diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx
index bfae95694..fe783982b 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.cxx
@@ -43,12 +43,15 @@ void register_HelloWorld_type_objects()
     static std::once_flag once_flag;
     std::call_once(once_flag, []()
             {
-                register_HelloWorld_type_identifier();
+                TypeIdentifier type_id;
+                register_HelloWorld_type_identifier(type_id);
 
             });
 }
 
-void register_HelloWorld_type_identifier()
+// TypeIdentifier is returned by reference: dependent structures/unions are registered in this same method
+void register_HelloWorld_type_identifier(
+        TypeIdentifier& type_id)
 {
     {
         StructTypeFlag struct_flags_HelloWorld = TypeObjectUtils::build_struct_type_flag(eprosima::fastdds::dds::xtypes::ExtensibilityKind::NOT_APPLIED,
@@ -71,6 +74,7 @@ void register_HelloWorld_type_identifier()
             {
                 EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                         "index Structure member TypeIdentifier unknown to TypeObjectRegistry.");
+                type_id = TypeIdentifier();
                 return;
             }
             StructMemberFlag member_flags_index = TypeObjectUtils::build_struct_member_flag(eprosima::fastdds::dds::xtypes::TryConstructKind::NOT_APPLIED,
@@ -117,6 +121,7 @@ void register_HelloWorld_type_identifier()
             {
                 EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                         "Structure index member TypeIdentifier inconsistent.");
+                type_id = TypeIdentifier();
                 return;
             }
             MemberName name_index = "index";
@@ -133,8 +138,6 @@ void register_HelloWorld_type_identifier()
 
             if (return_code_HelloWorld != eprosima::fastdds::dds::RETCODE_OK)
             {
-                std::string type_id_kind_anonymous_string_unbounded("TI_STRING8_SMALL");
-                if (type_id_kind_anonymous_string_unbounded == "TI_STRING8_SMALL")
                 {
                     SBound bound = 0;
                     StringSTypeDefn string_sdefn = TypeObjectUtils::build_string_s_type_defn(bound);
@@ -146,24 +149,6 @@ void register_HelloWorld_type_identifier()
                             "anonymous_string_unbounded already registered in TypeObjectRegistry for a different type.");
                     }
                 }
-                else if (type_id_kind_anonymous_string_unbounded == "TI_STRING8_LARGE")
-                {
-                    LBound bound = 255;
-                    StringLTypeDefn string_ldefn = TypeObjectUtils::build_string_l_type_defn(bound);
-                    if (eprosima::fastdds::dds::RETCODE_BAD_PARAMETER ==
-                            TypeObjectUtils::build_and_register_l_string_type_identifier(string_ldefn,
-                            "anonymous_string_unbounded"))
-                    {
-                        EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
-                            "anonymous_string_unbounded already registered in TypeObjectRegistry for a different type.");
-                    }
-                }
-                else
-                {
-                    EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
-                                "anonymous_string_unbounded: Unknown String kind.");
-                    return;
-                }
                 return_code_HelloWorld =
                     eprosima::fastdds::dds::DomainParticipantFactory::get_instance()->type_object_registry().get_type_identifiers(
                     "anonymous_string_unbounded", type_ids_HelloWorld);
@@ -171,6 +156,7 @@ void register_HelloWorld_type_identifier()
                 {
                     EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                                 "anonymous_string_unbounded: Given String TypeIdentifier unknown to TypeObjectRegistry.");
+                    type_id = TypeIdentifier();
                     return;
                 }
             }
@@ -218,6 +204,7 @@ void register_HelloWorld_type_identifier()
             {
                 EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                         "Structure message member TypeIdentifier inconsistent.");
+                type_id = TypeIdentifier();
                 return;
             }
             MemberName name_message = "message";
@@ -229,7 +216,7 @@ void register_HelloWorld_type_identifier()
         }
         CompleteStructType struct_type_HelloWorld = TypeObjectUtils::build_complete_struct_type(struct_flags_HelloWorld, header_HelloWorld, member_seq_HelloWorld);
         if (eprosima::fastdds::dds::RETCODE_BAD_PARAMETER ==
-                TypeObjectUtils::build_and_register_struct_type_object(struct_type_HelloWorld, type_name_HelloWorld.to_string()))
+                TypeObjectUtils::build_and_register_struct_type_object(struct_type_HelloWorld, type_name_HelloWorld.to_string(), type_id))
         {
             EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                     "HelloWorld already registered in TypeObjectRegistry for a different type.");
@@ -241,6 +228,7 @@ void register_HelloWorld_type_identifier()
         {
             EPROSIMA_LOG_ERROR(XTYPES_TYPE_REPRESENTATION,
                         "HelloWorld: Given Struct TypeIdentifier unknown to TypeObjectRegistry.");
+            type_id = TypeIdentifier();
             return;
         }
     }
diff --git a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp
index 235326d5e..4d5de07cb 100644
--- a/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp
+++ b/code/Examples/C++/DDSHelloWorld/src/HelloWorldTypeObjectSupport.hpp
@@ -22,6 +22,8 @@
 #ifndef _FAST_DDS_GENERATED_HELLOWORLD_TYPE_OBJECT_SUPPORT_HPP_
 #define _FAST_DDS_GENERATED_HELLOWORLD_TYPE_OBJECT_SUPPORT_HPP_
 
+#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
+
 
 #if defined(_WIN32)
 #if defined(EPROSIMA_USER_DLL_EXPORT)
@@ -45,8 +47,13 @@ eProsima_user_DllExport void register_HelloWorld_type_objects();
  *        Fully-descriptive TypeIdentifiers are directly registered.
  *        Hash TypeIdentifiers require to fill the TypeObject information and hash it, consequently, the TypeObject is
  *        indirectly registered as well.
+ *
+ * @param[out] TypeIdentifier of the registered type.
+ *             The returned TypeIdentifier corresponds to the complete TypeIdentifier in case of hashed TypeIdentifiers.
+ *             Invalid TypeIdentifier is returned in case of error.
  */
-eProsima_user_DllExport void register_HelloWorld_type_identifier();
+eProsima_user_DllExport void register_HelloWorld_type_identifier(
+        eprosima::fastdds::dds::xtypes::TypeIdentifier& type_id);
 
 
 #endif // DOXYGEN_SHOULD_SKIP_THIS_PUBLIC