diff --git a/examples/cpp/configuration/CLIParser.hpp b/examples/cpp/configuration/CLIParser.hpp
index 7295dcde338..a88d9999a89 100644
--- a/examples/cpp/configuration/CLIParser.hpp
+++ b/examples/cpp/configuration/CLIParser.hpp
@@ -45,10 +45,10 @@ class CLIParser
         int32_t max_samples = 5000;
         int32_t max_instances = 10;
         int32_t max_samples_per_instance = 400;
-        uint32_t deadline = fastdds::Duration_t::INFINITE_SECONDS;
-        uint32_t lifespan = fastdds::Duration_t::INFINITE_SECONDS;
-        uint32_t liveliness_lease = fastdds::Duration_t::INFINITE_SECONDS;
-        uint32_t liveliness_assert = fastdds::Duration_t::INFINITE_SECONDS - 1;
+        uint32_t deadline = 0;
+        uint32_t lifespan = 0;
+        uint32_t liveliness_lease = 0;
+        uint32_t liveliness_assert = 0;
         std::string partitions = "";
         std::string profile_participant = "";
         std::string topic_name = "configuration_topic";
@@ -76,7 +76,7 @@ class CLIParser
     struct publisher_config : public entity_config
     {
         uint16_t wait = 0;
-        uint32_t ack_keep_duration = fastdds::Duration_t::INFINITE_SECONDS;
+        uint32_t ack_keep_duration = 0;
         uint32_t interval = 100;
         uint32_t msg_size = 10;
         uint32_t ownership_strength = 0;
diff --git a/examples/cpp/configuration/PublisherApp.cpp b/examples/cpp/configuration/PublisherApp.cpp
index 12aa3bd9053..53886342ce2 100644
--- a/examples/cpp/configuration/PublisherApp.cpp
+++ b/examples/cpp/configuration/PublisherApp.cpp
@@ -139,16 +139,30 @@ PublisherApp::PublisherApp(
                       "DataWriter initialization failed: ownership strength is only valid with exclusive ownership");
         }
         writer_qos.ownership_strength().value = config.ownership_strength;
-        writer_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
+        if (config.deadline > 0)
+        {
+            writer_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
+        }
         writer_qos.reliable_writer_qos().disable_positive_acks.enabled = config.disable_positive_ack;
-        writer_qos.reliable_writer_qos().disable_positive_acks.duration = eprosima::fastdds::Duration_t(
-            config.ack_keep_duration * 1e-3);
-        writer_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
+        if (config.ack_keep_duration > 0)
+        {
+            writer_qos.reliable_writer_qos().disable_positive_acks.duration = eprosima::fastdds::Duration_t(
+                config.ack_keep_duration * 1e-3);
+        }
+        if (config.lifespan > 0)
+        {
+            writer_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
+        }
         writer_qos.liveliness().kind = config.liveliness;
-        writer_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(
-            config.liveliness_lease * 1e-3);
-        writer_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
-            config.liveliness_assert * 1e-3);
+        if (config.liveliness_lease > 0)
+        {
+            writer_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(config.liveliness_lease * 1e-3);
+        }
+        if (config.liveliness_assert > 0)
+        {
+            writer_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
+                config.liveliness_assert * 1e-3);
+        }
         writer_ = publisher_->create_datawriter(topic_, writer_qos, this, StatusMask::all());
     }
     else
diff --git a/examples/cpp/configuration/README.md b/examples/cpp/configuration/README.md
index 0ab5adf22ab..65a955a0e8a 100644
--- a/examples/cpp/configuration/README.md
+++ b/examples/cpp/configuration/README.md
@@ -138,6 +138,8 @@ Otherwise, the entities are considered incompatible (and they will not match).
 The argument **``-i``** ``<period>`` or **``--interval``** ``<period>`` configures the **publisher** application with the sending samples period (in milliseconds).
 It should be always **greater** than the deadline period, otherwise ``on_offered_deadline_missed`` will be triggered any time a sample is sent.
 
+If **``--deadline``** is not configured, it takes the _eProsima Fast DDS_ default value (infinite).
+
 ## Disable positive ACKs QoS
 
 Using argument **``--disable-positive-ack``** will configure  the corresponding endpoint to **not** exchange positive acknowledge messages.
@@ -172,6 +174,8 @@ The following table represents the compatibility matrix (compatible ✔️ vs in
 
 The argument **``--ack-keep-duration``** ``<duration>`` configures the **publisher** application with the duration (in milliseconds) it keeps the data before considering it as acknowledged.
 
+If **``--ack-keep-duration``** is not configured, it takes the _eProsima Fast DDS_ default value (infinite).
+
 ## Durability QoS
 
 Using argument **``--transient-local``** will configure the corresponding endpoint with **``TRANSIENT_LOCAL``** durability QoS.
@@ -282,6 +286,9 @@ The following table represents the compatibility matrix (compatible ✔️ vs in
 The argument **``-i``** ``<period>`` or **``--interval``** ``<period>`` configures the **publisher** application with the sending samples period (in milliseconds).
 It should be always **lower** than the liveliness lease duration, otherwise liveliness will be lost after sending each sample and recovered when sending the next sample.
 
+
+If **``--liveliness``**  or  **``--liveliness-assert``** are not configured, they take the _eProsima Fast DDS_ default values (infinite).
+
 ## Ownership QoS
 
 Using argument **``-o``** or **``--ownership``** will configure the corresponding endpoint with **``EXCLUSIVE``** [ownership QoS kind](https://fast-dds.docs.eprosima.com/en/latest/fastdds/dds_layer/core/policy/standardQosPolicies.html#ownershipqospolicykind).
diff --git a/examples/cpp/configuration/SubscriberApp.cpp b/examples/cpp/configuration/SubscriberApp.cpp
index efadff36b30..9bf1347b4af 100644
--- a/examples/cpp/configuration/SubscriberApp.cpp
+++ b/examples/cpp/configuration/SubscriberApp.cpp
@@ -125,14 +125,25 @@ SubscriberApp::SubscriberApp(
         reader_qos.resource_limits().max_instances = config.max_instances;
         reader_qos.resource_limits().max_samples_per_instance = config.max_samples_per_instance;
         reader_qos.ownership().kind = config.ownership;
-        reader_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
+        if (config.deadline > 0)
+        {
+            reader_qos.deadline().period = eprosima::fastdds::Duration_t(config.deadline * 1e-3);
+        }
         reader_qos.reliable_reader_qos().disable_positive_acks.enabled = config.disable_positive_ack;
-        reader_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
+        if (config.lifespan > 0)
+        {
+            reader_qos.lifespan().duration = eprosima::fastdds::Duration_t(config.lifespan * 1e-3);
+        }
         reader_qos.liveliness().kind = config.liveliness;
-        reader_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(
-            config.liveliness_lease * 1e-3);
-        reader_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
-            config.liveliness_assert * 1e-3);
+        if (config.liveliness_lease > 0)
+        {
+            reader_qos.liveliness().lease_duration = eprosima::fastdds::Duration_t(config.liveliness_lease * 1e-3);
+        }
+        if (config.liveliness_assert > 0)
+        {
+            reader_qos.liveliness().announcement_period = eprosima::fastdds::Duration_t(
+                config.liveliness_assert * 1e-3);
+        }
         reader_ = subscriber_->create_datareader(topic_, reader_qos, this, StatusMask::all());
     }
     else