diff --git a/ddsrouter_core/include/ddsrouter_core/types/common/types.hpp b/ddsrouter_core/include/ddsrouter_core/types/common/types.hpp
new file mode 100644
index 000000000..8fc1a7410
--- /dev/null
+++ b/ddsrouter_core/include/ddsrouter_core/types/common/types.hpp
@@ -0,0 +1,44 @@
+// Copyright 2021 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.
+
+/**
+ * @file types.hpp
+ *
+ * Contains auxiliary data types.
+ */
+
+#ifndef _DDSROUTERCORE_TYPES_COMMON_TYPES_HPP_
+#define _DDSROUTERCORE_TYPES_COMMON_TYPES_HPP_
+
+#include <set>
+
+#include <ddsrouter_utils/types/Atomicable.hpp>
+
+#include <ddsrouter_core/library/library_dll.h>
+#include <ddsrouter_core/types/dds/Guid.hpp>
+
+namespace eprosima {
+namespace ddsrouter {
+namespace core {
+namespace types {
+
+using GuidPrefixDataFilterType = utils::SharedAtomicable<std::set<types::GuidPrefix>>;
+
+
+} /* namespace types */
+} /* namespace core */
+} /* namespace ddsrouter */
+} /* namespace eprosima */
+
+#endif /* _DDSROUTERCORE_TYPES_COMMON_TYPES_HPP_ */
diff --git a/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.cpp b/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.cpp
index b365f796c..1c340ebb4 100644
--- a/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.cpp
+++ b/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.cpp
@@ -45,10 +45,14 @@ CommonParticipant::CommonParticipant(
         unsigned int max_history_depth)
     : BaseParticipant(participant_configuration, payload_pool, discovery_database)
     , max_history_depth_(max_history_depth)
+    , target_guids_writer_filter_(std::make_shared<types::GuidPrefixDataFilterType>())
 {
     create_participant_(
         domain_id,
         participant_attributes);
+
+    // Add this same Participant to be filtered by the Writer
+    add_filter_guidprefix_(rtps_participant_->getGuid().guidPrefix);
 }
 
 CommonParticipant::~CommonParticipant()
@@ -67,20 +71,33 @@ void CommonParticipant::onParticipantDiscovery(
     {
         if (info.status == fastrtps::rtps::ParticipantDiscoveryInfo::DISCOVERED_PARTICIPANT)
         {
-            logInfo(DDSROUTER_DISCOVERY,
-                    "Found in Participant " << this->id_nts_() << " new Participant " << info.info.m_guid << ".");
+            // Check whether this Participant belongs to a local Dds Router and is such, filter its sources
+            if (is_local_ddsrouter_participant_(info))
+            {
+                // Found local DDS Router, so filtering it
+                add_filter_guidprefix_(info.info.m_guid.guidPrefix);
+                logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY,
+                            "Found in Participant " << this->id_nts_() <<
+                            " new Local Participant " << info.info.m_guid <<
+                            " that belongs to a DDS Router, so filtering it.");
+            }
+            else
+            {
+                logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY,
+                        "Found in Participant " << this->id_nts_() << " new Participant " << info.info.m_guid << ".");
+            }
         }
         else if (info.status == fastrtps::rtps::ParticipantDiscoveryInfo::CHANGED_QOS_PARTICIPANT)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Participant " << info.info.m_guid << " changed QoS.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Participant " << info.info.m_guid << " changed QoS.");
         }
         else if (info.status == fastrtps::rtps::ParticipantDiscoveryInfo::REMOVED_PARTICIPANT)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Participant " << info.info.m_guid << " removed.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Participant " << info.info.m_guid << " removed.");
         }
         else
         {
-            logInfo(DDSROUTER_DISCOVERY, "Participant " << info.info.m_guid << " dropped.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Participant " << info.info.m_guid << " dropped.");
         }
     }
 }
@@ -142,27 +159,27 @@ void CommonParticipant::onReaderDiscovery(
 
         if (info.status == fastrtps::rtps::ReaderDiscoveryInfo::DISCOVERED_READER)
         {
-            logInfo(DDSROUTER_DISCOVERY,
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY,
                     "Found in Participant " << this->id_nts_() << " new Reader " << info.info.guid() << ".");
 
             this->discovery_database_->add_endpoint(info_reader);
         }
         else if (info.status == fastrtps::rtps::ReaderDiscoveryInfo::CHANGED_QOS_READER)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Reader " << info.info.guid() << " changed QoS.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Reader " << info.info.guid() << " changed QoS.");
 
             this->discovery_database_->update_endpoint(info_reader);
         }
         else if (info.status == fastrtps::rtps::ReaderDiscoveryInfo::REMOVED_READER)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Reader " << info.info.guid() << " removed.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Reader " << info.info.guid() << " removed.");
 
             info_reader.active(false);
             this->discovery_database_->update_endpoint(info_reader);
         }
         else
         {
-            logInfo(DDSROUTER_DISCOVERY, "Reader " << info.info.guid() << " dropped.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Reader " << info.info.guid() << " dropped.");
 
             info_reader.active(false);
             this->discovery_database_->update_endpoint(info_reader);
@@ -180,27 +197,27 @@ void CommonParticipant::onWriterDiscovery(
 
         if (info.status == fastrtps::rtps::WriterDiscoveryInfo::DISCOVERED_WRITER)
         {
-            logInfo(DDSROUTER_DISCOVERY,
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY,
                     "Found in Participant " << this->id_nts_() << " new Writer " << info.info.guid() << ".");
 
             this->discovery_database_->add_endpoint(info_writer);
         }
         else if (info.status == fastrtps::rtps::WriterDiscoveryInfo::CHANGED_QOS_WRITER)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Writer " << info.info.guid() << " changed QoS.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Writer " << info.info.guid() << " changed QoS.");
 
             this->discovery_database_->update_endpoint(info_writer);
         }
         else if (info.status == fastrtps::rtps::WriterDiscoveryInfo::REMOVED_WRITER)
         {
-            logInfo(DDSROUTER_DISCOVERY, "Writer " << info.info.guid() << " removed.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Writer " << info.info.guid() << " removed.");
 
             info_writer.active(false);
             this->discovery_database_->update_endpoint(info_writer);
         }
         else
         {
-            logInfo(DDSROUTER_DISCOVERY, "Writer " << info.info.guid() << " dropped.");
+            logInfo(DDSROUTER_RTPSPARTICIPANT_DISCOVERY, "Writer " << info.info.guid() << " dropped.");
 
             info_writer.active(false);
             this->discovery_database_->update_endpoint(info_writer);
@@ -245,6 +262,7 @@ std::shared_ptr<IWriter> CommonParticipant::create_writer_(
         this->payload_pool_,
         rtps_participant_,
         max_history_depth_,
+        target_guids_writer_filter_,
         this->configuration_->is_repeater);
 }
 
@@ -258,6 +276,13 @@ std::shared_ptr<IReader> CommonParticipant::create_reader_(
         rtps_participant_);
 }
 
+void CommonParticipant::add_filter_guidprefix_(const types::GuidPrefix& guid_to_filter) noexcept
+{
+    // Lock to write
+    std::unique_lock<types::GuidPrefixDataFilterType> lock(*target_guids_writer_filter_);
+    target_guids_writer_filter_->insert(guid_to_filter);
+}
+
 fastrtps::rtps::RTPSParticipantAttributes
 CommonParticipant::participant_attributes_(
         const configuration::ParticipantConfiguration* participant_configuration)
@@ -267,9 +292,48 @@ CommonParticipant::participant_attributes_(
     // Add Participant name
     params.setName(participant_configuration->id.id_name().c_str());
 
+    // Set property so other Routers know the Participants belongs to a Router and its kind
+    eprosima::fastrtps::rtps::Property router_kind_property;
+    router_kind_property.name(std::string(ROUTER_PROPERTY_KIND_NAME_));
+    router_kind_property.value(std::string(types::PARTICIPANT_KIND_STRINGS[static_cast<int>(participant_configuration->kind)]));
+    router_kind_property.propagate(true);
+    // Add it to properties
+    params.properties.properties().push_back(router_kind_property);
+
+    // Set property so other Routers know the Participant is local or wan
+    eprosima::fastrtps::rtps::Property router_positioning_property;
+    router_positioning_property.name(std::string(ROUTER_PROPERTY_POSITIONING_NAME_));
+    router_positioning_property.value(
+        std::string(
+            (participant_configuration->kind == types::ParticipantKind::local_discovery_server ||
+                    participant_configuration->kind == types::ParticipantKind::simple_rtps)
+                ? ROUTER_PROPERTY_POSITIONING_VALUE_LOCAL_
+                : ROUTER_PROPERTY_POSITIONING_VALUE_WAN_));
+    router_positioning_property.propagate(true);
+    // Add it to properties
+    params.properties.properties().push_back(router_positioning_property);
+
     return params;
 }
 
+bool CommonParticipant::is_local_ddsrouter_participant_(const fastrtps::rtps::ParticipantDiscoveryInfo& info) noexcept
+{
+
+    // Check if router positioning property exist
+    for (auto pit = info.info.m_properties.begin();
+         pit != info.info.m_properties.end();
+         ++pit)
+    {
+        // Attribute found
+        if (pit->first() == std::string(ROUTER_PROPERTY_POSITIONING_NAME_))
+        {
+            return pit->second() == std::string(ROUTER_PROPERTY_POSITIONING_VALUE_LOCAL_);
+        }
+    }
+
+    return false;
+}
+
 } /* namespace rtps */
 } /* namespace core */
 } /* namespace ddsrouter */
diff --git a/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.hpp b/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.hpp
index f889768a2..c94419c9f 100644
--- a/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.hpp
+++ b/ddsrouter_core/src/cpp/participant/implementations/rtps/CommonParticipant.hpp
@@ -86,12 +86,16 @@ class CommonParticipant
     types::Endpoint create_endpoint_from_info_(
             DiscoveryInfoKind& info);
 
+    void add_filter_guidprefix_(const types::GuidPrefix& guid_to_filter) noexcept;
+
     /////
     // RTPS specific methods
 
     static fastrtps::rtps::RTPSParticipantAttributes participant_attributes_(
             const configuration::ParticipantConfiguration* participant_configuration);
 
+    static bool is_local_ddsrouter_participant_(const fastrtps::rtps::ParticipantDiscoveryInfo& info) noexcept;
+
     /////
     // VARIABLES
     eprosima::fastrtps::rtps::RTPSParticipant* rtps_participant_;
@@ -101,6 +105,21 @@ class CommonParticipant
 
     //! Maximum depth of RTPS History instances
     unsigned int max_history_depth_;
+
+    /**
+     * @brief Collects these guid prefixes that the Writer must filter and not send messages to them.
+     *
+     * It does add also this same Participant.
+     */
+    std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_writer_filter_;
+
+    /*
+     * These constants set the name of property and values used in Property QoS
+     */
+    static constexpr const char* ROUTER_PROPERTY_KIND_NAME_ = "fastdds.ddsrouter.kind";
+    static constexpr const char* ROUTER_PROPERTY_POSITIONING_NAME_ = "fastdds.ddsrouter.positioning";
+    static constexpr const char* ROUTER_PROPERTY_POSITIONING_VALUE_LOCAL_ = "local";
+    static constexpr const char* ROUTER_PROPERTY_POSITIONING_VALUE_WAN_ = "wan";
 };
 
 } /* namespace rtps */
@@ -109,3 +128,4 @@ class CommonParticipant
 } /* namespace eprosima */
 
 #endif /* __SRC_DDSROUTERCORE_PARTICIPANT_IMPLEMENTATIONS_RTPS_COMMONPARTICIPANT_HPP_ */
+
diff --git a/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.cpp b/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.cpp
index 95ff0b2f6..b5e319ca5 100644
--- a/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.cpp
+++ b/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.cpp
@@ -171,16 +171,16 @@ void Reader::enable_() noexcept
     on_data_available_();
 }
 
-bool Reader::come_from_this_participant_(
+bool Reader::accept_message_from_this_source_(
         const fastrtps::rtps::CacheChange_t* change) const noexcept
 {
-    return come_from_this_participant_(change->writerGUID);
+    return accept_message_from_this_source_(change->writerGUID);
 }
 
-bool Reader::come_from_this_participant_(
+bool Reader::accept_message_from_this_source_(
         const fastrtps::rtps::GUID_t guid) const noexcept
 {
-    return guid.guidPrefix == rtps_reader_->getGuid().guidPrefix;
+    return true;
 }
 
 fastrtps::rtps::HistoryAttributes Reader::history_attributes_() const noexcept
@@ -255,7 +255,7 @@ void Reader::onNewCacheChangeAdded(
         fastrtps::rtps::RTPSReader*,
         const fastrtps::rtps::CacheChange_t* const change) noexcept
 {
-    if (!come_from_this_participant_(change))
+    if (accept_message_from_this_source_(change))
     {
         // Do not remove previous received changes so they can be read when the reader is enabled
         if (enabled_)
@@ -279,7 +279,7 @@ void Reader::onNewCacheChangeAdded(
     {
         logWarning(
             DDSROUTER_RTPS_READER_LISTENER,
-            "Ignoring data from this same Participant in reader " << *this << ".");
+            "Ignoring data from " << change->writerGUID << " in reader " << *this << ".");
 
         // If it is a message from this Participant, do not send it forward and remove it
         // TODO: do this more elegant
@@ -291,7 +291,7 @@ void Reader::onReaderMatched(
         fastrtps::rtps::RTPSReader*,
         fastrtps::rtps::MatchingInfo& info) noexcept
 {
-    if (!come_from_this_participant_(info.remoteEndpointGuid))
+    if (accept_message_from_this_source_(info.remoteEndpointGuid))
     {
         if (info.status == fastrtps::rtps::MatchingStatus::MATCHED_MATCHING)
         {
diff --git a/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.hpp b/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.hpp
index 3c11d8c55..31850a1e8 100644
--- a/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.hpp
+++ b/ddsrouter_core/src/cpp/reader/implementations/rtps/Reader.hpp
@@ -28,10 +28,10 @@
 #include <fastrtps/rtps/reader/RTPSReader.h>
 #include <fastrtps/rtps/reader/ReaderListener.h>
 
-#include <reader/implementations/auxiliar/BaseReader.hpp>
-
 #include <ddsrouter_core/types/participant/ParticipantId.hpp>
 
+#include <reader/implementations/auxiliar/BaseReader.hpp>
+
 namespace eprosima {
 namespace ddsrouter {
 namespace core {
@@ -160,11 +160,11 @@ class Reader : public BaseReader, public fastrtps::rtps::ReaderListener
     // Reader specific methods
 
     //! Whether a change received is from this Participant (to avoid auto-feedback)
-    bool come_from_this_participant_(
+    bool accept_message_from_this_source_(
             const fastrtps::rtps::CacheChange_t* change) const noexcept;
 
     //! Whether a guid references this Participant (to avoid auto-feedback)
-    bool come_from_this_participant_(
+    bool accept_message_from_this_source_(
             const fastrtps::rtps::GUID_t guid) const noexcept;
 
     /////
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.cpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.cpp
index 01fec85fd..0fd075921 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.cpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.cpp
@@ -25,7 +25,7 @@
 #include <efficiency/cache_change/CacheChangePool.hpp>
 #include <writer/implementations/rtps/Writer.hpp>
 #include <writer/implementations/rtps/filter/RepeaterDataFilter.hpp>
-#include <writer/implementations/rtps/filter/SelfDataFilter.hpp>
+#include <writer/implementations/rtps/filter/GuidDataFilter.hpp>
 #include <types/dds/RouterCacheChange.hpp>
 
 namespace eprosima {
@@ -41,9 +41,11 @@ Writer::Writer(
         std::shared_ptr<PayloadPool> payload_pool,
         fastrtps::rtps::RTPSParticipant* rtps_participant,
         unsigned int max_history_depth,
+        std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter,
         const bool repeater /* = false */)
     : BaseWriter(participant_id, topic, payload_pool)
     , repeater_(repeater)
+    , target_guids_filter_(target_guids_filter)
 {
     // TODO Use payload pool for this writer, so change does not need to be copied
 
@@ -100,12 +102,12 @@ Writer::Writer(
     if (repeater)
     {
         // Use filter writer of origin
-        data_filter_ = std::make_unique<RepeaterDataFilter>();
+        data_filter_ = std::make_unique<RepeaterDataFilter>(target_guids_filter);
     }
     else
     {
         // Use default filter
-        data_filter_ = std::make_unique<SelfDataFilter>();
+        data_filter_ = std::make_unique<GuidDataFilter>(target_guids_filter);
     }
 
     rtps_writer_->reader_data_filter(data_filter_.get());
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.hpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.hpp
index 91286de17..782ddb813 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.hpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/Writer.hpp
@@ -27,7 +27,10 @@
 #include <fastrtps/rtps/attributes/WriterAttributes.h>
 #include <fastrtps/rtps/writer/RTPSWriter.h>
 
+#include <ddsrouter_utils/types/Atomicable.hpp>
+
 #include <ddsrouter_core/types/participant/ParticipantId.hpp>
+#include <ddsrouter_core/types/common/types.hpp>
 #include <writer/implementations/auxiliar/BaseWriter.hpp>
 #include <efficiency/cache_change/CacheChangePool.hpp>
 
@@ -81,6 +84,7 @@ class Writer : public BaseWriter
             std::shared_ptr<PayloadPool> payload_pool,
             fastrtps::rtps::RTPSParticipant* rtps_participant,
             unsigned int max_history_depth,
+            std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter,
             const bool repeater = false);
 
     /**
@@ -160,6 +164,9 @@ class Writer : public BaseWriter
     std::unique_ptr<fastdds::rtps::IReaderDataFilter> data_filter_;
 
     bool repeater_;
+
+    //! Collects these guid prefixes that the Writer must filter when sending data.
+    std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter_;
 };
 
 } /* namespace rtps */
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.cpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.cpp
similarity index 69%
rename from ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.cpp
rename to ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.cpp
index ce87c314a..23c29c7a7 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.cpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.cpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file SelfDataFilter.cpp
+ * @file GuidDataFilter.cpp
  */
 
 #include <fastrtps/rtps/common/CacheChange.h>
@@ -21,19 +21,26 @@
 #include <ddsrouter_utils/Log.hpp>
 
 #include <types/dds/RouterCacheChange.hpp>
-#include <writer/implementations/rtps/filter/SelfDataFilter.hpp>
+#include <writer/implementations/rtps/filter/GuidDataFilter.hpp>
 
 namespace eprosima {
 namespace ddsrouter {
 namespace core {
 namespace rtps {
 
-bool SelfDataFilter::is_relevant(
+GuidDataFilter::GuidDataFilter(std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter)
+    : target_guids_filter(target_guids_filter)
+{
+    // Do nothing
+}
+
+
+bool GuidDataFilter::is_relevant(
         const fastrtps::rtps::CacheChange_t& change,
         const fastrtps::rtps::GUID_t& reader_guid) const
 {
-    // It is relevant only if the reader does not belong to same participant as writer
-    return change.writerGUID.guidPrefix != reader_guid.guidPrefix;
+    std::shared_lock<types::GuidPrefixDataFilterType> lock(*target_guids_filter);
+    return target_guids_filter->find(reader_guid.guidPrefix) == target_guids_filter->end();
 }
 
 } /* namespace rtps */
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.hpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.hpp
similarity index 80%
rename from ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.hpp
rename to ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.hpp
index 3184819f7..5e861716c 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/SelfDataFilter.hpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/GuidDataFilter.hpp
@@ -13,7 +13,7 @@
 // limitations under the License.
 
 /**
- * @file SelfDataFilter.hpp
+ * @file GuidDataFilter.hpp
  */
 
 #ifndef __SRC_DDSROUTERCORE_PARTICIPANT_IMPLEMENTATIONS_RTPS_FILTER_SelfParticipantDataFilter_HPP_
@@ -21,6 +21,8 @@
 
 #include <fastdds/rtps/interfaces/IReaderDataFilter.hpp>
 
+#include <ddsrouter_core/types/common/types.hpp>
+
 /////
 // Forward declarations
 namespace eprosima {
@@ -40,11 +42,12 @@ namespace core {
 namespace rtps {
 
 /**
- * This filter allows to not send messages from this Writer to the Readers in the same Participant.
+ * This filter filter messages to those readers belonging to a Participant present in the filter list given.
  */
-class SelfDataFilter : public fastdds::rtps::IReaderDataFilter
+struct GuidDataFilter : public fastdds::rtps::IReaderDataFilter
 {
-public:
+
+    GuidDataFilter(std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter);
 
     /**
      * @brief Whether incoming change is relevant for this reader.
@@ -56,6 +59,8 @@ class SelfDataFilter : public fastdds::rtps::IReaderDataFilter
             const fastrtps::rtps::CacheChange_t& change,
             const fastrtps::rtps::GUID_t& reader_guid
             ) const override;
+
+    std::shared_ptr<types::GuidPrefixDataFilterType> target_guids_filter;
 };
 
 } /* namespace rtps */
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.cpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.cpp
index d685e5f6c..0e04723a6 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.cpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.cpp
@@ -32,11 +32,11 @@ bool RepeaterDataFilter::is_relevant(
         const fastrtps::rtps::CacheChange_t& change,
         const fastrtps::rtps::GUID_t& reader_guid) const
 {
-    if (!SelfDataFilter::is_relevant(change, reader_guid))
+    if (!GuidDataFilter::is_relevant(change, reader_guid))
     {
         logDebug(
             REPEATER_DATA_FILTER,
-            "Ignoring message by SelfDataFilter is_relevant result.");
+            "Ignoring message by GuidDataFilter is_relevant result.");
 
         // If origin filter does not pass this change, it is discarded
         return false;
diff --git a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.hpp b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.hpp
index 91f7737a9..24be8a669 100644
--- a/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.hpp
+++ b/ddsrouter_core/src/cpp/writer/implementations/rtps/filter/RepeaterDataFilter.hpp
@@ -19,7 +19,7 @@
 #ifndef __SRC_DDSROUTERCORE_PARTICIPANT_IMPLEMENTATIONS_RTPS_FILTER_REPEATERDATAFILTER_HPP_
 #define __SRC_DDSROUTERCORE_PARTICIPANT_IMPLEMENTATIONS_RTPS_FILTER_REPEATERDATAFILTER_HPP_
 
-#include <writer/implementations/rtps/filter/SelfDataFilter.hpp>
+#include <writer/implementations/rtps/filter/GuidDataFilter.hpp>
 
 namespace eprosima {
 namespace ddsrouter {
@@ -34,9 +34,10 @@ namespace rtps {
  *
  * This uses the RouterCacheChange extra information.
  */
-class RepeaterDataFilter : public SelfDataFilter
+struct RepeaterDataFilter : public GuidDataFilter
 {
-public:
+
+    using GuidDataFilter::GuidDataFilter;
 
     /**
      * @brief Whether incoming change is relevant for this reader.
diff --git a/ddsrouter_test/compose/CMakeLists.txt b/ddsrouter_test/compose/CMakeLists.txt
index 048387af5..0e7c44c6c 100644
--- a/ddsrouter_test/compose/CMakeLists.txt
+++ b/ddsrouter_test/compose/CMakeLists.txt
@@ -18,6 +18,7 @@ set(TESTS
     repeater_tcp
     tcp
     udp
+    filter_local
     discovery_server
 )
 
diff --git a/ddsrouter_test/compose/filter_local/compose.yml b/ddsrouter_test/compose/filter_local/compose.yml
new file mode 100644
index 000000000..a0a2e4f0d
--- /dev/null
+++ b/ddsrouter_test/compose/filter_local/compose.yml
@@ -0,0 +1,70 @@
+# Test description:
+#   This test checks that 2 DDS Routers can work simultaneously over same local area network without creating a loop.
+#   There are a Pub and sub in domain 0, and a sub in domain 1; and 2 dds routers from domain 0 to 1.
+#
+# Note:
+#   The messages received in Subscriber 2 will be repeated, as both routers will transmit them.
+#
+# Test architecture:
+#
+
+#   TODO: add graph
+
+services:
+
+  ddsrouter_1:
+    image: ${DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE}
+    container_name: ddsrouter_1
+    networks:
+      - std_net
+    volumes:
+      - ./ddsrouter_1.yaml:/config.yaml
+    command: ddsrouter -c /config.yaml --timeout 12
+
+  ddsrouter_2:
+    image: ${DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE}
+    container_name: ddsrouter_2
+    networks:
+      - std_net
+    volumes:
+      - ./ddsrouter_2.yaml:/config.yaml
+    command: ddsrouter -c /config.yaml --timeout 12
+
+  pub_edge_1:
+    image: ${DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE}
+    container_name: pub_edge_1
+    depends_on:
+      - ddsrouter_1
+      - ddsrouter_2
+    networks:
+      - std_net
+    command: install/BasicConfigurationExample/examples/cpp/dds/BasicConfigurationExample/BasicConfigurationExample publisher --interval 100 --samples 110 --domain 1
+
+  sub_edge_1:
+    image: ${DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE}
+    container_name: sub_edge_1
+    depends_on:
+      - ddsrouter_1
+      - ddsrouter_2
+    networks:
+      - std_net
+    volumes:
+      - ../execute_and_validate_subscriber.py:/execute_and_validate_subscriber.py
+    command: python3 /execute_and_validate_subscriber.py --exe install/BasicConfigurationExample/examples/cpp/dds/BasicConfigurationExample/BasicConfigurationExample --samples 20 --timeout 12 --domain 1
+
+  sub_edge_2:
+    image: ${DDSROUTER_COMPOSE_TEST_DOCKER_IMAGE}
+    container_name: sub_edge_2
+    depends_on:
+      - ddsrouter_1
+      - ddsrouter_2
+    networks:
+      - std_net
+    volumes:
+      - ../execute_and_validate_subscriber.py:/execute_and_validate_subscriber.py
+    command: python3 /execute_and_validate_subscriber.py --exe install/BasicConfigurationExample/examples/cpp/dds/BasicConfigurationExample/BasicConfigurationExample --samples 40 --timeout 12 --domain 2 --allow-duplicates
+
+networks:
+  std_net:
+  default:
+    driver: none
diff --git a/ddsrouter_test/compose/filter_local/ddsrouter_1.yaml b/ddsrouter_test/compose/filter_local/ddsrouter_1.yaml
new file mode 100644
index 000000000..c7c3d473f
--- /dev/null
+++ b/ddsrouter_test/compose/filter_local/ddsrouter_1.yaml
@@ -0,0 +1,14 @@
+version: v3.0
+
+participants:
+
+  - name: EchoParticipant
+    kind: echo
+
+  - name: 1_Simple_Participant_1
+    kind: local
+    domain: 1
+
+  - name: 1_Simple_Participant_2
+    kind: local
+    domain: 2
diff --git a/ddsrouter_test/compose/filter_local/ddsrouter_2.yaml b/ddsrouter_test/compose/filter_local/ddsrouter_2.yaml
new file mode 100644
index 000000000..17900541a
--- /dev/null
+++ b/ddsrouter_test/compose/filter_local/ddsrouter_2.yaml
@@ -0,0 +1,14 @@
+version: v3.0
+
+participants:
+
+  - name: EchoParticipant
+    kind: echo
+
+  - name: 2_Simple_Participant_1
+    kind: local
+    domain: 1
+
+  - name: 2_Simple_Participant_2
+    kind: local
+    domain: 2