diff --git a/rmw_microxrcedds_c/include/rmw_microros/ping.h b/rmw_microxrcedds_c/include/rmw_microros/ping.h
index 1375475a..05e4ff4a 100644
--- a/rmw_microxrcedds_c/include/rmw_microros/ping.h
+++ b/rmw_microxrcedds_c/include/rmw_microros/ping.h
@@ -69,6 +69,13 @@ rmw_ret_t rmw_uros_ping_agent_options(
   const uint8_t attempts,
   rmw_init_options_t * rmw_options);
 
+/**
+ * \brief TODO
+ */
+rmw_ret_t rmw_uros_regenerate_entities(
+  const int timeout_ms,
+  const uint8_t attempts)
+
 /** @}*/
 
 #if defined(__cplusplus)
diff --git a/rmw_microxrcedds_c/src/rmw_client.c b/rmw_microxrcedds_c/src/rmw_client.c
index 9807ab84..81de02de 100644
--- a/rmw_microxrcedds_c/src/rmw_client.c
+++ b/rmw_microxrcedds_c/src/rmw_client.c
@@ -105,16 +105,11 @@ rmw_create_client(
       custom_client->client_id,
       custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-    static char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-    static char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
     generate_service_types(
-      custom_client->topic.type_support_callbacks.srv, req_type_name, res_type_name,
+      custom_client->topic.type_support_callbacks.srv, type_buffer_1, type_buffer_2,
       RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
-
-    static char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    static char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
     generate_service_topics(
-      service_name, req_topic_name, res_topic_name,
+      service_name, topic_buffer_1, topic_buffer_2,
       RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);
 
     client_req = uxr_buffer_create_requester_bin(
@@ -123,10 +118,10 @@ rmw_create_client(
       custom_client->client_id,
       custom_node->participant_id,
       (char *) service_name,
-      req_type_name,
-      res_type_name,
-      req_topic_name,
-      res_topic_name,
+      type_buffer_1,
+      type_buffer_2,
+      topic_buffer_1,
+      topic_buffer_2,
       convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
diff --git a/rmw_microxrcedds_c/src/rmw_microros/ping.c b/rmw_microxrcedds_c/src/rmw_microros/ping.c
index 140eaaa7..f328ba6d 100644
--- a/rmw_microxrcedds_c/src/rmw_microros/ping.c
+++ b/rmw_microxrcedds_c/src/rmw_microros/ping.c
@@ -23,6 +23,7 @@
 
 #include "../rmw_microros_internal/rmw_uxrce_transports.h"
 #include "../rmw_microros_internal/types.h"
+#include "./rmw_microros_internal/utils.h"
 
 extern rmw_uxrce_transport_params_t rmw_uxrce_transport_default_params;
 
@@ -105,3 +106,305 @@ rmw_ret_t rmw_uros_ping_agent_options(
 
   return success ? RMW_RET_OK : RMW_RET_ERROR;
 }
+
+rmw_ret_t rmw_uros_regenerate_entities(
+  const int timeout_ms,
+  const uint8_t attempts)
+{
+  bool success = true;
+
+  if (!session_memory.is_initialized || NULL == session_memory.allocateditems) {
+    return RMW_RET_ERROR;
+  }
+
+  rmw_uxrce_mempool_item_t * item = session_memory.allocateditems;
+  rmw_context_impl_t * context = (rmw_context_impl_t *)item->data;
+
+  bool ping_success = uxr_ping_agent_attempts(context->session.comm, timeout_ms, attempts);
+
+  if (!ping_success) {
+    return RMW_RET_ERROR;
+  }
+
+  // Regenerate sessions
+  {
+    rmw_uxrce_mempool_item_t * item = session_memory.allocateditems;
+    while (NULL != item) {
+      rmw_context_impl_t * context = (rmw_context_impl_t *)item->data;
+
+      uxr_create_session(&context->session);
+
+      item = item->next;
+    }
+  }
+
+  // Regenerate nodes
+  {
+    rmw_uxrce_mempool_item_t * item = node_memory.allocateditems;
+    while (NULL != item) {
+      rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)item->data;
+      uint16_t req = UXR_INVALID_REQUEST_ID;
+
+      if (strcmp(custom_node->node_namespace, "/") == 0) {
+        snprintf(node_name_buffer, sizeof(node_name_buffer), "%s", custom_node->node_name);
+      } else {
+        snprintf(
+          node_name_buffer, sizeof(node_name_buffer), "%s/%s", custom_node->node_namespace,
+          custom_node->node_name);
+      }
+
+      req = uxr_buffer_create_participant_bin(
+        &custom_node->context->session,
+        *custom_node->context->creation_stream,
+        custom_node->participant_id,
+        custom_node->domain_id,
+        node_name_buffer,
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_node->context, custom_node->context->creation_stream, req,
+        custom_node->context->creation_timeout);
+
+      item = item->next;
+    }
+  }
+
+  // Regenerate publishers
+  {
+    rmw_uxrce_mempool_item_t * item = publisher_memory.allocateditems;
+    while (NULL != item) {
+      rmw_uxrce_publisher_t * custom_publisher = (rmw_uxrce_publisher_t *)item->data;
+      uint16_t req = UXR_INVALID_REQUEST_ID;
+
+      generate_topic_name(
+        custom_publishers->topic.topic_name, topic_buffer_1,
+        sizeof(topic_buffer_1));
+      generate_type_name(
+        custom_publisher->topic.type_support_callbacks.msg, type_buffer_1,
+        sizeof(type_buffer_1));
+
+      req = uxr_buffer_create_topic_bin(
+        &custom_publisher->owner_node->context->session,
+        *custom_publisher->owner_node->context->creation_stream,
+        custom_publisher->topic.topic_id,
+        custom_publisher->owner_node->participant_id,
+        topic_buffer_1,
+        type_buffer_1,
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_publisher->owner_node->context,
+        custom_publisher->owner_node->context->creation_stream, req,
+        custom_publisher->owner_node->context->creation_timeout);
+
+      req = uxr_buffer_create_publisher_bin(
+        &custom_publisher->owner_node->context->session,
+        *custom_publisher->owner_node->context->creation_stream,
+        custom_publisher->publisher_id,
+        custom_publisher->owner_node->participant_id,
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_publisher->owner_node->context,
+        custom_publisher->owner_node->context->creation_stream, req,
+        custom_publisher->owner_node->context->creation_timeout);
+
+      req = uxr_buffer_create_datawriter_bin(
+        &custom_publisher->owner_node->context->session,
+        *custom_publisher->owner_node->context->creation_stream,
+        custom_publisher->datawriter_id,
+        custom_publisher->publisher_id,
+        custom_publisher->topic.topic_id,
+        convert_qos_profile(&custom_publisher->qos),
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_publisher->owner_node->context,
+        custom_publisher->owner_node->context->creation_stream, req,
+        custom_publisher->owner_node->context->creation_timeout);
+
+      item = item->next;
+    }
+  }
+
+  // Regenerate subscribers
+  {
+    rmw_uxrce_mempool_item_t * item = subscription_memory.allocateditems;
+    while (NULL != item) {
+      rmw_uxrce_subscription_t * custom_subscription = (rmw_uxrce_subscription_t *)item->data;
+      uint16_t req = UXR_INVALID_REQUEST_ID;
+
+      generate_topic_name(
+        custom_subscription->topic.topic_name, topic_buffer_1,
+        sizeof(topic_buffer_1));
+      generate_type_name(
+        custom_subscription->topic.type_support_callbacks.msg, type_buffer_1,
+        sizeof(type_buffer_1));
+
+      req = uxr_buffer_create_topic_bin(
+        &custom_subscription->owner_node->context->session,
+        *custom_subscription->owner_node->context->creation_stream,
+        custom_subscription->topic.topic_id,
+        custom_subscription->owner_node->participant_id,
+        topic_buffer_1,
+        type_buffer_1,
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_subscription->owner_node->context,
+        custom_subscription->owner_node->context->creation_stream, req,
+        custom_subscription->owner_node->context->creation_timeout);
+
+      req = uxr_buffer_create_subscriber_bin(
+        &custom_subscription->owner_node->context->session,
+        *custom_subscription->owner_node->context->creation_stream,
+        custom_subscription->subscriber_id,
+        custom_subscription->owner_node->participant_id,
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_subscription->owner_node->context,
+        custom_subscription->owner_node->context->creation_stream, req,
+        custom_subscription->owner_node->context->creation_timeout);
+
+      req = uxr_buffer_create_datareader_bin(
+        &custom_subscription->owner_node->context->session,
+        *custom_subscription->owner_node->context->creation_stream,
+        custom_subscription->datareader_id,
+        custom_subscription->subscriber_id,
+        custom_subscription->topic.topic_id,
+        convert_qos_profile(&custom_subscription->qos),
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_subscription->owner_node->context,
+        custom_subscription->owner_node->context->creation_stream, req,
+        custom_subscription->owner_node->context->creation_timeout);
+
+      uxrDeliveryControl delivery_control;
+      delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
+      delivery_control.min_pace_period = 0;
+      delivery_control.max_elapsed_time = UXR_MAX_ELAPSED_TIME_UNLIMITED;
+      delivery_control.max_bytes_per_second = UXR_MAX_BYTES_PER_SECOND_UNLIMITED;
+
+      uxrStreamId data_request_stream_id =
+        (custom_subscription->qos.reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) ?
+        custom_subscription->owner_node->context->best_effort_input :
+        custom_subscription->owner_node->context->reliable_input;
+
+      uxr_buffer_request_data(
+        &custom_subscription->owner_node->context->session,
+        *custom_subscription->owner_node->context->creation_stream,
+        custom_subscription->datareader_id,
+        data_request_stream_id, &delivery_control);
+
+      item = item->next;
+    }
+  }
+
+  // Regenerate requesters
+  {
+    rmw_uxrce_mempool_item_t * item = service_memory.allocateditems;
+    while (NULL != item) {
+      rmw_uxrce_service_t * custom_service = (rmw_uxrce_service_t *)item->data;
+      uint16_t req = UXR_INVALID_REQUEST_ID;
+
+      generate_service_types(
+        custom_service->topic.type_support_callbacks.srv, type_buffer_1, type_buffer_2,
+        RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
+
+      generate_service_topics(
+        custom_service->topic.topic_name, topic_buffer_1, topic_buffer_2,
+        RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);
+
+      req = uxr_buffer_create_replier_bin(
+        &custom_service->owner_node->context->session,
+        *custom_service->owner_node->context->creation_stream,
+        custom_service->service_id,
+        custom_service->owner_node->participant_id,
+        (char *) custom_service->topic.topic_name,
+        type_buffer_1,
+        type_buffer_2,
+        topic_buffer_1,
+        topic_buffer_2,
+        convert_qos_profile(&custom_service->qos),
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_service->owner_node->context,
+        custom_service->owner_node->context->creation_stream, req,
+        custom_service->owner_node->context->creation_timeout);
+
+      uxrStreamId data_request_stream_id =
+        (custom_service->qos.reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) ?
+        custom_service->owner_node->context->best_effort_input :
+        custom_service->owner_node->context->reliable_input;
+
+      uxrDeliveryControl delivery_control;
+      delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
+      delivery_control.min_pace_period = 0;
+      delivery_control.max_elapsed_time = UXR_MAX_ELAPSED_TIME_UNLIMITED;
+      delivery_control.max_bytes_per_second = UXR_MAX_BYTES_PER_SECOND_UNLIMITED;
+
+      custom_service->service_data_resquest = uxr_buffer_request_data(
+        &custom_service->owner_node->context->session,
+        *custom_service->owner_node->context->creation_stream, custom_service->service_id,
+        data_request_stream_id, &delivery_control);
+      item = item->next;
+    }
+  }
+
+  // Regenerate repliers
+  {
+    rmw_uxrce_mempool_item_t * item = client_memory.allocateditems;
+    while (NULL != item) {
+      rmw_uxrce_client_t * custom_client = (rmw_uxrce_client_t *)item->data;
+      uint16_t req = UXR_INVALID_REQUEST_ID;
+
+      generate_service_types(
+        custom_client->topic.type_support_callbacks.srv, type_buffer_1, type_buffer_2,
+        RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
+      generate_service_topics(
+        custom_client->topic.topic_name, topic_buffer_1, topic_buffer_2,
+        RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);
+
+      req = uxr_buffer_create_requester_bin(
+        &custom_client->owner_node->context->session,
+        *custom_client->owner_node->context->creation_stream,
+        custom_client->client_id,
+        custom_client->owner_node->participant_id,
+        (char *) custom_client->topic.topic_name,
+        type_buffer_1,
+        type_buffer_2,
+        topic_buffer_1,
+        topic_buffer_2,
+        convert_qos_profile(&custom_client->qos),
+        UXR_REPLACE | UXR_REUSE);
+
+      run_xrce_session(
+        custom_client->owner_node->context,
+        custom_client->owner_node->context->creation_stream, req,
+        custom_client->owner_node->context->creation_timeout);
+
+      uxrStreamId data_request_stream_id =
+        (custom_client->qos.reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) ?
+        custom_client->owner_node->context->best_effort_input :
+        custom_client->owner_node->context->reliable_input;
+
+      uxrDeliveryControl delivery_control;
+      delivery_control.max_samples = UXR_MAX_SAMPLES_UNLIMITED;
+      delivery_control.min_pace_period = 0;
+      delivery_control.max_elapsed_time = UXR_MAX_ELAPSED_TIME_UNLIMITED;
+      delivery_control.max_bytes_per_second = UXR_MAX_BYTES_PER_SECOND_UNLIMITED;
+
+      custom_client->client_data_request = uxr_buffer_request_data(
+        &custom_client->owner_node->context->session,
+        *custom_client->owner_node->context->creation_stream, custom_client->client_id,
+        data_request_stream_id, &delivery_control);
+
+      item = item->next;
+    }
+  }
+
+  return success ? RMW_RET_OK : RMW_RET_ERROR;
+}
diff --git a/rmw_microxrcedds_c/src/rmw_microros_internal/types.h b/rmw_microxrcedds_c/src/rmw_microros_internal/types.h
index e559d7e5..f0583a6c 100644
--- a/rmw_microxrcedds_c/src/rmw_microros_internal/types.h
+++ b/rmw_microxrcedds_c/src/rmw_microros_internal/types.h
@@ -199,6 +199,7 @@ typedef struct rmw_uxrce_node_t
   rmw_uxrce_session_t * context;
 
   uxrObjectId participant_id;
+  size_t domain_id;
 
   rmw_node_t rmw_node;
   char node_name[RMW_UXRCE_NODE_NAME_MAX_LENGTH];
diff --git a/rmw_microxrcedds_c/src/rmw_microros_internal/utils.h b/rmw_microxrcedds_c/src/rmw_microros_internal/utils.h
index eac326c3..09e237af 100644
--- a/rmw_microxrcedds_c/src/rmw_microros_internal/utils.h
+++ b/rmw_microxrcedds_c/src/rmw_microros_internal/utils.h
@@ -19,6 +19,13 @@
 
 #include "./rmw_microros_internal/types.h"
 
+// Static buffers for name generation
+extern char type_buffer_1[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+extern char type_buffer_2[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+extern char topic_buffer_1[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+extern char topic_buffer_2[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+extern char node_name_buffer[2 * RMW_UXRCE_NODE_NAME_MAX_LENGTH];
+
 bool run_xrce_session(
   rmw_context_impl_t * context,
   uxrStreamId * target_stream,
@@ -63,49 +70,20 @@ int build_service_xml(
   char xml[],
   size_t buffer_size);
 
-int build_participant_xml(
-  size_t domain_id,
-  const char * participant_name,
-  char xml[],
-  size_t buffer_size);
-int build_publisher_xml(
-  const char * publisher_name,
-  char xml[],
-  size_t buffer_size);
-int build_subscriber_xml(
-  const char * subscriber_name,
-  char xml[],
-  size_t buffer_size);
-int build_topic_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size);
-int build_datawriter_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size);
-int build_datareader_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size);
-
 bool build_participant_profile(
   char profile_name[],
   size_t buffer_size);
+
 bool build_topic_profile(
   const char * topic_name,
   char profile_name[],
   size_t buffer_size);
+
 bool build_datawriter_profile(
   const char * topic_name,
   char profile_name[],
   size_t buffer_size);
+
 bool build_datareader_profile(
   const char * topic_name,
   char profile_name[],
diff --git a/rmw_microxrcedds_c/src/rmw_node.c b/rmw_microxrcedds_c/src/rmw_node.c
index e6503628..2b372db0 100644
--- a/rmw_microxrcedds_c/src/rmw_node.c
+++ b/rmw_microxrcedds_c/src/rmw_node.c
@@ -46,6 +46,7 @@ rmw_node_t * create_node(
   rmw_uxrce_node_t * custom_node = (rmw_uxrce_node_t *)memory_node->data;
 
   custom_node->context = context->impl;
+  custom_node->domain_id = domain_id;
 
   node_handle = &custom_node->rmw_node;
 
@@ -88,12 +89,10 @@ rmw_node_t * create_node(
     (uint16_t)domain_id,
     rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-  static char xrce_node_name[RMW_UXRCE_NODE_NAME_MAX_LENGTH];
-
   if (strcmp(namespace_, "/") == 0) {
-    snprintf(xrce_node_name, RMW_UXRCE_NODE_NAME_MAX_LENGTH, "%s", name);
+    snprintf(node_name_buffer, sizeof(node_name_buffer), "%s", name);
   } else {
-    snprintf(xrce_node_name, RMW_UXRCE_NODE_NAME_MAX_LENGTH, "%s/%s", namespace_, name);
+    snprintf(node_name_buffer, sizeof(node_name_buffer), "%s/%s", namespace_, name);
   }
 
   participant_req = uxr_buffer_create_participant_bin(
@@ -101,7 +100,7 @@ rmw_node_t * create_node(
     *custom_node->context->creation_stream,
     custom_node->participant_id,
     domain_id,
-    xrce_node_name,
+    node_name_buffer,
     UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_REFS */
 
diff --git a/rmw_microxrcedds_c/src/rmw_publisher.c b/rmw_microxrcedds_c/src/rmw_publisher.c
index 2275c745..4a396f02 100644
--- a/rmw_microxrcedds_c/src/rmw_publisher.c
+++ b/rmw_microxrcedds_c/src/rmw_publisher.c
@@ -125,13 +125,10 @@ rmw_create_publisher(
       "%s", topic_name);
     rmw_publisher->topic_name = custom_publisher->topic.topic_name;
 
-    static char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    static char type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-
-    generate_topic_name(topic_name, full_topic_name, sizeof(full_topic_name));
+    generate_topic_name(topic_name, topic_buffer_1, sizeof(topic_buffer_1));
     generate_type_name(
-      custom_publisher->topic.type_support_callbacks.msg, type_name,
-      sizeof(type_name));
+      custom_publisher->topic.type_support_callbacks.msg, type_buffer_1,
+      sizeof(type_buffer_1));
 
     uint16_t topic_req = UXR_INVALID_REQUEST_ID;
 
@@ -140,8 +137,8 @@ rmw_create_publisher(
       *custom_node->context->creation_stream,
       custom_publisher->topic.topic_id,
       custom_node->participant_id,
-      full_topic_name,
-      type_name,
+      topic_buffer_1,
+      type_buffer_1,
       UXR_REPLACE | UXR_REUSE);
 
     if (!run_xrce_session(
diff --git a/rmw_microxrcedds_c/src/rmw_service.c b/rmw_microxrcedds_c/src/rmw_service.c
index fa3cb6a0..48ef971c 100644
--- a/rmw_microxrcedds_c/src/rmw_service.c
+++ b/rmw_microxrcedds_c/src/rmw_service.c
@@ -103,16 +103,12 @@ rmw_create_service(
       *custom_node->context->creation_stream, custom_service->service_id,
       custom_node->participant_id, rmw_uxrce_entity_naming_buffer, UXR_REPLACE | UXR_REUSE);
 #else
-    static char req_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-    static char res_type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+
     generate_service_types(
-      custom_service->topic.type_support_callbacks.srv, req_type_name, res_type_name,
+      custom_service->topic.type_support_callbacks.srv, type_buffer_1, type_buffer_2,
       RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
-
-    static char req_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    static char res_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
     generate_service_topics(
-      service_name, req_topic_name, res_topic_name,
+      service_name, topic_buffer_1, topic_buffer_2,
       RMW_UXRCE_TOPIC_NAME_MAX_LENGTH);
 
     service_req = uxr_buffer_create_replier_bin(
@@ -121,10 +117,10 @@ rmw_create_service(
       custom_service->service_id,
       custom_node->participant_id,
       (char *) service_name,
-      req_type_name,
-      res_type_name,
-      req_topic_name,
-      res_topic_name,
+      type_buffer_1,
+      type_buffer_2,
+      topic_buffer_1,
+      topic_buffer_2,
       convert_qos_profile(qos_policies),
       UXR_REPLACE | UXR_REUSE);
 #endif /* ifdef RMW_UXRCE_USE_XML */
diff --git a/rmw_microxrcedds_c/src/rmw_subscription.c b/rmw_microxrcedds_c/src/rmw_subscription.c
index 526374c5..14dfccf6 100644
--- a/rmw_microxrcedds_c/src/rmw_subscription.c
+++ b/rmw_microxrcedds_c/src/rmw_subscription.c
@@ -117,13 +117,10 @@ rmw_create_subscription(
       sizeof(custom_subscription->topic.topic_name), "%s", topic_name);
     rmw_subscription->topic_name = custom_subscription->topic.topic_name;
 
-    static char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
-    static char type_name[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-
-    generate_topic_name(topic_name, full_topic_name, sizeof(full_topic_name));
+    generate_topic_name(topic_name, topic_buffer_1, sizeof(topic_buffer_1));
     generate_type_name(
-      custom_subscription->topic.type_support_callbacks.msg, type_name,
-      sizeof(type_name));
+      custom_subscription->topic.type_support_callbacks.msg, type_buffer_1,
+      sizeof(type_buffer_1));
 
     uint16_t topic_req = UXR_INVALID_REQUEST_ID;
 
@@ -132,8 +129,8 @@ rmw_create_subscription(
       *custom_node->context->creation_stream,
       custom_subscription->topic.topic_id,
       custom_node->participant_id,
-      full_topic_name,
-      type_name,
+      topic_buffer_1,
+      type_buffer_1,
       UXR_REPLACE | UXR_REUSE);
 
     if (!run_xrce_session(
diff --git a/rmw_microxrcedds_c/src/utils.c b/rmw_microxrcedds_c/src/utils.c
index 653d32a6..4aa0f655 100644
--- a/rmw_microxrcedds_c/src/utils.c
+++ b/rmw_microxrcedds_c/src/utils.c
@@ -19,6 +19,14 @@
 
 // TODO(pablogs9) Refactor all this file.
 
+// Static buffers for name generation
+char type_buffer_1[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+char type_buffer_2[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+char topic_buffer_1[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+char topic_buffer_2[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
+char node_name_buffer[2 * RMW_UXRCE_NODE_NAME_MAX_LENGTH];
+
+// Prefix strings
 static const char ros_topic_prefix[] = "rt";
 static const char ros_request_prefix[] = "rq";
 static const char ros_reply_prefix[] = "rr";
@@ -95,31 +103,6 @@ uxrQoS_t convert_qos_profile(const rmw_qos_profile_t * rmw_qos)
   return qos;
 }
 
-
-int build_participant_xml(
-  size_t domain_id,
-  const char * participant_name,
-  char xml[],
-  size_t buffer_size)
-{
-  (void)domain_id;
-  static const char format[] =
-    "<dds>"
-    "<participant>"
-    "<rtps>"
-    "<name>%s</name>"
-    "</rtps>"
-    "</participant>"
-    "</dds>";
-
-  int ret = snprintf(xml, buffer_size, format, participant_name);
-  if ((ret < 0) && (ret >= (int)buffer_size)) {
-    ret = 0;
-  }
-
-  return ret;
-}
-
 int generate_service_topics(
   const char * service_name,
   char * request_topic,
@@ -157,120 +140,6 @@ int generate_service_types(
   return 0;
 }
 
-int build_service_xml(
-  const char * service_name_id,
-  const char * service_name,
-  bool requester,
-  const service_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size)
-{
-  int ret;
-
-  static const char format[] = "<dds>"
-    "<%s profile_name=\"%s\" "
-    "service_name=\"%s\" "
-    "request_type=\"%s\" "
-    "reply_type=\"%s\">"
-    "<request_topic_name>%s</request_topic_name>"
-    "<reply_topic_name>%s</reply_topic_name>"
-    "</%s>"
-    "</dds>";
-
-  // Retrive request and response types
-  const rosidl_message_type_support_t * req_members = members->request_members_();
-  const rosidl_message_type_support_t * res_members = members->response_members_();
-
-  const message_type_support_callbacks_t * req_callbacks =
-    (const message_type_support_callbacks_t *)req_members->data;
-  const message_type_support_callbacks_t * res_callbacks =
-    (const message_type_support_callbacks_t *)res_members->data;
-
-
-  static char req_type_name_buffer[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-  static char res_type_name_buffer[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-
-  generate_type_name(req_callbacks, req_type_name_buffer, RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
-  generate_type_name(res_callbacks, res_type_name_buffer, RMW_UXRCE_TYPE_NAME_MAX_LENGTH);
-
-  // Generate request and reply topic names
-  char req_full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH + 1 + sizeof(ros_request_prefix) + 1 +
-    sizeof(ros_request_subfix)];
-  req_full_topic_name[0] = '\0';
-
-  char res_full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH + 1 + sizeof(ros_reply_prefix) + 1 +
-    sizeof(ros_reply_subfix)];
-  res_full_topic_name[0] = '\0';
-
-  if (!qos_policies->avoid_ros_namespace_conventions) {
-    ret = snprintf(
-      req_full_topic_name, sizeof(req_full_topic_name), "%s%s%s", ros_request_prefix,
-      service_name, ros_request_subfix);
-    if ((ret < 0) || (ret >= (int)sizeof(req_full_topic_name))) {
-      return 0;
-    }
-
-    ret = snprintf(
-      res_full_topic_name, sizeof(res_full_topic_name), "%s%s%s", ros_reply_prefix,
-      service_name, ros_reply_subfix);
-    if ((ret < 0) || (ret >= (int)sizeof(res_full_topic_name))) {
-      return 0;
-    }
-  } else {
-    ret = snprintf(req_full_topic_name, sizeof(req_full_topic_name), "%s", service_name);
-    if ((ret < 0) || (ret >= (int)sizeof(req_full_topic_name))) {
-      return 0;
-    }
-    ret = snprintf(res_full_topic_name, sizeof(res_full_topic_name), "%s", service_name);
-    if ((ret < 0) || (ret >= (int)sizeof(req_full_topic_name))) {
-      return 0;
-    }
-  }
-
-
-  ret = snprintf(
-    xml, buffer_size, format,
-    requester ? "requester" : "replier",
-    service_name_id,
-    service_name,
-    req_type_name_buffer,
-    res_type_name_buffer,
-    req_full_topic_name,
-    res_full_topic_name,
-    requester ? "requester" : "replier"
-  );
-  if ((ret < 0) && (ret >= (int)buffer_size)) {
-    ret = 0;
-  }
-
-  return ret;
-}
-
-int build_publisher_xml(
-  const char * publisher_name,
-  char xml[],
-  size_t buffer_size)
-{
-  (void)publisher_name;
-  (void)buffer_size;
-
-  xml[0] = '\0';
-  return 1;
-}
-
-int build_subscriber_xml(
-  const char * subscriber_name,
-  char xml[],
-  size_t buffer_size)
-{
-  (void)subscriber_name;
-  (void)buffer_size;
-
-  xml[0] = '\0';
-  return 1;
-}
-
 int generate_name(
   const uxrObjectId * id,
   char name[],
@@ -333,158 +202,6 @@ int generate_topic_name(
   return ret;
 }
 
-int build_topic_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size)
-{
-  static const char format[] =
-    "<dds>"
-    "<topic>"
-    "<name>%s</name>"
-    "<dataType>%s</dataType>"
-    "</topic>"
-    "</dds>";
-
-  int ret = 0;
-  static char type_name_buffer[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-
-  if (RMW_UXRCE_TOPIC_NAME_MAX_LENGTH >= strlen(topic_name) &&
-    0 != generate_type_name(members, type_name_buffer, sizeof(type_name_buffer)))
-  {
-    char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH + 1 + sizeof(ros_topic_prefix)];
-
-    if (!qos_policies->avoid_ros_namespace_conventions) {
-      ret = snprintf(
-        full_topic_name, sizeof(full_topic_name), "%s%s", ros_topic_prefix,
-        topic_name);
-      if ((ret < 0) && (ret >= (int)buffer_size)) {
-        return 0;
-      }
-    } else {
-      ret = snprintf(full_topic_name, sizeof(full_topic_name), "%s", topic_name);
-      if ((ret < 0) && (ret >= (int)buffer_size)) {
-        return 0;
-      }
-    }
-
-    ret = snprintf(xml, buffer_size, format, full_topic_name, type_name_buffer);
-    if ((ret < 0) && (ret >= (int)buffer_size)) {
-      ret = 0;
-    }
-  }
-
-  return ret;
-}
-
-int build_xml(
-  const char * format,
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size)
-{
-  int ret = 0;
-  static char type_name_buffer[RMW_UXRCE_TYPE_NAME_MAX_LENGTH];
-
-  if (0 != generate_type_name(members, type_name_buffer, sizeof(type_name_buffer))) {
-    char full_topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH + 1 + sizeof(ros_topic_prefix)];
-    full_topic_name[0] = '\0';
-
-    if (!qos_policies->avoid_ros_namespace_conventions) {
-      ret = snprintf(
-        full_topic_name, sizeof(full_topic_name), "%s%s", ros_topic_prefix,
-        topic_name);
-      if ((ret < 0) && (ret >= (int)buffer_size)) {
-        return 0;
-      }
-    } else {
-      ret = snprintf(full_topic_name, sizeof(full_topic_name), "%s", topic_name);
-      if ((ret < 0) && (ret >= (int)buffer_size)) {
-        return 0;
-      }
-    }
-
-    ret = snprintf(
-      xml,
-      buffer_size,
-      format,
-      (qos_policies->reliability == RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT) ?
-      "BEST_EFFORT" : "RELIABLE",
-      full_topic_name,
-      type_name_buffer);
-
-    if ((ret < 0) && (ret >= (int)buffer_size)) {
-      ret = 0;
-    }
-  }
-
-  return ret;
-}
-
-int build_datawriter_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size)
-{
-  static const char format[] =
-    "<dds>"
-    "<data_writer>"
-    "<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>"
-    "<qos>"
-    "<reliability>"
-    "<kind>%s</kind>"
-    "</reliability>"
-    "</qos>"
-    "<topic>"
-    "<kind>NO_KEY</kind>"
-    "<name>%s</name>"
-    "<dataType>%s</dataType>"
-    "<historyQos>"
-    "<kind>KEEP_ALL</kind>"
-    "</historyQos>"
-    "</topic>"
-    "</data_writer>"
-    "</dds>";
-
-  return build_xml(format, topic_name, members, qos_policies, xml, buffer_size);
-}
-
-int build_datareader_xml(
-  const char * topic_name,
-  const message_type_support_callbacks_t * members,
-  const rmw_qos_profile_t * qos_policies,
-  char xml[],
-  size_t buffer_size)
-{
-  static const char format[] =
-    "<dds>"
-    "<data_reader>"
-    "<historyMemoryPolicy>PREALLOCATED_WITH_REALLOC</historyMemoryPolicy>"
-    "<qos>"
-    "<reliability>"
-    "<kind>%s</kind>"
-    "</reliability>"
-    "</qos>"
-    "<topic>"
-    "<kind>NO_KEY</kind>"
-    "<name>%s</name>"
-    "<dataType>%s</dataType>"
-    "<historyQos>"
-    "<kind>KEEP_ALL</kind>"
-    "</historyQos>"
-    "</topic>"
-    "</data_reader>"
-    "</dds>";
-
-  return build_xml(format, topic_name, members, qos_policies, xml, buffer_size);
-}
-
 bool build_participant_profile(
   char profile_name[],
   size_t buffer_size)