diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3aac97cad..8ff1d8eb6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,7 @@
 ###############################################################################
 # CMake build rules for Micro XRCE-DDS Agent
 ###############################################################################
-cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
 
 ###############################################################################
 # Build options
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." ON)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
 option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
 
-set(UAGENT_P2P_CLIENT_VERSION 2.2.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.2.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 2.4.1 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v2.4.1 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -80,8 +80,8 @@ set(_deps "")
 if(UAGENT_USE_SYSTEM_FASTCDR)
     set(_fastcdr_version 1)
 else()
-    set(_fastcdr_version 1.0.22)
-    set(_fastcdr_tag v1.0.22)
+    set(_fastcdr_version 1.1.0)
+    set(_fastcdr_tag v1.1.0)
 endif()
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
@@ -95,9 +95,9 @@ if(UAGENT_FAST_PROFILE)
     if(UAGENT_USE_SYSTEM_FASTDDS)
         set(_fastdds_version 2)
     else()
-        set(_fastdds_version 2.4.1)
-        set(_fastdds_tag v2.4.1)
-        set(_foonathan_memory_tag v0.7-1) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
+        set(_fastdds_version 2.11)
+        set(_fastdds_tag 2.11.x)
+        set(_foonathan_memory_tag v0.7-3) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
     endif()
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
 endif()
@@ -117,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.2.0" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.4.1" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
index 3acb1edac..0d4c86299 100644
--- a/cmake/SuperBuild.cmake
+++ b/cmake/SuperBuild.cmake
@@ -201,7 +201,7 @@ if(UAGENT_BUILD_TESTS)
             GIT_REPOSITORY
                 https://github.com/google/googletest.git
             GIT_TAG
-                2fe3bd994b3189899d93f1d5a881e725e046fdc2
+                release-1.11.0
             PREFIX
                 ${PROJECT_BINARY_DIR}/googletest
             INSTALL_DIR
diff --git a/include/uxr/agent/message/InputMessage.hpp b/include/uxr/agent/message/InputMessage.hpp
index 73b5184d7..8533fdb90 100644
--- a/include/uxr/agent/message/InputMessage.hpp
+++ b/include/uxr/agent/message/InputMessage.hpp
@@ -38,7 +38,10 @@ class InputMessage
           deserializer_(fastbuffer_)
     {
         memcpy(buf_, buf, len);
-        deserialize(header_);
+
+        // A valid XRCE message must have a valid header and at least 1 submessage
+        valid_xrce_message_ = deserialize(header_);
+        valid_xrce_message_ = valid_xrce_message_ && count_submessages() > 0;
     }
 
     uint8_t* get_buf() const { return buf_; }
@@ -70,6 +73,8 @@ class InputMessage
 
     size_t count_submessages();
 
+    bool is_valid_xrce_message() { return valid_xrce_message_; }
+
     dds::xrce::SubmessageId get_submessage_id();
 
 private:
@@ -85,6 +90,7 @@ class InputMessage
     dds::xrce::SubmessageHeader subheader_;
     fastcdr::FastBuffer fastbuffer_;
     fastcdr::Cdr deserializer_;
+    bool valid_xrce_message_ = false;
 };
 
 inline bool InputMessage::prepare_next_submessage()
@@ -114,8 +120,15 @@ inline size_t InputMessage::count_submessages()
         local_deserializer.jump((4 - ((local_deserializer.getCurrentPosition() - local_deserializer.getBufferPointer()) & 3)) & 3);
         if (fastbuffer_.getBufferSize() > local_deserializer.getSerializedDataLength())
         {
-            local_subheader.deserialize(local_deserializer);
-            count++;
+            try
+            {
+                local_subheader.deserialize(local_deserializer);
+                count++;
+            }
+            catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
+            {
+                rv = false;
+            }
         } else {
             rv = false;
         }
diff --git a/include/uxr/agent/middleware/Middleware.hpp b/include/uxr/agent/middleware/Middleware.hpp
index b6e800250..d3b89786e 100644
--- a/include/uxr/agent/middleware/Middleware.hpp
+++ b/include/uxr/agent/middleware/Middleware.hpp
@@ -25,6 +25,9 @@
 #include <functional>
 #include <chrono>
 
+#define UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF (255)
+#define UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV (255)
+
 namespace eprosima {
 namespace uxr {
 
@@ -296,7 +299,7 @@ class Middleware
 /**********************************************************************************************************************
  * Members.
  **********************************************************************************************************************/
-protected: 
+protected:
     bool intraprocess_enabled_;
 };
 
diff --git a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
index a1ae2f497..e69519378 100644
--- a/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
+++ b/include/uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp
@@ -284,6 +284,9 @@ class FastDDSMiddleware : public Middleware
         std::shared_ptr<FastDDSParticipant>& participant,
         const fastrtps::ReplierAttributes& attrs);
 
+    int16_t get_domain_id_from_env();
+
+    int16_t agent_domain_id_ = 0;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSParticipant>> participants_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSTopic>> topics_;
     std::unordered_map<uint16_t, std::shared_ptr<FastDDSPublisher>> publishers_;
diff --git a/src/cpp/middleware/fast/FastMiddleware.cpp b/src/cpp/middleware/fast/FastMiddleware.cpp
index d80ac4b7b..e8c4afd0a 100644
--- a/src/cpp/middleware/fast/FastMiddleware.cpp
+++ b/src/cpp/middleware/fast/FastMiddleware.cpp
@@ -49,7 +49,9 @@ bool FastMiddleware::create_participant_by_ref(
     fastrtps::ParticipantAttributes attrs;
     if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
     {
-        attrs.domainId = uint32_t(domain_id);
+        if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
+            attrs.domainId = domain_id;
+        }
         fastrtps::Participant* impl = fastrtps::Domain::createParticipant(attrs, &listener_);
         if (nullptr != impl)
         {
@@ -773,7 +775,9 @@ bool FastMiddleware::matched_participant_from_ref(
         fastrtps::ParticipantAttributes attrs;
         if (XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
         {
-            attrs.domainId = uint32_t(domain_id);
+            if(domain_id != UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF) {
+                attrs.domainId = domain_id;
+            }
             rv = it->second->match(attrs);
         }
     }
diff --git a/src/cpp/middleware/fastdds/FastDDSEntities.cpp b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
index 0de43aff0..b953f4856 100644
--- a/src/cpp/middleware/fastdds/FastDDSEntities.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
@@ -427,7 +427,7 @@ bool FastDDSParticipant::match_from_ref(
         {
             fastdds::dds::DomainParticipantQos qos;
             set_qos_from_attributes(qos, attrs.rtps);
-            rv = (ptr_->get_qos() == qos);
+            rv = (ptr_->get_qos().name() == qos.name());
         }
     }
     return rv;
@@ -444,7 +444,7 @@ bool FastDDSParticipant::match_from_xml(
         {
             fastdds::dds::DomainParticipantQos qos;
             set_qos_from_attributes(qos, attrs.rtps);
-            rv = (ptr_->get_qos() == qos);
+            rv = (ptr_->get_qos().name() == qos.name());
         }
     }
     return rv;
@@ -458,7 +458,7 @@ bool FastDDSParticipant::match_from_bin(
     {
         fastdds::dds::DomainParticipantQos qos;
         set_qos_from_xrce_object(qos, participant_xrce);
-        rv = (ptr_->get_qos() == qos);
+        rv = (ptr_->get_qos().name() == qos.name());
     }
     return rv;
 }
@@ -524,7 +524,7 @@ ReturnCode_t FastDDSParticipant::delete_publisher(
                     return ret;
                 }
             }
-        }       
+        }
     }
 
     return ptr_->delete_publisher(publisher);
@@ -567,7 +567,7 @@ ReturnCode_t FastDDSParticipant::delete_subscriber(
                     return ret;
                 }
             }
-        }       
+        }
     }
 
     return ptr_->delete_subscriber(subscriber);
@@ -1225,8 +1225,8 @@ bool FastDDSRequester::match(const fastrtps::RequesterAttributes& attrs) const
     fastdds::dds::SubscriberQos qos_subscriber;
     set_qos_from_attributes(qos_subscriber, attrs.subscriber);
 
-    return reply_topic_->match(attrs.publisher.topic)
-        && request_topic_->match(attrs.subscriber.topic)
+    return reply_topic_->match(attrs.subscriber.topic)
+        && request_topic_->match(attrs.publisher.topic)
         && publisher_ptr_->get_qos() == qos_publisher
         && subscriber_ptr_->get_qos() == qos_subscriber;
 }
diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
index 6e958b9f6..ab6259c09 100644
--- a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -14,6 +14,7 @@
 
 #include <uxr/agent/middleware/fastdds/FastDDSMiddleware.hpp>
 #include <uxr/agent/utils/Conversion.hpp>
+#include <uxr/agent/logger/Logger.hpp>
 
 #include <fastrtps/xmlparser/XMLProfileManager.h>
 #include <fastdds/dds/subscriber/SampleInfo.hpp>
@@ -51,6 +52,14 @@ FastDDSMiddleware::FastDDSMiddleware(bool intraprocess_enabled)
     , repliers_()
     , callback_factory_(callback_factory_.getInstance())
 {
+    agent_domain_id_ = get_domain_id_from_env();
+    if (agent_domain_id_)
+    {
+        UXR_AGENT_LOG_INFO(
+                UXR_DECORATE_GREEN("Micro XRCE-DDS Agent DOMAIN_ID read from env"),
+                "domain_id: {}", agent_domain_id_);
+    }
+
 }
 
 /**********************************************************************************************************************
@@ -62,7 +71,13 @@ bool FastDDSMiddleware::create_participant_by_ref(
         const std::string& ref)
 {
     bool rv = false;
-    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(domain_id));
+    fastrtps::ParticipantAttributes attrs;
+    auto participant_domain_id = domain_id;
+    if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+    {
+        participant_domain_id = static_cast<int16_t>(attrs.domainId);
+    }
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
     if (participant->create_by_ref(ref))
     {
         auto emplace_res = participants_.emplace(participant_id, std::move(participant));
@@ -102,8 +117,17 @@ bool FastDDSMiddleware::create_participant_by_bin(
         uint16_t participant_id,
         const dds::xrce::OBJK_DomainParticipant_Binary& participant_xrce)
 {
+    auto participant_domain_id = static_cast<int16_t>(participant_xrce.domain_id());
+    if(participant_domain_id == UXR_CLIENT_DOMAIN_ID_TO_OVERRIDE_WITH_ENV){
+        participant_domain_id = agent_domain_id_;
+        UXR_AGENT_LOG_WARN(
+                UXR_DECORATE_YELLOW("Overriding Micro XRCE-DDS Client DOMAIN_ID"),
+                "domain_id: {}", participant_domain_id
+        );
+    }
+
     bool rv = false;
-    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant((int16_t) participant_xrce.domain_id()));
+    std::shared_ptr<FastDDSParticipant> participant(new FastDDSParticipant(participant_domain_id));
     if (participant->create_by_bin(participant_xrce))
     {
         auto emplace_res = participants_.emplace(participant_id, std::move(participant));
@@ -568,6 +592,7 @@ bool FastDDSMiddleware::create_requester_by_bin(
 
         attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
         attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
         std::shared_ptr<FastDDSRequester> requester = create_requester(participant, attrs);
         if (nullptr == requester)
@@ -699,6 +724,7 @@ bool FastDDSMiddleware::create_replier_by_bin(
 
         attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
         attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
         std::shared_ptr<FastDDSReplier> replier = create_replier(participant, attrs);
         if (nullptr == replier)
@@ -984,7 +1010,13 @@ bool FastDDSMiddleware::matched_participant_from_ref(
     auto it = participants_.find(participant_id);
     if (participants_.end() != it)
     {
-        rv = (domain_id == it->second->domain_id()) && (it->second->match_from_ref(ref));
+        fastrtps::ParticipantAttributes attrs;
+        auto participant_domain_id = domain_id;
+        if(domain_id == UXR_CLIENT_DOMAIN_ID_TO_USE_FROM_REF && XMLP_ret::XML_OK == XMLProfileManager::fillParticipantAttributes(ref, attrs))
+        {
+            participant_domain_id = static_cast<int16_t>(attrs.domainId);
+        }
+        rv = (participant_domain_id== it->second->domain_id()) && (it->second->match_from_ref(ref));
     }
     return rv;
 }
@@ -1171,7 +1203,7 @@ bool FastDDSMiddleware::matched_requester_from_xml(
     auto it = requesters_.find(requester_id);
     if (requesters_.end() != it)
     {
-        rv = it->second->match_from_ref(xml);
+        rv = it->second->match_from_xml(xml);
     }
     return rv;
 }
@@ -1210,7 +1242,7 @@ bool FastDDSMiddleware::matched_replier_from_xml(
     auto it = repliers_.find(requester_id);
     if (repliers_.end() != it)
     {
-        rv = it->second->match_from_ref(xml);
+        rv = it->second->match_from_xml(xml);
     }
     return rv;
 }
@@ -1228,5 +1260,15 @@ bool FastDDSMiddleware::matched_replier_from_bin(
     return rv;
 }
 
+int16_t FastDDSMiddleware::get_domain_id_from_env(){
+    int16_t agent_domain_id = 0;
+    const char * agent_domain_id_env = std::getenv( "XRCE_DOMAIN_ID_OVERRIDE" );
+    if (nullptr != agent_domain_id_env)
+    {
+        agent_domain_id = static_cast<int16_t>(std::atoi(agent_domain_id_env));
+    }
+    return agent_domain_id;
+}
+
 } // namespace uxr
 } // namespace eprosima
\ No newline at end of file
diff --git a/src/cpp/replier/Replier.cpp b/src/cpp/replier/Replier.cpp
index 69daecc63..c6010caa4 100644
--- a/src/cpp/replier/Replier.cpp
+++ b/src/cpp/replier/Replier.cpp
@@ -98,7 +98,7 @@ bool Replier::matched(
         }
         case dds::xrce::REPRESENTATION_AS_XML_STRING:
         {
-            const std::string& xml = new_object_rep.replier().representation().object_reference();
+            const std::string& xml = new_object_rep.replier().representation().xml_string_representation();
             rv = proxy_client_->get_middleware().matched_replier_from_xml(get_raw_id(), xml);
             break;
         }
diff --git a/src/cpp/requester/Requester.cpp b/src/cpp/requester/Requester.cpp
index 19b59ab1a..d747f0ed1 100644
--- a/src/cpp/requester/Requester.cpp
+++ b/src/cpp/requester/Requester.cpp
@@ -100,7 +100,7 @@ bool Requester::matched(
         }
         case dds::xrce::REPRESENTATION_AS_XML_STRING:
         {
-            const std::string& xml = new_object_rep.requester().representation().object_reference();
+            const std::string& xml = new_object_rep.requester().representation().xml_string_representation();
             rv = proxy_client_->get_middleware().matched_requester_from_xml(get_raw_id(), xml);
             break;
         }
diff --git a/src/cpp/transport/Server.cpp b/src/cpp/transport/Server.cpp
index b07b3c50e..f9b2a3149 100644
--- a/src/cpp/transport/Server.cpp
+++ b/src/cpp/transport/Server.cpp
@@ -192,7 +192,7 @@ void Server<EndPoint>::receiver_loop()
         TransportRc transport_rc = TransportRc::ok;
         if (recv_message(input_packet, RECEIVE_TIMEOUT, transport_rc))
         {
-            if(dds::xrce::HEARTBEAT == input_packet.message->get_submessage_id() && 1U == input_packet.message->count_submessages()){
+            if(input_packet.message->is_valid_xrce_message() && 1U == input_packet.message->count_submessages() && dds::xrce::HEARTBEAT == input_packet.message->get_submessage_id()){
                 input_scheduler_.push(std::move(input_packet), 1);
             }
             else
diff --git a/test/unittest/agent/AgentUnitTests.cpp b/test/unittest/agent/AgentUnitTests.cpp
index 9c93e261f..a21dc632a 100644
--- a/test/unittest/agent/AgentUnitTests.cpp
+++ b/test/unittest/agent/AgentUnitTests.cpp
@@ -1077,7 +1077,13 @@ TEST_P(AgentUnitTests, RegisterCallbackFunctions)
 
 // TODO (pablogs): Add tests for binary entity creation
 
-INSTANTIATE_TEST_CASE_P(AgentUnitTestsParams,
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(AgentUnitTestsParams,
                         AgentUnitTests,
                         ::testing::Values(Middleware::Kind::FASTRTPS,Middleware::Kind::FASTDDS));