diff --git a/CMakeLists.txt b/CMakeLists.txt
index 47606952..39c920ea 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
 option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
 
-set(UAGENT_P2P_CLIENT_VERSION 2.2.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.2.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 2.2.1 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v2.2.1 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -80,8 +80,8 @@ set(_deps "")
 if(UAGENT_USE_SYSTEM_FASTCDR)
     set(_fastcdr_version 1)
 else()
-    set(_fastcdr_version 1.0.22)
-    set(_fastcdr_tag v1.0.22)
+    set(_fastcdr_version 1.0.24)
+    set(_fastcdr_tag v1.0.24)
 endif()
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
@@ -95,8 +95,8 @@ if(UAGENT_FAST_PROFILE)
     if(UAGENT_USE_SYSTEM_FASTDDS)
         set(_fastdds_version 2)
     else()
-        set(_fastdds_version 2.4.1)
-        set(_fastdds_tag v2.4.1)
+        set(_fastdds_version 2.8)
+        set(_fastdds_tag 2.8.x)
         set(_foonathan_memory_tag v0.7-1) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
     endif()
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
@@ -117,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.2.0" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.2.1" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
diff --git a/include/uxr/agent/message/InputMessage.hpp b/include/uxr/agent/message/InputMessage.hpp
index 73b5184d..8533fdb9 100644
--- a/include/uxr/agent/message/InputMessage.hpp
+++ b/include/uxr/agent/message/InputMessage.hpp
@@ -38,7 +38,10 @@ class InputMessage
           deserializer_(fastbuffer_)
     {
         memcpy(buf_, buf, len);
-        deserialize(header_);
+
+        // A valid XRCE message must have a valid header and at least 1 submessage
+        valid_xrce_message_ = deserialize(header_);
+        valid_xrce_message_ = valid_xrce_message_ && count_submessages() > 0;
     }
 
     uint8_t* get_buf() const { return buf_; }
@@ -70,6 +73,8 @@ class InputMessage
 
     size_t count_submessages();
 
+    bool is_valid_xrce_message() { return valid_xrce_message_; }
+
     dds::xrce::SubmessageId get_submessage_id();
 
 private:
@@ -85,6 +90,7 @@ class InputMessage
     dds::xrce::SubmessageHeader subheader_;
     fastcdr::FastBuffer fastbuffer_;
     fastcdr::Cdr deserializer_;
+    bool valid_xrce_message_ = false;
 };
 
 inline bool InputMessage::prepare_next_submessage()
@@ -114,8 +120,15 @@ inline size_t InputMessage::count_submessages()
         local_deserializer.jump((4 - ((local_deserializer.getCurrentPosition() - local_deserializer.getBufferPointer()) & 3)) & 3);
         if (fastbuffer_.getBufferSize() > local_deserializer.getSerializedDataLength())
         {
-            local_subheader.deserialize(local_deserializer);
-            count++;
+            try
+            {
+                local_subheader.deserialize(local_deserializer);
+                count++;
+            }
+            catch(eprosima::fastcdr::exception::NotEnoughMemoryException& /*exception*/)
+            {
+                rv = false;
+            }
         } else {
             rv = false;
         }
diff --git a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
index 6e958b9f..30a41373 100644
--- a/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSMiddleware.cpp
@@ -568,6 +568,7 @@ bool FastDDSMiddleware::create_requester_by_bin(
 
         attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
         attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
         std::shared_ptr<FastDDSRequester> requester = create_requester(participant, attrs);
         if (nullptr == requester)
@@ -699,6 +700,7 @@ bool FastDDSMiddleware::create_replier_by_bin(
 
         attrs.publisher.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
         attrs.subscriber.historyMemoryPolicy = fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+        attrs.subscriber.qos.m_reliability.kind = fastdds::dds::RELIABLE_RELIABILITY_QOS;
 
         std::shared_ptr<FastDDSReplier> replier = create_replier(participant, attrs);
         if (nullptr == replier)
diff --git a/src/cpp/transport/Server.cpp b/src/cpp/transport/Server.cpp
index b07b3c50..f9b2a314 100644
--- a/src/cpp/transport/Server.cpp
+++ b/src/cpp/transport/Server.cpp
@@ -192,7 +192,7 @@ void Server<EndPoint>::receiver_loop()
         TransportRc transport_rc = TransportRc::ok;
         if (recv_message(input_packet, RECEIVE_TIMEOUT, transport_rc))
         {
-            if(dds::xrce::HEARTBEAT == input_packet.message->get_submessage_id() && 1U == input_packet.message->count_submessages()){
+            if(input_packet.message->is_valid_xrce_message() && 1U == input_packet.message->count_submessages() && dds::xrce::HEARTBEAT == input_packet.message->get_submessage_id()){
                 input_scheduler_.push(std::move(input_packet), 1);
             }
             else