diff --git a/include/fastrtps/config/doxygen_modules.h b/include/fastrtps/config/doxygen_modules.h
index 4aa8368b3b2..9df7c40aa50 100644
--- a/include/fastrtps/config/doxygen_modules.h
+++ b/include/fastrtps/config/doxygen_modules.h
@@ -80,6 +80,16 @@
  * This module contains all classes and methods associated with RTPSReader and its specifications, as well as other necessary classes.
  */
 
+/** @defgroup TYPES_MODULE Contains the builtin generated types
+ * @namespace eprosima::fastrtps::types
+ * @ingroup FASTRTPS_MODULE
+ */
+
+/** @defgroup XMLPARSER_MODULE Contains all the modules related with the XMLParser
+ * @namespace eprosima::fastrtps::xmlparser
+ * @ingroup FASTRTPS_MODULE
+ */
+
 #ifndef DOXYGEN_SHOULD_SKIP_THIS_PUBLIC
 
 /** @defgroup PARAMETER_MODULE Qos Module
diff --git a/include/fastrtps/types/AnnotationParameterValue.h b/include/fastrtps/types/AnnotationParameterValue.h
index c57430fb200..91f22781f8b 100644
--- a/include/fastrtps/types/AnnotationParameterValue.h
+++ b/include/fastrtps/types/AnnotationParameterValue.h
@@ -59,7 +59,7 @@ namespace types {
 
 /*!
  * @brief This class represents the structure ExtendedAnnotationParameterValue defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class ExtendedAnnotationParameterValue
 {
@@ -110,7 +110,8 @@ class ExtendedAnnotationParameterValue
      * @param current_alignment Buffer alignment.
      * @return Serialized size.
      */
-    FASTDDS_SER_METHOD_DEPRECATED(3, "eprosima::fastrtps::types::ExtendedAnnotationParameterValue::getCdrSerializedSize()",
+    FASTDDS_SER_METHOD_DEPRECATED(3,
+            "eprosima::fastrtps::types::ExtendedAnnotationParameterValue::getCdrSerializedSize()",
             "In favor of version using eprosima::fastcdr::calculate_serialized_size.")
     RTPS_DllAPI static size_t getCdrSerializedSize(
             const ExtendedAnnotationParameterValue& data,
@@ -166,7 +167,7 @@ class ExtendedAnnotationParameterValue
 };
 /*!
  * @brief This class represents the union AnnotationParameterValue defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class AnnotationParameterValue
 {
@@ -824,7 +825,7 @@ class AnnotationParameterValue
 
 /*!
  * @brief This class represents the structure AppliedAnnotationParameter defined by the user in the IDL file.
- * @ingroup ANNOTATIONPARAMETERVALUE
+ * @ingroup TYPES_MODULE
  */
 class AppliedAnnotationParameter
 {
@@ -1393,7 +1394,8 @@ class AppliedBuiltinMemberAnnotations
     }
 
 #ifndef DOXYGEN_SHOULD_SKIP_THIS
-    FASTDDS_SER_METHOD_DEPRECATED(3, "eprosima::fastrtps::types::AppliedBuiltinMemberAnnotations::getCdrSerializedSize()",
+    FASTDDS_SER_METHOD_DEPRECATED(3,
+            "eprosima::fastrtps::types::AppliedBuiltinMemberAnnotations::getCdrSerializedSize()",
             "In favor of version using eprosima::fastcdr::calculate_serialized_size.")
     RTPS_DllAPI static size_t getCdrSerializedSize(
             const AppliedBuiltinMemberAnnotations& data,
diff --git a/include/fastrtps/types/TypeIdentifierTypes.h b/include/fastrtps/types/TypeIdentifierTypes.h
index 0a3095d8285..553c6eab8c8 100644
--- a/include/fastrtps/types/TypeIdentifierTypes.h
+++ b/include/fastrtps/types/TypeIdentifierTypes.h
@@ -54,7 +54,7 @@ class StringLTypeDefn;
 
 /*!
  * @brief This class represents the structure StringSTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StringSTypeDefn final
 {
@@ -173,7 +173,7 @@ class StringSTypeDefn final
 };
 /*!
  * @brief This class represents the structure StringLTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StringLTypeDefn final
 {
@@ -292,7 +292,7 @@ class StringLTypeDefn final
 };
 /*!
  * @brief This class represents the structure PlainCollectionHeader defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainCollectionHeader final
 {
@@ -436,7 +436,7 @@ class PlainCollectionHeader final
 };
 /*!
  * @brief This class represents the structure PlainSequenceSElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainSequenceSElemDefn final
 {
@@ -616,7 +616,7 @@ class PlainSequenceSElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainSequenceLElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainSequenceLElemDefn final
 {
@@ -796,7 +796,7 @@ class PlainSequenceLElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainArraySElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainArraySElemDefn final
 {
@@ -986,7 +986,7 @@ class PlainArraySElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainArrayLElemDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainArrayLElemDefn final
 {
@@ -1176,7 +1176,7 @@ class PlainArrayLElemDefn final
 };
 /*!
  * @brief This class represents the structure PlainMapSTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainMapSTypeDefn final
 {
@@ -1411,7 +1411,7 @@ class PlainMapSTypeDefn final
 };
 /*!
  * @brief This class represents the structure PlainMapLTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class PlainMapLTypeDefn final
 {
@@ -1646,7 +1646,7 @@ class PlainMapLTypeDefn final
 };
 /*!
  * @brief This class represents the structure StronglyConnectedComponentId defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class StronglyConnectedComponentId final
 {
@@ -1829,7 +1829,7 @@ class StronglyConnectedComponentId final
 };
 /*!
  * @brief This class represents the structure ExtendedTypeDefn defined by the user in the IDL file.
- * @ingroup TYPEIDENTIFIERTYPES
+ * @ingroup TYPES_MODULE
  */
 class ExtendedTypeDefn final
 {
diff --git a/include/fastrtps/types/TypeObjectHashId.h b/include/fastrtps/types/TypeObjectHashId.h
index 6e9d9ad69ea..180acb70ae6 100644
--- a/include/fastrtps/types/TypeObjectHashId.h
+++ b/include/fastrtps/types/TypeObjectHashId.h
@@ -46,7 +46,7 @@ typedef octet EquivalenceHash[14];
 
 /*!
  * @brief This class represents the union TypeObjectHashId defined by the user in the IDL file.
- * @ingroup TYPEOBJECTHASHID
+ * @ingroup TYPES_MODULE
  */
 class TypeObjectHashId
 {
diff --git a/include/fastrtps/xmlparser/XMLEndpointParser.h b/include/fastrtps/xmlparser/XMLEndpointParser.h
index 0edd2f0c85c..64743af59b6 100644
--- a/include/fastrtps/xmlparser/XMLEndpointParser.h
+++ b/include/fastrtps/xmlparser/XMLEndpointParser.h
@@ -75,7 +75,7 @@ class StaticRTPSParticipantInfo
 
 /**
  * Class XMLEndpointParser used to parse the XML file that contains information about remote endpoints.
- * @ingroup DISCVOERYMODULE
+ * @ingroup DISCOVERY_MODULE
  */
 class XMLEndpointParser : XMLParser
 {
diff --git a/include/fastrtps/xmlparser/XMLProfileManager.h b/include/fastrtps/xmlparser/XMLProfileManager.h
index bb934e3b978..3797a493fce 100644
--- a/include/fastrtps/xmlparser/XMLProfileManager.h
+++ b/include/fastrtps/xmlparser/XMLProfileManager.h
@@ -49,7 +49,7 @@ using xmlfile_map_iterator_t = xmlfiles_map_t::iterator;
 
 /**
  * Class XMLProfileManager, used to make available profiles from XML file.
- * @ingroup XMLPROFILEMANAGER_MODULE
+ * @ingroup XMLPARSER_MODULE
  */
 class XMLProfileManager
 {