diff --git a/Docs/adv_cpp_client.md b/Docs/adv_cpp_client.md
index 27bf8e673b6..c035b400289 100644
--- a/Docs/adv_cpp_client.md
+++ b/Docs/adv_cpp_client.md
@@ -133,3 +133,4 @@ BINDIR=$(CURDIR)/bin
 INSTALLDIR=$(CURDIR)/libcarla-install
 TOOLCHAIN=$(CURDIR)/ToolChain.cmake
 ```
+
diff --git a/LibCarla/cmake/fast_dds/CMakeLists.txt b/LibCarla/cmake/fast_dds/CMakeLists.txt
index 9f2bd03785b..843b391e18d 100644
--- a/LibCarla/cmake/fast_dds/CMakeLists.txt
+++ b/LibCarla/cmake/fast_dds/CMakeLists.txt
@@ -11,7 +11,7 @@ file(GLOB libcarla_carla_fastdds_headers
   )
 install(FILES ${libcarla_carla_fastdds_headers} DESTINATION include/carla/ros2)
 
-file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.so*")
+file(GLOB fast_dds_dependencies "${FASTDDS_LIB_PATH}/*.a")
 install(FILES ${fast_dds_dependencies} DESTINATION lib)
 
 
@@ -21,9 +21,6 @@ file(GLOB libcarla_fastdds_sources
   "${libcarla_source_path}/carla/ros2/listeners/*.cpp"
   "${libcarla_source_path}/carla/ros2/types/*.cpp")
 
-set(FASTDDS_CPP_STD_INCLUDES "/usr/include/c++/7")
-set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CPP_STD_INCLUDES}" CACHE STRING "" FORCE)
-
 # ==============================================================================
 # Create targets for debug and release in the same build type.
 # ==============================================================================
@@ -31,6 +28,8 @@ set(CMAKE_CXX_FLAGS_RELEASE "-O3 -fPIC -D_GLIBCXX_USE_CXX11_ABI=0 -I${FASTDDS_CP
 if (LIBCARLA_BUILD_RELEASE)
   add_library(carla_fastdds STATIC ${libcarla_fastdds_sources})
 
+  target_compile_options(carla_fastdds PRIVATE -fexceptions)
+
   target_include_directories(carla_fastdds SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
       "${RPCLIB_INCLUDE_PATH}")
@@ -46,7 +45,10 @@ endif()
 if (LIBCARLA_BUILD_DEBUG)
 
   add_library(carla_fastdds_debug STATIC ${libcarla_fastdds_sources})
- target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
+
+  target_compile_options(carla_fastdds_debug PRIVATE -fexceptions)
+
+  target_include_directories(carla_fastdds_debug SYSTEM PRIVATE
       "${BOOST_INCLUDE_PATH}"
       "${RPCLIB_INCLUDE_PATH}")
   install(TARGETS carla_fastdds_debug DESTINATION lib)
diff --git a/LibCarla/source/carla/ros2/listeners/CarlaListener.cpp b/LibCarla/source/carla/ros2/listeners/CarlaListener.cpp
index 4dd7dbaa10b..10d7bff032b 100644
--- a/LibCarla/source/carla/ros2/listeners/CarlaListener.cpp
+++ b/LibCarla/source/carla/ros2/listeners/CarlaListener.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaListener.h"
 #include <iostream>
 
diff --git a/LibCarla/source/carla/ros2/listeners/CarlaListener.h b/LibCarla/source/carla/ros2/listeners/CarlaListener.h
index b1e1f25547b..1be3fa50ea2 100644
--- a/LibCarla/source/carla/ros2/listeners/CarlaListener.h
+++ b/LibCarla/source/carla/ros2/listeners/CarlaListener.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp b/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp
index da95acab2f2..7ad24825fe5 100644
--- a/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp
+++ b/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaSubscriberListener.h"
 #include <iostream>
 
diff --git a/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h b/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h
index 5df14437bcd..8bfd03d05fa 100644
--- a/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h
+++ b/LibCarla/source/carla/ros2/listeners/CarlaSubscriberListener.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp
index b59e1f38d19..76983d5e61f 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaClockPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h
index 5ebcf1f060f..2c5b2140992 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaClockPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp
index 2df478c6089..913e9cf8e2c 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaCollisionPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h
index afe7da7479b..2b764b0d94b 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaCollisionPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp
index 174df73e2af..ad39e49a1b4 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaDVSCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h
index f5878a4dae9..213716d1989 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaDVSCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp
index 895fab63cba..01d002bb1df 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaDepthCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h
index 6ebd110856a..0e70460d327 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaDepthCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp
index fc0762d111c..d77515dd41a 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaGNSSPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h
index e40ebafb1bf..6ef6173345b 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaGNSSPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
index b7c305eb39c..92b9807fb31 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaIMUPublisher.h"
 
 #include <string>
@@ -175,7 +173,7 @@ namespace ros2 {
     geometry_msgs::msg::Quaternion orientation;
 
     const float rx = 0.0f;                           // pitch
-    const float ry = (M_PIf32 / 2.0f) - compass;     // yaw
+    const float ry = (float(M_PI_2) / 2.0f) - compass;     // yaw
     const float rz = 0.0f;                           // roll
 
     const float cr = cosf(rz * 0.5f);
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h
index bb2fcd41fca..2feb341be69 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaIMUPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp
index 6c582a302de..78570e0a69d 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaISCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h
index 5aff7bed0c0..7b310113de4 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaISCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp
index 4a8c5d53a36..be25f2a99df 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaLidarPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h
index 1ea49c6e00f..fb27b1a67ec 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaLidarPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp
index ce906048c53..672cd48e447 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaLineInvasionPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h
index f9f8ce239a7..c121a936424 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaLineInvasionPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp
index 536576f94e6..d8759b62ddc 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaMapSensorPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h
index d9b63c567e9..b0bb6dc28ee 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaMapSensorPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp
index 94dabce727b..4b2fce968a7 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaNormalsCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h
index 696ee3e01ae..d05d4dc2103 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaNormalsCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp
index afa2e125c10..f3095b3b0be 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaOpticalFlowCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h
index 7ebe5942634..17124ae4a56 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaOpticalFlowCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaPublisher.h
index d3533b0dc5c..3a9a9ddf8e7 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <string>
 
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp
index 36a6d7ad14c..1ca42f567aa 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaRGBCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h
index bd00d95a2bf..ca1a1c7e1f7 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaRGBCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp
index 5ef6fd3e95b..7b653b36ba5 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaRadarPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h
index 21418ec6e89..27133b02777 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaRadarPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp
index b096a6b80d8..23cb56852c9 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaSSCameraPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h
index a31912d90d5..a8b152b51d3 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSSCameraPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp
index 2a64776d0e0..827665643d2 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaSemanticLidarPublisher.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h
index 4923e282d27..a2c27a20423 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSemanticLidarPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp b/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp
index 042e1dcfc7c..02759470d39 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaSpeedometerSensor.h"
 
 #include <string>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h b/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h
index 90cb74f819e..84c0c996882 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaSpeedometerSensor.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
index caf9d5339d5..c00248b8e64 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
+++ b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaTransformPublisher.h"
 
 #include <string>
@@ -161,9 +159,9 @@ namespace ros2 {
         const float ty = *translation++;
         const float tz = *translation++;
 
-        const float rx = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
-        const float ry = ((*rotation++) * -1.0f) * (M_PIf32 / 180.0f);
-        const float rz = *rotation++ * (M_PIf32 / 180.0f);
+        const float rx = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
+        const float ry = ((*rotation++) * -1.0f) * (float(M_PI_2) / 180.0f);
+        const float rz = *rotation++ * (float(M_PI_2) / 180.0f);
 
         const float cr = cosf(rz * 0.5f);
         const float sr = sinf(rz * 0.5f);
diff --git a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h
index 132cc0370ce..e8ae06c8bb7 100644
--- a/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h
+++ b/LibCarla/source/carla/ros2/publishers/CarlaTransformPublisher.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
index 4a31b7e7046..0089336e07c 100644
--- a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
+++ b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.cpp
@@ -1,5 +1,3 @@
-#define _GLIBCXX_USE_CXX11_ABI 0
-
 #include "CarlaEgoVehicleControlSubscriber.h"
 
 #include "carla/ros2/types/CarlaEgoVehicleControl.h"
diff --git a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
index 9962443226d..22b523cc189 100644
--- a/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
+++ b/LibCarla/source/carla/ros2/subscribers/CarlaEgoVehicleControlSubscriber.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <memory>
 #include <vector>
diff --git a/LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h b/LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h
index f8f909f1c37..09f3eced562 100644
--- a/LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h
+++ b/LibCarla/source/carla/ros2/subscribers/CarlaSubscriber.h
@@ -3,7 +3,6 @@
 // For a copy, see <https://opensource.org/licenses/MIT>.
 
 #pragma once
-#define _GLIBCXX_USE_CXX11_ABI 0
 
 #include <string>
 
diff --git a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
index f74e9dbbc14..6578edc6635 100644
--- a/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
+++ b/Unreal/CarlaUE4/Plugins/Carla/Source/Carla/Carla.Build.cs
@@ -322,11 +322,9 @@ private void AddCarlaServerDependency(ReadOnlyTargetRules Target)
       {
         PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", GetLibName("carla_fastdds")));
 
-        string LibFastDDSPath = LibCarlaInstallPath;
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfoonathan_memory-0.7.3.so"));
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastcdr.so"));
-        AddDynamicLibrary(Path.Combine(LibFastDDSPath, "lib", "libfastrtps.so"));
-        PublicAdditionalLibraries.Add("stdc++");
+        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libfoonathan_memory-0.7.3.a"));
+        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libfastcdr.a"));
+        PublicAdditionalLibraries.Add(Path.Combine(LibCarlaInstallPath, "lib", "libfastrtps.a"));
       }
 
 
diff --git a/Util/BuildTools/BuildCarlaUE4.sh b/Util/BuildTools/BuildCarlaUE4.sh
index 4db570edb15..b7315435070 100755
--- a/Util/BuildTools/BuildCarlaUE4.sh
+++ b/Util/BuildTools/BuildCarlaUE4.sh
@@ -128,9 +128,7 @@ if ${REMOVE_INTERMEDIATE} ; then
 
   rm -Rf ${UE4_INTERMEDIATE_FOLDERS}
 
-  cd Plugins
-  rm -Rf HoudiniEngine
-  cd ..
+  rm -Rf Plugins/HoudiniEngine
 
   popd >/dev/null
 
diff --git a/Util/BuildTools/BuildLibCarla.sh b/Util/BuildTools/BuildLibCarla.sh
index c9e2f13a009..aef81583e5c 100755
--- a/Util/BuildTools/BuildLibCarla.sh
+++ b/Util/BuildTools/BuildLibCarla.sh
@@ -138,7 +138,7 @@ function build_libcarla {
     M_BUILD_FOLDER=${LIBCARLA_BUILD_PYTORCH_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
   elif [ $1 == ros2 ] ; then
-    M_TOOLCHAIN=${LIBSTDCPP_TOOLCHAIN_FILE}
+    M_TOOLCHAIN=${LIBCPP_TOOLCHAIN_FILE}
     M_BUILD_FOLDER=${LIBCARLA_FASTDDS_FOLDER}.$(echo "$2" | tr '[:upper:]' '[:lower:]')
     M_INSTALL_FOLDER=${LIBCARLA_INSTALL_SERVER_FOLDER}
   elif [ $1 == ClientRSS ] ; then
diff --git a/Util/BuildTools/Setup.sh b/Util/BuildTools/Setup.sh
index 64774d01718..788d4058f75 100755
--- a/Util/BuildTools/Setup.sh
+++ b/Util/BuildTools/Setup.sh
@@ -63,6 +63,51 @@ LLVM_INCLUDE="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/include/c++/v1"
 LLVM_LIBPATH="$UE4_ROOT/Engine/Source/ThirdParty/Linux/LibCxx/lib/Linux/x86_64-unknown-linux-gnu"
 UNREAL_HOSTED_CFLAGS="--sysroot=$UE4_ROOT/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/"
 
+# ==============================================================================
+# -- Generate CMake toolchains -------------------------------------------------
+# ==============================================================================
+
+log "Generating CMake configuration files."
+
+# -- LIBSTDCPP_TOOLCHAIN_FILE --------------------------------------------------
+
+cat >${LIBSTDCPP_TOOLCHAIN_FILE}.gen <<EOL
+# Automatically generated by `basename "$0"`
+
+set(CMAKE_C_COMPILER ${CC})
+set(CMAKE_CXX_COMPILER ${CXX})
+
+# disable -Werror since the boost 1.72 doesn't compile with ad_rss without warnings (i.e. the geometry headers)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wpessimizing-move -Wold-style-cast -Wnull-dereference" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wconversion -Wfloat-overflow-conversion" CACHE STRING "" FORCE)
+
+# @todo These flags need to be compatible with setup.py compilation.
+set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY" CACHE STRING "" FORCE)
+EOL
+
+# -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------
+
+# We can reuse the previous toolchain.
+cp ${LIBSTDCPP_TOOLCHAIN_FILE}.gen ${LIBCPP_TOOLCHAIN_FILE}.gen
+
+cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
+
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -isystem ${LLVM_INCLUDE} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
+set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions" CACHE STRING "" FORCE)
+set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
+set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
+EOL
+
+# -- Move files ----------------------------------------------------------------
+
+move_if_changed "${LIBSTDCPP_TOOLCHAIN_FILE}.gen" "${LIBSTDCPP_TOOLCHAIN_FILE}"
+move_if_changed "${LIBCPP_TOOLCHAIN_FILE}.gen" "${LIBCPP_TOOLCHAIN_FILE}"
+
 # ==============================================================================
 # -- Get boost includes --------------------------------------------------------
 # ==============================================================================
@@ -899,33 +944,27 @@ FASTDDS_INSTALL_DIR=${PWD}/${FASTDDS_BASENAME}-install
 FASTDDS_INCLUDE=${FASTDDS_INSTALL_DIR}/include
 FASTDDS_LIB=${FASTDDS_INSTALL_DIR}/lib
 if ${USE_ROS2} ; then
-  function build_fastdds_extension {
-    LIB_SOURCE=$1
-    LIB_REPO=$2
-    LIB_BRANCH=$3
-    if [[ ! -d ${LIB_SOURCE} ]] ; then
-      mkdir -p ${LIB_SOURCE}
-      log "${LIB_REPO}"
-      start=$(date +%s)
-      git clone --depth 1 --branch ${LIB_BRANCH} ${LIB_REPO} ${LIB_SOURCE}
-      end=$(date +%s)
-      echo "Elapsed Time dowloading fastdds extension: $(($end-$start)) seconds"
-      mkdir -p ${LIB_SOURCE}/build
-    fi
-  }
-  if [[ ! -d ${FASTDDS_INSTALL_DIR} ]] ; then
+
+  if [[ -d ${FASTDDS_INSTALL_DIR} ]] ; then
+    log "FastDDS already installed."
+  else
     mkdir -p ${FASTDDS_INSTALL_DIR}
-    log "Build foonathan memory vendor"
+
+    # foonathan library is not added as a submodule in the fast dds repository so we neet to handle it ourselves.
+    log "Building foonathan memory vendor"
     FOONATHAN_MEMORY_VENDOR_BASENAME=foonathan-memory-vendor
     FOONATHAN_MEMORY_VENDOR_SOURCE_DIR=${PWD}/${FOONATHAN_MEMORY_VENDOR_BASENAME}-source
     FOONATHAN_MEMORY_VENDOR_REPO="https://github.com/eProsima/foonathan_memory_vendor.git"
     FOONATHAN_MEMORY_VENDOR_BRANCH=master
-    build_fastdds_extension ${FOONATHAN_MEMORY_VENDOR_SOURCE_DIR} "${FOONATHAN_MEMORY_VENDOR_REPO}" "${FOONATHAN_MEMORY_VENDOR_BRANCH}"
+
+    git clone --depth 1 --branch ${FOONATHAN_MEMORY_VENDOR_BRANCH} ${FOONATHAN_MEMORY_VENDOR_REPO} ${FOONATHAN_MEMORY_VENDOR_SOURCE_DIR}
+
+    mkdir -p ${FOONATHAN_MEMORY_VENDOR_SOURCE_DIR}/build
     pushd ${FOONATHAN_MEMORY_VENDOR_SOURCE_DIR}/build >/dev/null
     cmake -G "Ninja" \
       -DCMAKE_INSTALL_PREFIX="${FASTDDS_INSTALL_DIR}" \
-      -DBUILD_SHARED_LIBS=ON \
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" \
+      -DCMAKE_TOOLCHAIN_FILE=${LIBCPP_TOOLCHAIN_FILE} \
+      -DBUILD_SHARED_LIBS=OFF \
       -DFOONATHAN_MEMORY_FORCE_VENDORED_BUILD=ON \
       ..
     ninja
@@ -933,35 +972,51 @@ if ${USE_ROS2} ; then
     popd >/dev/null
     rm -Rf ${FOONATHAN_MEMORY_VENDOR_SOURCE_DIR}
 
-    log "Build fast cdr"
-    FAST_CDR_BASENAME=fast-cdr
-    FAST_CDR_SOURCE_DIR=${PWD}/${FAST_CDR_BASENAME}-source
-    FAST_CDR_REPO="https://github.com/eProsima/Fast-CDR.git"
-    FAST_CDR_BRANCH=1.1.x
-    build_fastdds_extension ${FAST_CDR_SOURCE_DIR} "${FAST_CDR_REPO}" "${FAST_CDR_BRANCH}"
-    pushd ${FAST_CDR_SOURCE_DIR}/build >/dev/null
-    cmake -G "Ninja" \
-      -DCMAKE_INSTALL_PREFIX="${FASTDDS_INSTALL_DIR}" \
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" \
-      ..
-    ninja
-    ninja install
-    popd >/dev/null
-    rm -Rf ${FAST_CDR_SOURCE_DIR}
-
-    log "Build fast dds"
+    log "Building fastdds"
     FAST_DDS_LIB_BASENAME=fast-dds-lib
     FAST_DDS_LIB_SOURCE_DIR=${PWD}/${FAST_DDS_LIB_BASENAME}-source
     FAST_DDS_LIB_REPO="https://github.com/eProsima/Fast-DDS.git"
-    FAST_DDS_LIB_BRANCH=2.11.2
-    build_fastdds_extension ${FAST_DDS_LIB_SOURCE_DIR} "${FAST_DDS_LIB_REPO}" "${FAST_DDS_LIB_BRANCH}"
+    FAST_DDS_LIB_BRANCH=v2.11.2
+    
+    git clone --recurse-submodules --depth 1 --branch ${FAST_DDS_LIB_BRANCH} ${FAST_DDS_LIB_REPO} ${FAST_DDS_LIB_SOURCE_DIR}
+
+    # copy OpenSSL from UE4
+    cp -r ${UE4_ROOT}/Engine/Source/ThirdParty/OpenSSL/1.1.1c/include/Linux/x86_64-unknown-linux-gnu/* ${FASTDDS_INCLUDE}
+    cp -r ${UE4_ROOT}/Engine/Source/ThirdParty/OpenSSL/1.1.1c/lib/Linux/x86_64-unknown-linux-gnu/* ${FASTDDS_LIB}
+
+    # copy libatomic from UE4
+    # cp -r ${UE4_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/include/c++/4.8.5/atomic ${FASTDDS_INCLUDE}
+    # cp -r ${UE4_ROOT}/Engine/Extras/ThirdPartyNotUE/SDKs/HostLinux/Linux_x64/v17_clang-10.0.1-centos7/x86_64-unknown-linux-gnu/lib64/libatomic* ${FASTDDS_LIB}
+
+    # we have to tweak the sources a bit to be able to compile with our boost version and without exceptions
+    if [[ -e ${FAST_DDS_LIB_SOURCE_DIR}/thirdparty/boost/include/boost ]]; then
+      # remove their boost includes, but keep their entry point
+      rm -rf ${FAST_DDS_LIB_SOURCE_DIR}/thirdparty/boost/include/boost
+      # ensure the find boost compiles without exceptions
+      sed -i s/"CXX_STANDARD 11"/"CXX_STANDARD 11\n         COMPILE_DEFINITIONS \"-DBOOST_NO_EXCEPTIONS\""/ ${FAST_DDS_LIB_SOURCE_DIR}/cmake/modules/FindThirdpartyBoost.cmake
+      sed -i s/"class ThirdpartyBoostCompileTest"/"#ifdef BOOST_NO_EXCEPTIONS\nnamespace boost {void throw_exception(std::exception const \& e) {}}\n#endif\nclass ThirdpartyBoostCompileTest"/ ${FAST_DDS_LIB_SOURCE_DIR}/thirdparty/boost/test/ThirdpartyBoostCompile_test.cpp
+    fi
+
+    mkdir -p ${FAST_DDS_LIB_SOURCE_DIR}/build
     pushd ${FAST_DDS_LIB_SOURCE_DIR}/build >/dev/null
+    # removed -DASIO_NO_EXCEPTIONS as fastdds makes usage of them.
     cmake -G "Ninja" \
       -DCMAKE_INSTALL_PREFIX="${FASTDDS_INSTALL_DIR}" \
-      -DCMAKE_CXX_FLAGS=-latomic \
-      -DCMAKE_CXX_FLAGS_RELEASE="-D_GLIBCXX_USE_CXX11_ABI=0" \
+      -DFORCE_CXX="14" \
+      -DCMAKE_CXX_FLAGS="-fPIC -std=c++14 -stdlib=libc++ -I${LLVM_INCLUDE} -Wl,-L${LLVM_LIBPATH} -DBOOST_NO_EXCEPTIONS ${UNREAL_HOSTED_CFLAGS}" \
+      -DBUILD_SHARED_LIBS=OFF \
+      -DBUILD_TESTING=OFF \
+      -DCOMPILE_EXAMPLES=OFF \
+      -DCOMPILE_TOOLS=OFF \
       -DTHIRDPARTY_Asio=FORCE \
+      -DTHIRDPARTY_fastcdr=FORCE \
       -DTHIRDPARTY_TinyXML2=FORCE \
+      -DSQLITE3_SUPPORT=OFF \
+      -DOPENSSL_FOUND:BOOL=ON \
+      -DOPENSSL_INCLUDE_DIR:FILEPATH=${FASTDDS_INCLUDE} \
+      -DOPENSSL_SSL_LIBRARY:FILEPATH=${FASTDDS_LIB}/libssl.a \
+      -DOPENSSL_CRYPTO_LIBRARY:FILEPATH=${FASTDDS_LIB}/libcrypto.a \
+      -DTHIRDPARTY_BOOST_INCLUDE_DIR="${BOOST_INCLUDE};${FAST_DDS_LIB_SOURCE_DIR}/thirdparty/boost/include" \
       ..
     ninja
     ninja install
@@ -969,7 +1024,8 @@ if ${USE_ROS2} ; then
     rm -Rf ${FAST_DDS_LIB_SOURCE_DIR}
 
     mkdir -p ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
-    cp -p ${FASTDDS_LIB}/*.so* ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+    cp -p ${FASTDDS_LIB}/*.a ${LIBCARLA_INSTALL_SERVER_FOLDER}/lib/
+    cp -p -r ${FASTDDS_INCLUDE}/* ${LIBCARLA_INSTALL_SERVER_FOLDER}/include/
   fi
 fi
 
@@ -989,47 +1045,9 @@ sed -e "s|\${CARLA_VERSION}|${CARLA_VERSION}|g" ${VERSION_H_FILE}.in > ${VERSION
 move_if_changed "${VERSION_H_FILE_GEN}" "${VERSION_H_FILE}"
 
 # ==============================================================================
-# -- Generate CMake toolchains and config --------------------------------------
+# -- Generate CMake config -----------------------------------------------------
 # ==============================================================================
 
-log "Generating CMake configuration files."
-
-# -- LIBSTDCPP_TOOLCHAIN_FILE --------------------------------------------------
-
-cat >${LIBSTDCPP_TOOLCHAIN_FILE}.gen <<EOL
-# Automatically generated by `basename "$0"`
-
-set(CMAKE_C_COMPILER ${CC})
-set(CMAKE_CXX_COMPILER ${CXX})
-
-# disable -Werror since the boost 1.72 doesn't compile with ad_rss without warnings (i.e. the geometry headers)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -std=c++14 -pthread -fPIC" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wdeprecated -Wshadow -Wuninitialized -Wunreachable-code" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wpessimizing-move -Wold-style-cast -Wnull-dereference" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wduplicate-enum -Wnon-virtual-dtor -Wheader-hygiene" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -Wconversion -Wfloat-overflow-conversion" CACHE STRING "" FORCE)
-
-# @todo These flags need to be compatible with setup.py compilation.
-set(CMAKE_CXX_FLAGS_RELEASE_CLIENT "\${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -g -fwrapv -O2 -Wall -Wstrict-prototypes -fno-strict-aliasing -Wdate-time -D_FORTIFY_SOURCE=2 -g -fstack-protector-strong -Wformat -Werror=format-security -fPIC -std=c++14 -Wno-missing-braces -DBOOST_ERROR_CODE_HEADER_ONLY" CACHE STRING "" FORCE)
-EOL
-
-# -- LIBCPP_TOOLCHAIN_FILE -----------------------------------------------------
-
-# We can reuse the previous toolchain.
-cp ${LIBSTDCPP_TOOLCHAIN_FILE}.gen ${LIBCPP_TOOLCHAIN_FILE}.gen
-
-cat >>${LIBCPP_TOOLCHAIN_FILE}.gen <<EOL
-
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -stdlib=libc++" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -isystem ${LLVM_INCLUDE} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
-set(CMAKE_CXX_FLAGS "\${CMAKE_CXX_FLAGS} -fno-exceptions" CACHE STRING "" FORCE)
-set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -L${LLVM_LIBPATH} ${UNREAL_HOSTED_CFLAGS}" CACHE STRING "" FORCE)
-set(CMAKE_CXX_LINK_FLAGS "\${CMAKE_CXX_LINK_FLAGS} -lc++ -lc++abi" CACHE STRING "" FORCE)
-EOL
-
-# -- CMAKE_CONFIG_FILE ---------------------------------------------------------
-
 cat >${CMAKE_CONFIG_FILE}.gen <<EOL
 # Automatically generated by `basename "$0"`
 
@@ -1091,10 +1109,6 @@ else
   echo "add_definitions(-DLIBCARLA_IMAGE_WITH_PNG_SUPPORT=true)" >> ${CMAKE_CONFIG_FILE}.gen
 fi
 
-# -- Move files ----------------------------------------------------------------
-
-move_if_changed "${LIBSTDCPP_TOOLCHAIN_FILE}.gen" "${LIBSTDCPP_TOOLCHAIN_FILE}"
-move_if_changed "${LIBCPP_TOOLCHAIN_FILE}.gen" "${LIBCPP_TOOLCHAIN_FILE}"
 move_if_changed "${CMAKE_CONFIG_FILE}.gen" "${CMAKE_CONFIG_FILE}"
 
 # ==============================================================================