diff --git a/test/examples/CMakeLists.txt b/test/examples/CMakeLists.txt
index 6116dbe936..b8f7099a6d 100644
--- a/test/examples/CMakeLists.txt
+++ b/test/examples/CMakeLists.txt
@@ -28,6 +28,21 @@ set(SHELL_EXECUTABLE "")
 set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "")
 set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH "")
 
+# Configure TinyXML2 library path if installed in user library path
+if(NOT (TINYXML2_FROM_SOURCE OR TINYXML2_FROM_THIRDPARTY))
+    message(STATUS "TINYXML2_LIBRARY " ${TINYXML2_LIBRARY})
+    file(GLOB TINYXML2_LIBRARY_DIRS LIST_DIRECTORIES false ${TINYXML2_LIBRARY})
+    if (TINYXML2_LIBRARY_DIRS)
+        list (GET TINYXML2_LIBRARY_DIRS 0 TINYXML2_LIBRARY_HEAD_DIR)
+        get_filename_component(TINYXML2_LIB_DIR ${TINYXML2_LIBRARY_HEAD_DIR} DIRECTORY)
+        message(STATUS "TINYXML2_LIB_DIR " ${TINYXML2_LIB_DIR})
+        set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "- ${TINYXML2_LIB_DIR}:${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds:ro")
+        set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH "${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds")
+    else()
+        message(FATAL_ERROR "Could not find a valid TinyXML 2 lirbary path.")
+    endif()
+endif()
+
 # Linux configurations
 if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
     # Find bash
@@ -39,6 +54,21 @@ if(UNIX AND NOT(APPLE) AND NOT(QNXNTO) AND NOT(ANDROID))
     set(SHELL_EXECUTABLE ${BASH_EXECUTABLE})
     set(DOCKER_IMAGE_NAME "ubuntu:22.04")
 
+    set(PROJECT_BINATY_DIR_COMPOSE_VOLUME "${PROJECT_BINARY_DIR}:${PROJECT_BINARY_DIR}")
+    set(fastcdr_LIB_DIR_COMPOSE_VOLUME "${fastcdr_LIB_DIR}:${fastcdr_LIB_DIR}")
+    set(CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME "${CMAKE_INSTALL_PREFIX}:${CMAKE_INSTALL_PREFIX}")
+
+    set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "LD_LIBRARY_PATH: ${PROJECT_BINARY_DIR}/src/cpp:${fastcdr_LIB_DIR}")
+    if (TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH)
+        set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "${PATH_ENVIRONMENT_VARIABLE_COMPOSE}:${TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH}")
+    endif()
+    set(EXAMPLE_PREFIX_DIR_COMPOSE "${PROJECT_BINARY_DIR}/examples/cpp")
+    set(EXAMPLE_SUFFIX_DIR_COMPOSE "")
+    set(FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE "${PROJECT_BINARY_DIR}/examples/cpp/")
+    set(COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE "$\${EXAMPLE_DIR}")
+    set(COMMAND_CONCATENATE_COMPOSE "&")
+    set(COMMAND_BACKGROUND_JOB_COMPOSE "")
+
 # Windows configurations
 elseif(WIN32)
     # Find pwsh
@@ -47,8 +77,8 @@ elseif(WIN32)
         message(FATAL_ERROR "pwsh not found")
     endif()
 
-    # Temporary, in the is installed here
-    set(SHELL_EXECUTABLE "C:/Program Files/PowerShell/latest/pwsh.exe")
+    set(PWSH_VERSION_DOCKER "latest")
+    set(SHELL_EXECUTABLE "C:/Program Files/PowerShell/${PWSH_VERSION_DOCKER}/pwsh.exe")
 
     set(FILE_EXTENSION ".exe")
     set(DOCKER_IMAGE_NAME "windows-testing")
@@ -60,6 +90,18 @@ elseif(WIN32)
     string(REGEX REPLACE ".:" "C:" PROJECT_BINARY_DIR_C ${PROJECT_BINARY_DIR})
     string(REGEX REPLACE ".:" "C:" fastcdr_INSTALL_DIR_C ${fastcdr_INSTALL_DIR})
 
+    set(PROJECT_BINATY_DIR_COMPOSE_VOLUME "${PROJECT_BINARY_DIR}:${PROJECT_BINARY_DIR_C}")
+    set(fastcdr_LIB_DIR_COMPOSE_VOLUME "${fastcdr_INSTALL_DIR}/bin:${fastcdr_INSTALL_DIR_C}/bin")
+    set(CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME "${CMAKE_INSTALL_PREFIX}/bin:${CMAKE_INSTALL_PREFIX_C}/bin")
+
+    set(PATH_ENVIRONMENT_VARIABLE_COMPOSE "PATH: C:/Program Files/OpenSSL-Win64;${CMAKE_INSTALL_PREFIX_C}/bin;${fastcdr_INSTALL_DIR_C}/bin;C:/Windows/System32;C:/Windows/System32/downlevel;")
+    set(EXAMPLE_PREFIX_DIR_COMPOSE "${PROJECT_BINARY_DIR_C}/examples/cpp")
+    set(EXAMPLE_SUFFIX_DIR_COMPOSE "RelWithDebInfo")
+    set(FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE "${PROJECT_BINARY_DIR_C}/examples/cpp")
+    set(COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE "& $\$Env:EXAMPLE_DIR")
+    set(COMMAND_CONCATENATE_COMPOSE "&\" \"&")
+    set(COMMAND_BACKGROUND_JOB_COMPOSE "; Receive-Job 1 -Wait")
+
     set(WIN_DOCKERFILE ${CMAKE_CURRENT_LIST_DIR}/windows/Dockerfile)
     # Generate image for testing
     add_custom_target(
@@ -77,21 +119,6 @@ else()
     message(FATAL_ERROR "Unsupported platform")
 endif()
 
-# Configure TinyXML2 library path if installed in user library path
-if(NOT (TINYXML2_FROM_SOURCE OR TINYXML2_FROM_THIRDPARTY))
-    message(STATUS "TINYXML2_LIBRARY " ${TINYXML2_LIBRARY})
-    file(GLOB TINYXML2_LIBRARY_DIRS LIST_DIRECTORIES false ${TINYXML2_LIBRARY})
-    if (TINYXML2_LIBRARY_DIRS)
-        list (GET TINYXML2_LIBRARY_DIRS 0 TINYXML2_LIBRARY_HEAD_DIR)
-        get_filename_component(TINYXML2_LIB_DIR ${TINYXML2_LIBRARY_HEAD_DIR} DIRECTORY)
-        message(STATUS "TINYXML2_LIB_DIR " ${TINYXML2_LIB_DIR})
-        set(TINYXML2_LIB_DIR_COMPOSE_VOLUME "- ${TINYXML2_LIB_DIR}:${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds:ro")
-        set(TINYXML2_LIB_DIR_COMPOSE_LD_LIBRARY_PATH ":${CMAKE_INSTALL_PREFIX}/${DATA_INSTALL_DIR}/fastdds")
-    else()
-        message(FATAL_ERROR "Could not find a valid TinyXML 2 lirbary path.")
-    endif()
-endif()
-
 # Find all pytest files for testing
 file(GLOB examples_python_tests RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/*world.py)
 
diff --git a/test/examples/hello_world.compose.yml b/test/examples/hello_world.compose.yml
index 1a724dd0f6..be66e11d6b 100644
--- a/test/examples/hello_world.compose.yml
+++ b/test/examples/hello_world.compose.yml
@@ -16,27 +16,27 @@ services:
   waitset-subscriber:
     image: @DOCKER_IMAGE_NAME@
     volumes:
-      - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR_C@
-      - @fastcdr_INSTALL_DIR@/bin:@fastcdr_INSTALL_DIR_C@/bin
-      - @CMAKE_INSTALL_PREFIX@/bin:@CMAKE_INSTALL_PREFIX_C@/bin
+      - @PROJECT_BINATY_DIR_COMPOSE_VOLUME@
+      - @fastcdr_LIB_DIR_COMPOSE_VOLUME@
+      - @CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME@
       @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
-      PATH: C:/Program Files/OpenSSL-Win64;@CMAKE_INSTALL_PREFIX_C@/bin;@fastcdr_INSTALL_DIR_C@/bin;C:/Windows/System32;C:/Windows/System32/downlevel;
-      EXAMPLE_DIR: @PROJECT_BINARY_DIR_C@/examples/cpp/hello_world/RelWithDebInfo
-      FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR_C@/examples/cpp/hello_world/hello_world_profile.xml
-    command: @SHELL_EXECUTABLE@ -c "& $$Env:EXAMPLE_DIR/hello_world@FILE_EXTENSION@ subscriber --waitset --samples 30"
+      @PATH_ENVIRONMENT_VARIABLE_COMPOSE@
+      EXAMPLE_DIR: @EXAMPLE_PREFIX_DIR_COMPOSE@/hello_world/@EXAMPLE_SUFFIX_DIR_COMPOSE@
+      FASTDDS_DEFAULT_PROFILES_FILE: @FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE@/hello_world/hello_world_profile.xml
+    command: @SHELL_EXECUTABLE@ -c "@COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ subscriber --waitset --samples 10"
 
   subscriber-publisher:
     image: @DOCKER_IMAGE_NAME@
     volumes:
-      - @PROJECT_BINARY_DIR@:@PROJECT_BINARY_DIR_C@
-      - @fastcdr_INSTALL_DIR@/bin:@fastcdr_INSTALL_DIR_C@/bin
-      - @CMAKE_INSTALL_PREFIX@/bin:@CMAKE_INSTALL_PREFIX_C@/bin
+      - @PROJECT_BINATY_DIR_COMPOSE_VOLUME@
+      - @fastcdr_LIB_DIR_COMPOSE_VOLUME@
+      - @CMAKE_INSTALL_PREFIX_COMPOSE_VOLUME@
       @TINYXML2_LIB_DIR_COMPOSE_VOLUME@
     environment:
-      PATH: C:/Program Files/OpenSSL-Win64;@CMAKE_INSTALL_PREFIX_C@/bin;@fastcdr_INSTALL_DIR_C@/bin;C:/Windows/System32;C:/Windows/System32/downlevel;
-      EXAMPLE_DIR: @PROJECT_BINARY_DIR_C@/examples/cpp/hello_world/RelWithDebInfo
-      FASTDDS_DEFAULT_PROFILES_FILE: @PROJECT_BINARY_DIR_C@/examples/cpp/hello_world/hello_world_profile.xml
-    command: @SHELL_EXECUTABLE@ -c "& $$Env:EXAMPLE_DIR/hello_world@FILE_EXTENSION@ publisher --samples 30 &" "& $$Env:EXAMPLE_DIR/hello_world@FILE_EXTENSION@ subscriber --samples 30; Receive-Job 1 -Wait"
+      @PATH_ENVIRONMENT_VARIABLE_COMPOSE@
+      EXAMPLE_DIR: @EXAMPLE_PREFIX_DIR_COMPOSE@/hello_world/@EXAMPLE_SUFFIX_DIR_COMPOSE@
+      FASTDDS_DEFAULT_PROFILES_FILE: @FASTDDS_DEFAULT_PROFILES_FILE_PREFIX_COMPOSE@/hello_world/hello_world_profile.xml
+    command: @SHELL_EXECUTABLE@ -c "@COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ publisher --samples 10 --matched 2 @COMMAND_CONCATENATE_COMPOSE@ @COMMAND_EXAMPLE_DIR_PREFIX_COMPOSE@/hello_world@FILE_EXTENSION@ subscriber --samples 10@COMMAND_BACKGROUND_JOB_COMPOSE@"
     depends_on:
       - waitset-subscriber