diff --git a/examples/cpp/request_reply/ClientApp.cpp b/examples/cpp/request_reply/ClientApp.cpp
index aa17ec00021..28c5e798706 100644
--- a/examples/cpp/request_reply/ClientApp.cpp
+++ b/examples/cpp/request_reply/ClientApp.cpp
@@ -143,17 +143,18 @@ void ClientApp::stop()
 
 void ClientApp::on_participant_discovery(
         DomainParticipant* /* participant */,
-        rtps::ParticipantDiscoveryInfo&& info,
+        rtps::ParticipantDiscoveryStatus status,
+        const ParticipantBuiltinTopicData& info,
         bool& should_be_ignored)
 {
     std::lock_guard<std::mutex> lock(mtx_);
 
     should_be_ignored = false;
 
-    rtps::GuidPrefix_t remote_participant_guid_prefix = info.info.m_guid.guidPrefix;
-    std::string status_str = TypeConverter::to_string(info.status);
+    rtps::GuidPrefix_t remote_participant_guid_prefix = info.guid.guidPrefix;
+    std::string status_str = TypeConverter::to_string(status);
 
-    if (info.info.m_userData.data_vec().size() != 1)
+    if (info.user_data.data_vec().size() != 1)
     {
         should_be_ignored = true;
         request_reply_debug("ClientApp", "Ignoring participant with invalid user data: "
@@ -162,7 +163,7 @@ void ClientApp::on_participant_discovery(
 
     if (!should_be_ignored)
     {
-        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.info.m_userData.data_vec()[0]);
+        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.user_data.data_vec()[0]);
         if (CLIParser::EntityKind::SERVER != entity_kind)
         {
             should_be_ignored = true;
@@ -176,12 +177,12 @@ void ClientApp::on_participant_discovery(
     {
         std::string server_str = CLIParser::parse_entity_kind(CLIParser::EntityKind::SERVER);
 
-        if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT)
+        if (status == rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
         {
             request_reply_debug("ClientApp", server_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }
-        else if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT ||
-                info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT)
+        else if (status == rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+                status == rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
         {
             request_reply_debug("ClientApp", server_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }
diff --git a/examples/cpp/request_reply/ClientApp.hpp b/examples/cpp/request_reply/ClientApp.hpp
index 84624520800..3a6fb0fa56c 100644
--- a/examples/cpp/request_reply/ClientApp.hpp
+++ b/examples/cpp/request_reply/ClientApp.hpp
@@ -71,7 +71,8 @@ class ClientApp : public Application, public DomainParticipantListener
     //! Participant discovery method
     void on_participant_discovery(
             DomainParticipant* participant,
-            rtps::ParticipantDiscoveryInfo&& info,
+            rtps::ParticipantDiscoveryStatus status,
+            const ParticipantBuiltinTopicData& info,
             bool& should_be_ignored) override;
 
     //! Publication matched method
diff --git a/examples/cpp/request_reply/ServerApp.cpp b/examples/cpp/request_reply/ServerApp.cpp
index b3ee98b9f08..fe85a7c7555 100644
--- a/examples/cpp/request_reply/ServerApp.cpp
+++ b/examples/cpp/request_reply/ServerApp.cpp
@@ -130,17 +130,18 @@ void ServerApp::stop()
 
 void ServerApp::on_participant_discovery(
         DomainParticipant* /* participant */,
-        rtps::ParticipantDiscoveryInfo&& info,
+        rtps::ParticipantDiscoveryStatus status,
+        const ParticipantBuiltinTopicData& info,
         bool& should_be_ignored)
 {
     std::lock_guard<std::mutex> lock(mtx_);
 
     should_be_ignored = false;
 
-    rtps::GuidPrefix_t remote_participant_guid_prefix = info.info.m_guid.guidPrefix;
-    std::string status_str = TypeConverter::to_string(info.status);
+    rtps::GuidPrefix_t remote_participant_guid_prefix = info.guid.guidPrefix;
+    std::string status_str = TypeConverter::to_string(status);
 
-    if (info.info.m_userData.data_vec().size() != 1)
+    if (info.user_data.data_vec().size() != 1)
     {
         should_be_ignored = true;
         request_reply_debug("ServerApp", "Ignoring participant with invalid user data: "
@@ -149,7 +150,7 @@ void ServerApp::on_participant_discovery(
 
     if (!should_be_ignored)
     {
-        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.info.m_userData.data_vec()[0]);
+        CLIParser::EntityKind entity_kind = static_cast<CLIParser::EntityKind>(info.user_data.data_vec()[0]);
         if (CLIParser::EntityKind::CLIENT != entity_kind)
         {
             should_be_ignored = true;
@@ -163,12 +164,12 @@ void ServerApp::on_participant_discovery(
     {
         std::string client_str = CLIParser::parse_entity_kind(CLIParser::EntityKind::CLIENT);
 
-        if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT)
+        if (status == rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT)
         {
             request_reply_debug("ServerApp", client_str << " " << status_str << ": " << remote_participant_guid_prefix);
         }
-        else if (info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT ||
-                info.status == rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT)
+        else if (status == rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT ||
+                status == rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT)
         {
             client_matched_status_.match_reply_reader(remote_participant_guid_prefix, false);
             client_matched_status_.match_request_writer(remote_participant_guid_prefix, false);
diff --git a/examples/cpp/request_reply/ServerApp.hpp b/examples/cpp/request_reply/ServerApp.hpp
index a195b8164ff..3c09d62ad13 100644
--- a/examples/cpp/request_reply/ServerApp.hpp
+++ b/examples/cpp/request_reply/ServerApp.hpp
@@ -68,7 +68,8 @@ class ServerApp : public Application, public DomainParticipantListener
     //! Participant discovery method
     void on_participant_discovery(
             DomainParticipant* participant,
-            rtps::ParticipantDiscoveryInfo&& info,
+            rtps::ParticipantDiscoveryStatus status,
+            const ParticipantBuiltinTopicData& info,
             bool& should_be_ignored) override;
 
     //! Publication matched method
diff --git a/examples/cpp/request_reply/app_utils.hpp b/examples/cpp/request_reply/app_utils.hpp
index 65633406cbb..61dc73abceb 100644
--- a/examples/cpp/request_reply/app_utils.hpp
+++ b/examples/cpp/request_reply/app_utils.hpp
@@ -225,25 +225,25 @@ struct TypeConverter
     }
 
     static std::string to_string(
-            const rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS& info)
+            const rtps::ParticipantDiscoveryStatus& info)
     {
         std::string info_str = "Unknown";
 
         switch (info)
         {
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DISCOVERED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::DISCOVERED_PARTICIPANT:
                 info_str = "discovered";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::CHANGED_QOS_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::CHANGED_QOS_PARTICIPANT:
                 info_str = "changed QoS";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::REMOVED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::REMOVED_PARTICIPANT:
                 info_str = "removed";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::DROPPED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::DROPPED_PARTICIPANT:
                 info_str = "dropped";
                 break;
-            case rtps::ParticipantDiscoveryInfo::DISCOVERY_STATUS::IGNORED_PARTICIPANT:
+            case rtps::ParticipantDiscoveryStatus::IGNORED_PARTICIPANT:
                 info_str = "ignored";
                 break;
             default:
diff --git a/include/fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp b/include/fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp
index be5acee5524..6ee4eaa48bc 100644
--- a/include/fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp
+++ b/include/fastdds/rtps/participant/ParticipantDiscoveryInfo.hpp
@@ -21,7 +21,7 @@
 #define FASTDDS_RTPS_PARTICIPANT__PARTICIPANTDISCOVERYINFO_HPP
 
 #include <fastdds/fastdds_dll.hpp>
-
+#include <fastdds/rtps/common/Guid.hpp>
 namespace eprosima {
 namespace fastdds {
 namespace rtps {