;
+  void* stored_message_ptr{nullptr};
+  bool* stored_flag_ptr{nullptr};
+
+  bool Init(
+      const std::string& topic_name,
+      void* message_ptr,
+      bool* new_message_flag) override {
+    init_called = true;
+    last_topic_name = topic_name;
+    stored_message_ptr = message_ptr;
+    stored_flag_ptr = new_message_flag;
+    return init_return_value;
+  }
+
+  bool IsAlive() const override { return alive; }
+  std::string GetTopicName() const override { return last_topic_name; }
+};
+
+// -- Factory fixture (resets static state) ------------------------------------
+
+class DDSMiddlewareFactoryFixture : public ::testing::Test {
+ protected:
+  void SetUp() override {
+    DDSMiddlewareFactory::SetMiddleware(DDSMiddleware::FastDDS);
+  }
+};
+
+// ==========================================================================
+// Group 1: dds_middleware_enum (2 tests)
+// ==========================================================================
+
+TEST(dds_middleware_enum, values_exist) {
+  DDSMiddleware mw = DDSMiddleware::FastDDS;
+  EXPECT_EQ(static_cast<int>(mw), 0);
+}
+
+TEST(dds_middleware_enum, switch_covers_all) {
+  DDSMiddleware mw = DDSMiddleware::FastDDS;
+  bool covered = false;
+  switch (mw) {
+    case DDSMiddleware::FastDDS:
+      covered = true;
+      break;
+  }
+  EXPECT_TRUE(covered);
+}
+
+// ==========================================================================
+// Group 2: dds_middleware_to_string (3 tests)
+// ==========================================================================
+
+TEST(dds_middleware_to_string, fastdds_returns_correct_string) {
+  EXPECT_STREQ(DDSMiddlewareToString(DDSMiddleware::FastDDS), "FastDDS");
+}
+
+TEST(dds_middleware_to_string, result_is_not_null) {
+  const char* result = DDSMiddlewareToString(DDSMiddleware::FastDDS);
+  ASSERT_NE(result, nullptr);
+}
+
+TEST(dds_middleware_to_string, result_is_not_empty) {
+  const char* result = DDSMiddlewareToString(DDSMiddleware::FastDDS);
+  EXPECT_STRNE(result, "");
+}
+
+// ==========================================================================
+// Group 3: dds_middleware_from_string (5 tests)
+// ==========================================================================
+
+TEST(dds_middleware_from_string, fastdds_lowercase_valid) {
+  auto result = DDSMiddlewareFromString("fastdds");
+  EXPECT_TRUE(result.valid);
+  EXPECT_EQ(result.middleware, DDSMiddleware::FastDDS);
+}
+
+TEST(dds_middleware_from_string, unknown_string_invalid) {
+  auto result = DDSMiddlewareFromString("cyclonedds");
+  EXPECT_FALSE(result.valid);
+}
+
+TEST(dds_middleware_from_string, empty_string_invalid) {
+  auto result = DDSMiddlewareFromString("");
+  EXPECT_FALSE(result.valid);
+}
+
+TEST(dds_middleware_from_string, uppercase_rejected) {
+  auto result = DDSMiddlewareFromString("FastDDS");
+  EXPECT_FALSE(result.valid);
+}
+
+TEST(dds_middleware_from_string, partial_match_rejected) {
+  auto result = DDSMiddlewareFromString("fast");
+  EXPECT_FALSE(result.valid);
+}
+
+// ==========================================================================
+// Group 4: dds_middleware_available (2 tests)
+// ==========================================================================
+
+TEST(dds_middleware_available, fastdds_available) {
+  EXPECT_TRUE(
+      DDSMiddlewareFactory::IsMiddlewareAvailable(DDSMiddleware::FastDDS));
+}
+
+TEST(dds_middleware_available, available_string_contains_fastdds) {
+  std::string available = GetAvailableMiddlewareString();
+  EXPECT_NE(available.find("FastDDS"), std::string::npos);
+}
+
+// ==========================================================================
+// Group 5: dds_middleware_type_name (4 tests)
+// ==========================================================================
+
+TEST(dds_middleware_type_name, bare_name) {
+  EXPECT_EQ(ToROS2DDSTypeName("Image"), "dds_::Image_");
+}
+
+TEST(dds_middleware_type_name, fully_qualified) {
+  EXPECT_EQ(
+      ToROS2DDSTypeName("sensor_msgs::msg::Image"),
+      "sensor_msgs::msg::dds_::Image_");
+}
+
+TEST(dds_middleware_type_name, single_namespace) {
+  EXPECT_EQ(ToROS2DDSTypeName("msg::Image"), "msg::dds_::Image_");
+}
+
+TEST(dds_middleware_type_name, empty_string) {
+  EXPECT_EQ(ToROS2DDSTypeName(""), "dds_::_");
+}
+
+// ==========================================================================
+// Group 6: DDSMiddlewareFactoryFixture (5 tests)
+// ==========================================================================
+
+TEST_F(DDSMiddlewareFactoryFixture, set_and_get_middleware) {
+  DDSMiddlewareFactory::SetMiddleware(DDSMiddleware::FastDDS);
+  EXPECT_EQ(DDSMiddlewareFactory::GetMiddleware(), DDSMiddleware::FastDDS);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, default_is_fastdds) {
+  EXPECT_EQ(DDSMiddlewareFactory::GetMiddleware(), DDSMiddleware::FastDDS);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, is_middleware_available_fastdds) {
+  EXPECT_TRUE(
+      DDSMiddlewareFactory::IsMiddlewareAvailable(DDSMiddleware::FastDDS));
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, resolve_available_middleware) {
+  auto resolution =
+      DDSMiddlewareFactory::ResolveMiddleware(DDSMiddleware::FastDDS);
+  EXPECT_TRUE(resolution.success);
+  EXPECT_EQ(resolution.middleware, DDSMiddleware::FastDDS);
+}
+
+TEST_F(DDSMiddlewareFactoryFixture, factory_available_string) {
+  std::string available = DDSMiddlewareFactory::GetAvailableMiddlewareString();
+  EXPECT_NE(available.find("FastDDS"), std::string::npos);
+}
+
+// ==========================================================================
+// Group 7: dds_publisher_interface (5 tests)
+// ==========================================================================
+
+TEST(dds_publisher_interface, mock_init_success) {
+  MockPublisherMiddleware mock;
+  mock.init_return_value = true;
+  EXPECT_TRUE(mock.Init("rt/test_topic"));
+  EXPECT_TRUE(mock.init_called);
+  EXPECT_EQ(mock.last_topic_name, "rt/test_topic");
+}
+
+TEST(dds_publisher_interface, mock_init_failure) {
+  MockPublisherMiddleware mock;
+  mock.init_return_value = false;
+  EXPECT_FALSE(mock.Init("rt/test_topic"));
+  EXPECT_TRUE(mock.init_called);
+}
+
+TEST(dds_publisher_interface, mock_publish_records_data) {
+  MockPublisherMiddleware mock;
+  TestMsg msg;
+  msg.value = 42;
+  EXPECT_TRUE(mock.Publish(&msg));
+  EXPECT_TRUE(mock.publish_called);
+  EXPECT_EQ(mock.last_published_data, &msg);
+}
+
+TEST(dds_publisher_interface, mock_topic_name) {
+  MockPublisherMiddleware mock;
+  mock.Init("rt/camera/image");
+  EXPECT_EQ(mock.GetTopicName(), "rt/camera/image");
+}
+
+TEST(dds_publisher_interface, mock_is_alive) {
+  MockPublisherMiddleware mock;
+  mock.alive = true;
+  EXPECT_TRUE(mock.IsAlive());
+  mock.alive = false;
+  EXPECT_FALSE(mock.IsAlive());
+}
+
+// ==========================================================================
+// Group 8: dds_subscriber_interface (5 tests)
+// ==========================================================================
+
+TEST(dds_subscriber_interface, mock_init_stores_pointers) {
+  MockSubscriberMiddleware mock;
+  TestMsg msg;
+  bool flag = false;
+  EXPECT_TRUE(mock.Init("rt/test_topic", &msg, &flag));
+  EXPECT_TRUE(mock.init_called);
+  EXPECT_EQ(mock.stored_message_ptr, &msg);
+  EXPECT_EQ(mock.stored_flag_ptr, &flag);
+}
+
+TEST(dds_subscriber_interface, mock_init_failure) {
+  MockSubscriberMiddleware mock;
+  mock.init_return_value = false;
+  TestMsg msg;
+  bool flag = false;
+  EXPECT_FALSE(mock.Init("rt/test_topic", &msg, &flag));
+}
+
+TEST(dds_subscriber_interface, mock_topic_name) {
+  MockSubscriberMiddleware mock;
+  TestMsg msg;
+  bool flag = false;
+  mock.Init("rt/lidar/points", &msg, &flag);
+  EXPECT_EQ(mock.GetTopicName(), "rt/lidar/points");
+}
+
+TEST(dds_subscriber_interface, mock_is_alive) {
+  MockSubscriberMiddleware mock;
+  mock.alive = true;
+  EXPECT_TRUE(mock.IsAlive());
+  mock.alive = false;
+  EXPECT_FALSE(mock.IsAlive());
+}
+
+TEST(dds_subscriber_interface, mock_simulates_message_receipt) {
+  MockSubscriberMiddleware mock;
+  TestMsg msg;
+  bool flag = false;
+  mock.Init("rt/test", &msg, &flag);
+  ASSERT_NE(mock.stored_message_ptr, nullptr);
+  ASSERT_NE(mock.stored_flag_ptr, nullptr);
+  auto* typed_ptr = static_cast<TestMsg*>(mock.stored_message_ptr);
+  typed_ptr->value = 99;
+  *mock.stored_flag_ptr = true;
+  EXPECT_EQ(msg.value, 99);
+  EXPECT_TRUE(flag);
+}
+
+// ==========================================================================
+// Group 9: publisher_impl (7 tests)
+// ==========================================================================
+
+TEST(publisher_impl, get_message_returns_pointer) {
+  PublisherImpl<TestPubTraits> pub;
+  TestMsg* msg = pub.GetMessage();
+  ASSERT_NE(msg, nullptr);
+  msg->value = 7;
+  EXPECT_EQ(pub.GetMessage()->value, 7);
+}
+
+TEST(publisher_impl, init_delegates_to_middleware) {
+  PublisherImpl<TestPubTraits> pub;
+  auto* mock = new MockPublisherMiddleware();
+  pub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSPublisherMiddleware>(mock));
+  EXPECT_TRUE(pub.Init("rt/test_topic"));
+  EXPECT_TRUE(mock->init_called);
+  EXPECT_EQ(mock->last_topic_name, "rt/test_topic");
+}
+
+TEST(publisher_impl, publish_delegates_to_middleware) {
+  PublisherImpl<TestPubTraits> pub;
+  auto* mock = new MockPublisherMiddleware();
+  pub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSPublisherMiddleware>(mock));
+  pub.Init("rt/test_topic");
+  EXPECT_TRUE(pub.Publish());
+  EXPECT_TRUE(mock->publish_called);
+  EXPECT_EQ(mock->last_published_data, pub.GetMessage());
+}
+
+TEST(publisher_impl, publish_before_init_fails) {
+  PublisherImpl<TestPubTraits> pub;
+  ::testing::internal::CaptureStderr();
+  EXPECT_FALSE(pub.Publish());
+  ::testing::internal::GetCapturedStderr();
+}
+
+TEST(publisher_impl, is_alive_delegates) {
+  PublisherImpl<TestPubTraits> pub;
+  auto* mock = new MockPublisherMiddleware();
+  mock->alive = true;
+  pub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSPublisherMiddleware>(mock));
+  pub.Init("rt/test_topic");
+  EXPECT_TRUE(pub.IsAlive());
+  mock->alive = false;
+  EXPECT_FALSE(pub.IsAlive());
+}
+
+TEST(publisher_impl, topic_name_delegates) {
+  PublisherImpl<TestPubTraits> pub;
+  auto* mock = new MockPublisherMiddleware();
+  pub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSPublisherMiddleware>(mock));
+  pub.Init("rt/camera/image");
+  EXPECT_EQ(pub.GetTopicName(), "rt/camera/image");
+}
+
+TEST(publisher_impl, data_flows_through_publish) {
+  PublisherImpl<TestPubTraits> pub;
+  auto* mock = new MockPublisherMiddleware();
+  pub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSPublisherMiddleware>(mock));
+  pub.Init("rt/test_topic");
+
+  pub.GetMessage()->value = 42;
+  pub.Publish();
+
+  ASSERT_NE(mock->last_published_data, nullptr);
+  auto* published = static_cast<TestMsg*>(mock->last_published_data);
+  EXPECT_EQ(published->value, 42);
+}
+
+// ==========================================================================
+// Group 10: subscriber_impl (7 tests)
+// ==========================================================================
+
+TEST(subscriber_impl, has_new_message_initially_false) {
+  SubscriberImpl<TestSubTraits> sub;
+  EXPECT_FALSE(sub.HasNewMessage());
+}
+
+TEST(subscriber_impl, init_delegates_to_middleware) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  EXPECT_TRUE(sub.Init("rt/test_topic"));
+  EXPECT_TRUE(mock->init_called);
+  EXPECT_EQ(mock->last_topic_name, "rt/test_topic");
+  EXPECT_NE(mock->stored_message_ptr, nullptr);
+  EXPECT_NE(mock->stored_flag_ptr, nullptr);
+}
+
+TEST(subscriber_impl, get_message_clears_flag) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  sub.Init("rt/test_topic");
+
+  TestMsg msg;
+  msg.value = 77;
+  sub.SimulateMessageReceiptForTesting(msg);
+  EXPECT_TRUE(sub.HasNewMessage());
+
+  TestMsg retrieved = sub.GetMessage();
+  EXPECT_EQ(retrieved.value, 77);
+  EXPECT_FALSE(sub.HasNewMessage());
+}
+
+TEST(subscriber_impl, is_alive_delegates) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  mock->alive = true;
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  sub.Init("rt/test_topic");
+  EXPECT_TRUE(sub.IsAlive());
+  mock->alive = false;
+  EXPECT_FALSE(sub.IsAlive());
+}
+
+TEST(subscriber_impl, topic_name_delegates) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  sub.Init("rt/lidar/points");
+  EXPECT_EQ(sub.GetTopicName(), "rt/lidar/points");
+}
+
+TEST(subscriber_impl, simulate_message_receipt) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  sub.Init("rt/test_topic");
+
+  EXPECT_FALSE(sub.HasNewMessage());
+  TestMsg msg;
+  msg.value = 123;
+  sub.SimulateMessageReceiptForTesting(msg);
+  EXPECT_TRUE(sub.HasNewMessage());
+  EXPECT_EQ(sub.GetMessage().value, 123);
+}
+
+TEST(subscriber_impl, init_failure_propagated) {
+  SubscriberImpl<TestSubTraits> sub;
+  auto* mock = new MockSubscriberMiddleware();
+  mock->init_return_value = false;
+  sub.SetMiddlewareForTesting(
+      std::unique_ptr<IDDSSubscriberMiddleware>(mock));
+  EXPECT_FALSE(sub.Init("rt/test_topic"));
+}