diff --git a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg
index 572862c3..ddac0b03 100644
--- a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg
+++ b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesHeader.stg
@@ -190,10 +190,12 @@ private:
 
 interface(ctx, parent, interface, export_list) ::= <<
 
+$if(interface.withOutputParameters)$
 namespace detail {
 
 $interface.operations : { op | $if(op.outputparam)$$operation_out_struct_fwd_decl(interface, op)$$endif$}$
-}
+}  // namespace detail
+$endif$
 
 /*!
  * @brief This class represents the interface $interface.name$ defined by the user in the IDL file.
@@ -207,10 +209,12 @@ public:
     $export_list$
 };
 
+$if(interface.withOutputParameters)$
 namespace detail {
 
 $interface.operations : { op | $if(op.outputparam)$$operation_out_struct(interface, op)$$"\n"$$endif$}$
-}
+}  // namespace detail
+$endif$
 >>
 
 operation(ctx, parent, operation, param_list, operation_type) ::= <<
diff --git a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg
index 49fd4092..4714f46a 100644
--- a/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg
+++ b/src/main/java/com/eprosima/fastcdr/idl/templates/TypesSwigInterface.stg
@@ -15,11 +15,20 @@
 group TypesSwigInterface;
 
 import "com/eprosima/fastdds/idl/templates/eprosima.stg"
+import "FastCdrCommon.stg"
 
 main(ctx, definitions) ::= <<
 $fileHeader(ctx=ctx, file=[ctx.filename, ".i"], description=["This header file contains the SWIG interface of the described types in the IDL file."])$
 
-%module(moduleimport="if __import__('os').name == 'nt': import win32api; win32api.LoadLibrary('$ctx.filename$.dll')\nif __package__ or '.' in __name__:\n    from . import _$ctx.filename$Wrapper\nelse:\n    import _$ctx.filename$Wrapper") $ctx.filename$
+%module($if(ctx.thereIsInterface)$threads="1",directors="1",$endif$moduleimport="if __import__('os').name == 'nt': import win32api; win32api.LoadLibrary('$ctx.filename$.dll')\nif __package__ or '.' in __name__:\n    from . import _$ctx.filename$Wrapper\nelse:\n    import _$ctx.filename$Wrapper") $ctx.filename$
+
+$if(ctx.thereIsInterface)$
+// We have enabled threads because the RPC server directors will call the target language environment
+// from the C++ server threads, but we don't want the calls from the target language to release their
+// locks (e.g. Python GIL) when calling the C++ methods.
+// See a very nice explanation at https://github.com/swig/swig/issues/927#issuecomment-289279243
+%feature("nothreadallow");
+$endif$
 
 // If using windows in debug, it would try to use python_d, which would not be found.
 %begin %{
@@ -30,9 +39,16 @@ $fileHeader(ctx=ctx, file=[ctx.filename, ".i"], description=["This header file c
 %}
 
 // SWIG helper modules
+$if(ctx.thereIsInterface)$
+%include "exception.i"
+$endif$
 %include "stdint.i"
 %include "std_array.i"
 %include "std_map.i"
+$if(ctx.thereIsInterface)$
+%include "std_pair.i"
+%include "std_shared_ptr.i"
+$endif$
 %include "std_string.i"
 %include "std_vector.i"
 %include "typemaps.i"
@@ -47,6 +63,11 @@ $ctx.directIncludeDependencies : {include | %include "$include$.i"}; separator="
 
 %{
 #include "$ctx.filename$.hpp"
+$if(ctx.thereIsInterface)$
+#include "$ctx.filename$Client.hpp"
+#include "$ctx.filename$Server.hpp"
+#include "$ctx.filename$ServerImpl.hpp"
+$endif$
 
 #include <fastdds/dds/core/LoanableSequence.hpp>
 %}
@@ -62,6 +83,118 @@ $endif$
 %import(module="fastdds") "fastdds/dds/core/LoanableTypedCollection.hpp"
 %import(module="fastdds") "fastdds/dds/core/LoanableSequence.hpp"
 
+$if(ctx.thereIsInterface)$
+%import(module="fastdds") "fastdds/dds/rpc/exceptions/RpcException.hpp"
+%import(module="fastdds") "fastdds/dds/rpc/exceptions/RpcOperationError.hpp"
+
+%exception {
+    try
+    {
+        \$action
+    }
+    catch (const eprosima::fastdds::dds::rpc::RpcException& ex)
+    {
+        SWIG_exception(SWIG_RuntimeError, ex.what());
+    }
+    catch (const std::exception& ex)
+    {
+        SWIG_exception(SWIG_RuntimeError, ex.what());
+    }
+    catch (...)
+    {
+        SWIG_exception(SWIG_RuntimeError,"Unknown exception");
+    }
+}
+
+$if(ctx.thereIsOutputFeed)$
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcServerWriter.hpp"
+%ignore eprosima::fastdds::dds::rpc::RpcClientReader::read(T&);
+%ignore eprosima::fastdds::dds::rpc::RpcClientReader::read(T&,eprosima::fastdds::dds::Duration_t&);
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcClientReader.hpp"
+%extend eprosima::fastdds::dds::rpc::RpcClientReader {
+    std::pair<bool, T> read(
+        const eprosima::fastdds::dds::Duration_t& timeout = eprosima::fastdds::dds::c_TimeInfinite)
+    {
+        std::pair<bool, T> ret_val{};
+        if (eprosima::fastdds::dds::c_TimeInfinite == timeout)
+        {
+            ret_val.first = self->read(ret_val.second);
+        }
+        else
+        {
+            ret_val.first = self->read(ret_val.second, timeout);
+        }
+        return ret_val;
+    }
+}
+
+$ctx.outputFeedTypes : {feed_type | $output_feed(feed_type)$}; separator="\n\n"$
+$endif$
+
+$if(ctx.thereIsNonFeedOperation)$
+// Code for std::future taken from https://github.com/swig/swig/issues/1828#issuecomment-648449092
+namespace eprosima::fastdds::dds::rpc
+{
+template <class R>
+class RpcFuture {
+ public:
+    RpcFuture() noexcept;
+    RpcFuture(RpcFuture &&) noexcept;
+    RpcFuture(const RpcFuture& rhs) = delete;
+    ~RpcFuture();
+    RpcFuture& operator=(const RpcFuture& rhs) = delete;
+    RpcFuture& operator=(RpcFuture&&) noexcept;
+ 
+    // retrieving the value
+    R get();
+ 
+    // functions to check state
+    bool valid() const noexcept;
+    void wait() const;
+
+/*
+    template <class Rep, class Period>
+    future_status wait_for(const chrono::duration<Rep, Period>& rel_time) const;
+    template <class Clock, class Duration>
+    future_status wait_until(const chrono::time_point<Clock, Duration>& abs_time) const;
+*/
+};
+
+}
+
+$ctx.outputNonFeedTypes : {non_feed_type | $output_non_feed(non_feed_type)$}; separator="\n\n"$
+$endif$
+
+$if(ctx.thereIsInputFeed)$
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcClientWriter.hpp"
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcStatusCode.hpp"
+
+%ignore eprosima::fastdds::dds::rpc::RpcServerReader::read(T&);
+%ignore eprosima::fastdds::dds::rpc::RpcServerReader::read(T&,eprosima::fastdds::dds::Duration_t&);
+%import(module="fastdds") "fastdds/dds/rpc/interfaces/RpcServerReader.hpp"
+%extend eprosima::fastdds::dds::rpc::RpcServerReader {
+    std::pair<bool, T> read(
+        const eprosima::fastdds::dds::Duration_t& timeout = eprosima::fastdds::dds::c_TimeInfinite)
+    {
+        std::pair<bool, T> ret_val{};
+        if (eprosima::fastdds::dds::c_TimeInfinite == timeout)
+        {
+            ret_val.first = self->read(ret_val.second);
+        }
+        else
+        {
+            ret_val.first = self->read(ret_val.second, timeout);
+        }
+        return ret_val;
+    }
+}
+
+$ctx.inputFeedTypes : {feed_type | $input_feed(feed_type)$}; separator="\n\n"$
+$endif$
+
+%exception;
+$endif$
+
 %define %traits_penumn(Type...)
   %fragment(SWIG_Traits_frag(Type),"header",
         fragment="StdTraits") {
@@ -78,6 +211,11 @@ $definitions; separator="\n"$
 
 // Include the class interfaces
 %include "$ctx.filename$.hpp"
+$if(ctx.thereIsInterface)$
+%include "$ctx.filename$Client.hpp"
+%include "$ctx.filename$Server.hpp"
+%include "$ctx.filename$ServerImpl.hpp"
+$endif$
 
 // Include the corresponding TopicDataType
 %include "$ctx.filename$PubSubTypes.i"
@@ -241,3 +379,65 @@ bitset_type(ctx, parent, bitset, extensions) ::= <<
 enum_type(ctx, parent, enum) ::= <<
 %traits_penumn(enum $enum.cppTypename$);
 >>
+
+interface(ctx, parent, interface, export_list) ::= <<
+
+$export_list$
+
+%shared_ptr($interface.scopedname$);
+$if(!interface.annotatedAsNested)$
+%shared_ptr($interface.scopedname$Server);
+%extend $interface.scopedname$Server
+{
+    void run()
+    {
+        Py_BEGIN_ALLOW_THREADS
+        self->run();
+        Py_END_ALLOW_THREADS
+    }
+}
+
+%shared_ptr($interface.scopedname$Server_IServerImplementation);
+%shared_ptr($interface.scopedname$ServerImplementation);
+%feature("director") $interface.scopedname$ServerImplementation;
+$endif$
+>>
+
+output_non_feed(type) ::= <<
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$>);
+%template($type.formatedCppTypename$_rpc_future) eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$>;
+
+$! 
+// Combine the typemap from shared_ptr
+// https://github.com/swig/swig/blob/b96b955ca15a01f0425fb26c234528530923202a/Lib/python/boost_shared_ptr.i#L41-L44
+// with the use of the 'optimal' attribute to avoid the need for a copy constructor, inspired by
+// https://github.com/swig/swig/issues/1828#issuecomment-648449092
+!$
+%typemap(out, optimal="1") eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$> {
+  std::shared_ptr<\$1_ltype> *smartresult = new std::shared_ptr<\$1_ltype>(new \$1_ltype(\$1));
+  \$result = SWIG_NewPointerObj(SWIG_as_voidptr(smartresult), \$descriptor(std::shared_ptr< eprosima::fastdds::dds::rpc::RpcFuture<$type.cppTypename$\>> *), SWIG_POINTER_OWN);
+}
+>>
+
+output_feed(type) ::= <<
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcClientReader<$type.cppTypename$>);
+%template($type.formatedCppTypename$_client_reader_result) std::pair<bool, $type.cppTypename$>;
+%template($type.formatedCppTypename$_client_reader) eprosima::fastdds::dds::rpc::RpcClientReader<$type.cppTypename$>;
+
+%template($type.formatedCppTypename$_server_writer) eprosima::fastdds::dds::rpc::RpcServerWriter<$type.cppTypename$>;
+>>
+
+input_feed(type) ::= <<
+%template($type.formatedCppTypename$_server_reader_result) std::pair<bool, $type.cppTypename$>;
+%template($type.formatedCppTypename$_server_reader) eprosima::fastdds::dds::rpc::RpcServerReader<$type.cppTypename$>;
+
+%shared_ptr(eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$>);
+%template($type.formatedCppTypename$_rpc_client_writer) eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$>;
+%typemap(in,numinputs=0) std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>& %{
+    \$1 = new std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>();
+%}
+%typemap(argout) std::shared_ptr<eprosima::fastdds::dds::rpc::RpcClientWriter<$type.cppTypename$\>>& (PyObject* tmp) %{
+    tmp = SWIG_NewPointerObj(\$1, \$1_descriptor, SWIG_POINTER_OWN);
+    \$result = SWIG_Python_AppendOutput(\$result, tmp);
+%}
+>>
diff --git a/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java b/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
index 53337fa7..d158b5c4 100644
--- a/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
+++ b/src/main/java/com/eprosima/fastdds/idl/grammar/Context.java
@@ -14,6 +14,8 @@
 
 package com.eprosima.fastdds.idl.grammar;
 
+import com.eprosima.fastdds.idl.grammar.Operation;
+import com.eprosima.fastdds.idl.grammar.Param;
 import com.eprosima.fastdds.idl.parser.typecode.AliasTypeCode;
 import com.eprosima.fastdds.idl.parser.typecode.ArrayTypeCode;
 import com.eprosima.fastdds.idl.parser.typecode.BitmaskTypeCode;
@@ -47,14 +49,35 @@
 import java.util.Map.Entry;
 import java.util.AbstractMap;
 import java.util.AbstractMap.SimpleEntry;
+import java.util.HashMap;
 import java.util.Stack;
 import java.util.stream.Collectors;
 import java.util.stream.Stream;
 import org.antlr.v4.runtime.Token;
 
-
 public class Context extends com.eprosima.idl.context.Context implements com.eprosima.fastcdr.idl.context.Context
 {
+
+    public class TypeNamePair
+    {
+        public TypeNamePair(TypeCode type)
+        {
+            if (null != type)
+            {
+                this.cppTypename = type.getCppTypename();
+                this.formatedCppTypename = type.getFormatedCppTypename();
+            }
+            else
+            {
+                this.cppTypename = "void";
+                this.formatedCppTypename = "void";
+            }
+        }
+
+        public String cppTypename;
+        public String formatedCppTypename;
+    }
+
     // TODO Remove middleware parameter. It is temporal while cdr and rest don't have async functions.
     public Context(
             TemplateManager tmanager,
@@ -489,37 +512,76 @@ public boolean isThereIsInterface()
         return there_is_at_least_one_interface;
     }
 
-    public void setThereIsInputFeed(
-            boolean value)
+    public void inputFeedAdded(
+            Param p)
     {
-        there_is_at_least_one_input_feed = value;
+        TypeNamePair type_pair = new TypeNamePair(p.getTypecode());
+        m_input_feed_types.putIfAbsent(type_pair.cppTypename, type_pair);
     }
 
-    public boolean isThereIsInputFeed()
+    /*!
+     * @ingroup api_for_stg
+     * @brief This function returns the list of types used in input feeds.
+     */
+    public ArrayList<TypeNamePair> getInputFeedTypes()
     {
-        return there_is_at_least_one_input_feed;
+        return new ArrayList<TypeNamePair>(m_input_feed_types.values());
     }
 
-    public boolean setThereIsOutputFeed(
-            boolean value)
+    public boolean isThereIsInputFeed()
     {
-        return there_is_at_least_one_output_feed = value;
+        return !m_input_feed_types.isEmpty();
     }
 
     public boolean isThereIsOutputFeed()
     {
-        return there_is_at_least_one_output_feed;
+        return !m_output_feed_types.isEmpty();
     }
 
-    public boolean setThereIsNonFeedOperation(
-            boolean value)
+    public boolean isThereIsNonFeedOperation()
     {
-        return there_is_at_least_one_non_feed_operation = value;
+        return !m_output_non_feed_types.isEmpty();
     }
 
-    public boolean isThereIsNonFeedOperation()
+    public void operationAdded(
+            Operation op)
+    {
+        TypeNamePair type_pair;
+        if (op.getOutputparam().size() > 0)
+        {
+            type_pair = new TypeNamePair(op.getOutTypeCode());
+        }
+        else
+        {
+            type_pair = new TypeNamePair(op.getRettype());
+        }
+
+        if (op.isAnnotationFeed())
+        {
+            m_output_feed_types.putIfAbsent(type_pair.cppTypename, type_pair);
+        }
+        else
+        {
+            m_output_non_feed_types.putIfAbsent(type_pair.cppTypename, type_pair);
+        }
+    }
+
+    /*!
+     * @ingroup api_for_stg
+     * @brief This function returns the list of types used in output feeds.
+     */
+    public ArrayList<TypeNamePair> getOutputFeedTypes()
+    {
+        return new ArrayList<TypeNamePair>(m_output_feed_types.values());
+    }
+
+    /*!
+     * @ingroup api_for_stg
+     * @brief This function returns the list of types used as operation return types.
+     */
+    public ArrayList<TypeNamePair> getOutputNonFeedTypes()
     {
-        return there_is_at_least_one_non_feed_operation;
+        return new ArrayList<TypeNamePair>(m_output_non_feed_types.values());
     }
 
     /*** Functions inherited from FastCDR Context ***/
@@ -854,11 +916,11 @@ public Param createParam(
 
     private boolean there_is_at_least_one_exception = false;
 
-    private boolean there_is_at_least_one_input_feed = false;
+    private Map<String, TypeNamePair> m_input_feed_types = new HashMap<String, TypeNamePair>();
 
-    private boolean there_is_at_least_one_output_feed = false;
+    private Map<String, TypeNamePair> m_output_feed_types = new HashMap<String, TypeNamePair>();
 
-    private boolean there_is_at_least_one_non_feed_operation = false;
+    private Map<String, TypeNamePair> m_output_non_feed_types = new HashMap<String, TypeNamePair>();
 
     private boolean there_is_at_least_one_interface = false;
 }
diff --git a/src/main/java/com/eprosima/fastdds/idl/grammar/Interface.java b/src/main/java/com/eprosima/fastdds/idl/grammar/Interface.java
index 3bacaa39..75a6faa8 100644
--- a/src/main/java/com/eprosima/fastdds/idl/grammar/Interface.java
+++ b/src/main/java/com/eprosima/fastdds/idl/grammar/Interface.java
@@ -33,21 +33,23 @@ public Interface(Context ctx, String scopeFile, boolean isInScope, String scope,
     @Override
     public void add(com.eprosima.idl.parser.tree.Export exp)
     {
+        super.add(exp);
+
         if (exp instanceof Operation)
         {
             Operation op = (Operation)exp;
             if (op.isAnnotationFeed())
             {
                 m_hasOutputFeeds = true;
-                m_context.setThereIsOutputFeed(true);
             }
-            else
+
+            if (op.getOutputparam().size() > 0)
             {
-                m_context.setThereIsNonFeedOperation(true);
+                m_has_operations_with_output_arguments = true;
             }
-        }
 
-        super.add(exp);
+            m_context.operationAdded(op);
+        }
     }
 
     /*!
@@ -60,6 +62,18 @@ public boolean isWithOutputFeeds()
         return m_hasOutputFeeds;
     }
 
+    /*!
+     * @ingroup api_for_stg
+     *
+     * @brief This function is used to check if the interface has operations with output arguments.
+     *
+     * @return True if the interface has operations with output arguments, false otherwise.
+     */
+    public boolean isWithOutputParameters()
+    {
+        return m_has_operations_with_output_arguments;
+    }
+
     /*!
      * @brief This function is used in stringtemplates to generate the typesupport code for the interface.
      *
@@ -164,6 +178,7 @@ private EnumTypeCode get_remoteExceptionCode_t_type()
 
     private Context m_context = null;
     private boolean m_hasOutputFeeds = false;
+    private boolean m_has_operations_with_output_arguments = false;
     private StructTypeCode m_request_type = null;
     private StructTypeCode m_reply_type = null;
     static private EnumTypeCode m_remoteExceptionCode_t_type = null;
diff --git a/src/main/java/com/eprosima/fastdds/idl/grammar/Operation.java b/src/main/java/com/eprosima/fastdds/idl/grammar/Operation.java
index ffd031ea..ccc7a882 100644
--- a/src/main/java/com/eprosima/fastdds/idl/grammar/Operation.java
+++ b/src/main/java/com/eprosima/fastdds/idl/grammar/Operation.java
@@ -85,7 +85,7 @@ public void add(com.eprosima.idl.parser.tree.Param param)
             else
             {
                 // Take note that there is at least one input feed
-                m_context.setThereIsInputFeed(true);
+                m_context.inputFeedAdded(p);
                 m_hasInputFeeds = true;
             }
         }
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/ClientSource.stg b/src/main/java/com/eprosima/fastdds/idl/templates/ClientSource.stg
index e4f0d134..871e4167 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/ClientSource.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/ClientSource.stg
@@ -477,7 +477,7 @@ $if(operation.annotationFeed)$
         }
 
         void set_exception(
-                std::exception_ptr exception)
+                std::exception_ptr exception) override
         {
             std::lock_guard<std::mutex> _(mtx_);
             if (!finished_)
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/ServerSource.stg b/src/main/java/com/eprosima/fastdds/idl/templates/ServerSource.stg
index db9cf0f7..ab51748c 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/ServerSource.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/ServerSource.stg
@@ -194,7 +194,7 @@ public:
 private:
 
     //{ Output feed helpers
-    
+
     struct IOutputFeedCancellator
     {
         virtual ~IOutputFeedCancellator() = default;
@@ -770,7 +770,7 @@ $endif$
 $endif$
     }
 $if(op.annotationFeed)$
-    catch (const frpc::RpcFeedCancelledException& ex)
+    catch (const frpc::RpcFeedCancelledException& /*ex*/)
     {
         ReplyType reply{};
         reply.$op.name$ = $op.resultTypeCode.scopedname${};
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/SwigCMake.stg b/src/main/java/com/eprosima/fastdds/idl/templates/SwigCMake.stg
index ccb62e84..8c621982 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/SwigCMake.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/SwigCMake.stg
@@ -16,6 +16,20 @@ group SwigCMake;
 
 swig_cmake(solution) ::= <<
 
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 cmake_minimum_required(VERSION 3.20)
 
 # SWIG: use standard target name.