diff --git a/src/main/java/com/eprosima/fastdds/fastddsgen.java b/src/main/java/com/eprosima/fastdds/fastddsgen.java
index eb76d1f7..df880366 100644
--- a/src/main/java/com/eprosima/fastdds/fastddsgen.java
+++ b/src/main/java/com/eprosima/fastdds/fastddsgen.java
@@ -369,6 +369,7 @@ else if (arg.equals(execute_test_arg))
             else if (arg.equals(ros2_names_arg))
             {
                 m_type_ros2 = true;
+                TypeCode.default_extensibility = TypeCode.ExtensibilityKind.FINAL;
             }
             else if (arg.equals(cnames_arg))
             {
diff --git a/src/main/java/com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg b/src/main/java/com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg
index 3d774556..22623187 100644
--- a/src/main/java/com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg
+++ b/src/main/java/com/eprosima/fastdds/idl/templates/XTypesTypeObjectSource.stg
@@ -916,17 +916,7 @@ if (eprosima::fastdds::dds::RETCODE_OK != return_code_$name$)
 >>
 
 extensibility(object) ::= <%
-$if (object.annotationExtensibilityNotApplied)$
-    $if(object.isStructType)$
-    $if(object.inheritance)$
-    $extensibility(object.inheritance)$
-    $else$
-    eprosima::fastdds::dds::xtypes::ExtensibilityKind::APPENDABLE,
-    $endif$
-    $else$
-    eprosima::fastdds::dds::xtypes::ExtensibilityKind::APPENDABLE,
-    $endif$
-$elseif (object.annotationAppendable)$
+$if (object.annotationAppendable)$
     eprosima::fastdds::dds::xtypes::ExtensibilityKind::APPENDABLE,
 $elseif (object.annotationFinal)$
     eprosima::fastdds::dds::xtypes::ExtensibilityKind::FINAL,
diff --git a/thirdparty/idl-parser b/thirdparty/idl-parser
index 1e39d944..fded1bf5 160000
--- a/thirdparty/idl-parser
+++ b/thirdparty/idl-parser
@@ -1 +1 @@
-Subproject commit 1e39d944b7ed1bed06e056abdcc1b41ff3b9cf73
+Subproject commit fded1bf5ab9a89d97dfb48981acd2108cdab1f15