diff --git a/ddsrouter.repos b/ddsrouter.repos
index 233279a98..4f58ff34c 100644
--- a/ddsrouter.repos
+++ b/ddsrouter.repos
@@ -6,20 +6,20 @@ repositories:
     fastcdr:
         type: git
         url: https://github.com/eProsima/Fast-CDR.git
-        version: 2.x
+        version: v2.3.0
     fastdds:
         type: git
         url: https://github.com/eProsima/Fast-DDS.git
-        version: 3.x
+        version: v3.3.0
     dev-utils:
         type: git
         url: https://github.com/eProsima/dev-utils.git
-        version: 1.x
+        version: v1.3.0
     ddspipe:
         type: git
         url: https://github.com/eProsima/DDS-Pipe.git
-        version: 1.x
+        version: v1.3.0
     ddsrouter:
         type: git
         url: https://github.com/eProsima/DDS-Router.git
-        version: main
+        version: v3.3.0
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
index 7b54503f5..6333079ff 100644
--- a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
+++ b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/local/DDSTestLocal.cpp
@@ -83,7 +83,8 @@ DdsRouterConfiguration dds_test_simple_configuration(
         topic_keyed.type_name = "HelloWorldKeyed";
         topic_keyed.topic_qos.keyed = true;
 
-        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(topic));
+        conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
+                    topic));
         conf.ddspipe_configuration.builtin_topics.insert(utils::Heritable<core::types::DdsTopic>::make_heritable(
                     topic_keyed));
     }
@@ -206,6 +207,70 @@ void test_local_communication(
     router.stop();
 }
 
+template <class MsgStruct, class MsgStructType>
+void test_original_writer_forwarding(
+        DdsRouterConfiguration ddsrouter_configuration)
+{
+    INSTANTIATE_LOG_TESTER(eprosima::utils::Log::Kind::Error, 0, 0);
+
+    uint32_t samples_sent = 0;
+    std::atomic<uint32_t> samples_received(0);
+    std::atomic<uint32_t> samples_to_receive(1);
+
+    MsgStruct sent_msg;
+    MsgStruct recv_msg;
+    MsgStructType type;
+    std::string msg_str;
+    msg_str += "Testing DdsRouter Blackbox Local Communication ...";
+    sent_msg.message(msg_str);
+    // Create DDS Publisher in domain 0
+    TestPublisher<MsgStruct> publisher(type.is_compute_key_provided);
+
+    ASSERT_TRUE(publisher.init(0));
+
+    // Create DDS Subscriber in domain 1
+    TestSubscriber<MsgStruct> subscriber(type.is_compute_key_provided);
+    ASSERT_TRUE(subscriber.init(1, &recv_msg, &samples_received));
+
+    // Create DdsRouter entity
+    DdsRouter router(ddsrouter_configuration);
+    router.start();
+
+    // CASE 1: Send message without original_writer_param, should be set to writers guid
+    sent_msg.index(samples_sent);
+    ASSERT_EQ(publisher.publish(sent_msg), eprosima::fastdds::dds::RETCODE_OK);
+    // Watiting for the message to be received
+    while (samples_received.load() < 1)
+    {
+    }
+    ASSERT_EQ(subscriber.original_writer_guid(), publisher.original_writer_guid());
+
+    // CASE 2: Send message with original_writer_param set to unknown, should be set to other value
+    sent_msg.index(samples_sent);
+    eprosima::fastdds::rtps::WriteParams params;
+    params.original_writer_guid(eprosima::fastdds::rtps::GUID_t::unknown());
+    ASSERT_EQ(publisher.publish_with_params(sent_msg, params), eprosima::fastdds::dds::RETCODE_OK);
+    // Watiting for the message to be received
+    while (samples_received.load() < 2)
+    {
+    }
+    ASSERT_EQ(subscriber.original_writer_guid(), publisher.original_writer_guid());
+
+    // CASE 3: Send message with original_writer_param set to some value, value must be kept
+    sent_msg.index(samples_sent);
+    eprosima::fastdds::rtps::WriteParams params_with_og_writer;
+    eprosima::fastdds::rtps::GUID_t guid({}, 0x12345678);
+    params_with_og_writer.original_writer_guid(guid);
+    ASSERT_EQ(publisher.publish_with_params(sent_msg, params_with_og_writer), eprosima::fastdds::dds::RETCODE_OK);
+    // Watiting for the message to be received
+    while (samples_received.load() < 2)
+    {
+    }
+    ASSERT_EQ(subscriber.original_writer_guid(), guid);
+
+    router.stop();
+}
+
 } /* namespace test */
 
 /**
@@ -322,6 +387,19 @@ TEST(DDSTestLocal, end_to_end_local_communication_transient_local_disable_dynami
         true);
 }
 
+
+/**
+ * Test original writer forwarding in HelloWorld topic between two DDS participants created in different domains,
+ * by using a router with two Simple Participants at each domain.
+ */
+TEST(DDSTestLocal, end_to_end_local_communication_original_writer_forwarding)
+{
+    test::test_original_writer_forwarding<HelloWorld, HelloWorldPubSubType>(
+        test::dds_test_simple_configuration());
+}
+
+
+
 int main(
         int argc,
         char** argv)
diff --git a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
index 7a1dba444..267e784ed 100644
--- a/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
+++ b/ddsrouter_core/test/blackbox/ddsrouter_core/dds/types/test_participants.hpp
@@ -152,6 +152,18 @@ class TestPublisher
         return writer_->write(&hello_);
     }
 
+    //! Publish a sample with parameters
+    eprosima::fastdds::dds::ReturnCode_t publish_with_params(
+            MsgStruct msg,
+            eprosima::fastdds::rtps::WriteParams params)
+    {
+        hello_.index(msg.index());
+        hello_.message(msg.message());
+
+
+        return writer_->write(&hello_, params);
+    }
+
     //! Dispose instance
     eprosima::fastdds::dds::ReturnCode_t dispose_key(
             MsgStruct msg);
@@ -162,6 +174,11 @@ class TestPublisher
         listener_.wait_discovery(n_subscribers);
     }
 
+    eprosima::fastdds::rtps::GUID_t original_writer_guid() const
+    {
+        return writer_->guid();
+    }
+
 private:
 
     MsgStruct hello_;
@@ -357,6 +374,11 @@ class TestSubscriber
         return listener_.n_key_disposed;
     }
 
+    eprosima::fastdds::rtps::GUID_t original_writer_guid() const
+    {
+        return listener_.original_writer_guid;
+    }
+
 private:
 
     eprosima::fastdds::dds::DomainParticipant* participant_;
@@ -424,6 +446,8 @@ class TestSubscriber
                 {
                     n_key_disposed++;
                 }
+
+                original_writer_guid = iHandle2GUID(info.original_publication_handle);
             }
         }
 
@@ -445,6 +469,9 @@ class TestSubscriber
         //! Placeholder where received data is stored
         MsgStruct msg_received;
 
+        //! Placeholder where original writer GUID is stored
+        eprosima::fastdds::rtps::GUID_t original_writer_guid;
+
         std::atomic<std::uint32_t> n_key_disposed;
 
         //! Reference to the sample sent by the publisher
diff --git a/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter b/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter
index 43b70d967..2062637ff 100644
--- a/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter
+++ b/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -y \
 
 # Download and build DDS-Router
 RUN mkdir resources && \
-    wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos && \
+    wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos && \
     mkdir src && \
     vcs import src < ddsrouter.repos && \
     colcon build --event-handlers=console_direct+
diff --git a/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter_logon b/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter_logon
index f2e4d8a75..8b0002fe4 100644
--- a/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter_logon
+++ b/docs/resources/use_cases/ros_cloud/Dockerfile_ddsrouter_logon
@@ -21,7 +21,7 @@ RUN apt-get update && apt-get install -y \
 
 # Download and build DDS-Router
 RUN mkdir resources && \
-    wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos && \
+    wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos && \
     mkdir src && \
     vcs import src < ddsrouter.repos && \
     colcon build --event-handlers=console_direct+ --cmake-args -DLOG_INFO=ON
diff --git a/docs/rst/developer_manual/installation/sources/linux.rst b/docs/rst/developer_manual/installation/sources/linux.rst
index f85fdc8a1..e40c4e3a6 100644
--- a/docs/rst/developer_manual/installation/sources/linux.rst
+++ b/docs/rst/developer_manual/installation/sources/linux.rst
@@ -214,7 +214,7 @@ Colcon installation
 
         mkdir -p ~/DDS-Router/src
         cd ~/DDS-Router
-        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos
         vcs import src < ddsrouter.repos
 
     .. note::
@@ -258,7 +258,7 @@ Local installation
         mkdir -p ~/DDS-Router/src
         mkdir -p ~/DDS-Router/build
         cd ~/DDS-Router
-        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos
         vcs import src < ddsrouter.repos
 
 #.  Compile all dependencies using CMake_.
diff --git a/docs/rst/developer_manual/installation/sources/windows.rst b/docs/rst/developer_manual/installation/sources/windows.rst
index 984cbe762..55caa749c 100644
--- a/docs/rst/developer_manual/installation/sources/windows.rst
+++ b/docs/rst/developer_manual/installation/sources/windows.rst
@@ -257,7 +257,7 @@ Colcon installation
         mkdir <path\to\user\workspace>\DDS-Router
         cd <path\to\user\workspace>\DDS-Router
         mkdir src
-        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos
         vcs import src --input ddsrouter.repos
 
     .. note::
@@ -309,7 +309,7 @@ Local installation
         mkdir <path\to\user\workspace>\DDS-Router\src
         mkdir <path\to\user\workspace>\DDS-Router\build
         cd <path\to\user\workspace>\DDS-Router
-        wget https://raw.githubusercontent.com/eProsima/DDS-Router/main/ddsrouter.repos
+        wget https://raw.githubusercontent.com/eProsima/DDS-Router/v3.3.0/ddsrouter.repos
         vcs import src --input ddsrouter.repos
 
 #.  Compile all dependencies using CMake_.
diff --git a/docs/rst/use_cases/ros_cloud.rst b/docs/rst/use_cases/ros_cloud.rst
index cc43663e1..e0eb173e8 100644
--- a/docs/rst/use_cases/ros_cloud.rst
+++ b/docs/rst/use_cases/ros_cloud.rst
@@ -124,7 +124,7 @@ the previously set up ConfigMap. This Docker image needs to be built and made av
 |ddsrouter|, which can be accomplished by providing the following
 :download:`Dockerfile <../../resources/use_cases/ros_cloud/Dockerfile_ddsrouter>`. If willing to see log messages in
 ``STDOUT``, use :download:`Dockerfile <../../resources/use_cases/ros_cloud/Dockerfile_ddsrouter_logon>` instead.
-Assuming the name of the generated Docker image is ``ddsrouter:main``, the cloud router will then be deployed with the
+Assuming the name of the generated Docker image is ``ddsrouter:v3.3.0``, the cloud router will then be deployed with the
 following settings:
 
 .. literalinclude:: ../../resources/use_cases/ros_cloud/ddsrouter.yaml