diff --git a/code/doxygen-config.in b/code/doxygen-config.in
index 347b7ff1c..afff4aef4 100644
--- a/code/doxygen-config.in
+++ b/code/doxygen-config.in
@@ -985,7 +985,7 @@ EXCLUDE_SYMBOLS        =
 # that contain example code fragments that are included (see the \include
 # command).
 
-EXAMPLE_PATH           = @PROJECT_SOURCE_DIR@/code
+EXAMPLE_PATH           =
 
 # If the value of the EXAMPLE_PATH tag contains directories, you can use the
 # EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and
diff --git a/docs/conf.py b/docs/conf.py
index 44365b2d5..e4d62f5bd 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -216,22 +216,13 @@ def configure_doxyfile(
     fastdds_branch = os.environ.get('FASTDDS_BRANCH', None)
 
     # First try to checkout to ${FASTDDS_BRANCH}
-    # Else try with current documentation branch
-    # Else checkout to master
+    # Else checkout to 2.10.x
     if (fastdds_branch and
             fastdds.refs.__contains__('origin/{}'.format(fastdds_branch))):
         fastdds_branch = 'origin/{}'.format(fastdds_branch)
-    elif (docs_branch and
-            fastdds.refs.__contains__('origin/{}'.format(docs_branch))):
-        fastdds_branch = 'origin/{}'.format(docs_branch)
     else:
-        print(
-            'Fast DDS does not have either "{}" or "{}" branches'.format(
-                fastdds_branch,
-                docs_branch
-            )
-        )
-        fastdds_branch = 'origin/master'
+        fastdds_branch = 'origin/2.10.x'
+        print(f'Fast DDS branch is not set by env var. Using "{fastdds_branch}"')
 
     # Actual checkout
     print('Checking out Fast DDS branch "{}"'.format(fastdds_branch))
@@ -248,20 +239,14 @@ def configure_doxyfile(
     fastdds_python_branch = os.environ.get('FASTDDS_PYTHON_BRANCH', None)
 
     # First try to checkout to ${FASTDDS_PYTHON_BRANCH}
-    # Else try with current documentation branch
-    # Else checkout to master
+    # Else checkout to 1.2.x
     if (fastdds_python_branch and
             fastdds_python.refs.__contains__(
                 'origin/{}'.format(fastdds_python_branch))):
         fastdds_python_branch = 'origin/{}'.format(fastdds_python_branch)
-    elif (docs_branch and
-            fastdds_python.refs.__contains__('origin/{}'.format(docs_branch))):
-        fastdds_python_branch = 'origin/{}'.format(docs_branch)
     else:
-        print(
-            'Fast DDS Python does not have either "{}" or "{}" branches'
-            .format(fastdds_python_branch, docs_branch))
-        fastdds_python_branch = 'origin/main'
+        fastdds_python_branch = 'origin/1.2.x'
+        print(f'Fast DDS Python branch is not set by env var. Using "{fastdds_python_branch}"')
 
     # Actual checkout
     print('Checking out Fast DDS Python branch "{}"'.format(
@@ -281,10 +266,13 @@ def configure_doxyfile(
         project_source_dir
     )
     # Generate doxygen documentation
-    subprocess.call('doxygen {}'.format(doxyfile_out), shell=True)
+    doxygen_ret = subprocess.call('doxygen {}'.format(doxyfile_out), shell=True)
+    if doxygen_ret != 0:
+        print('Doxygen failed with return code {}'.format(doxygen_ret))
+        sys.exit(doxygen_ret)
 
     # Generate SWIG code.
-    subprocess.call('swig -python -doxygen -I{}/include \
+    swig_ret = subprocess.call('swig -python -doxygen -I{}/include \
             -outdir {}/fastdds_python/src/swig -c++ -interface \
             _fastdds_python -o \
             {}/fastdds_python/src/swig/fastddsPYTHON_wrap.cxx \
@@ -294,6 +282,10 @@ def configure_doxyfile(
                 fastdds_python_repo_name,
                 fastdds_python_repo_name
                 ), shell=True)
+    if swig_ret != 0:
+        print('SWIG failed with return code {}'.format(swig_ret))
+        sys.exit(swig_ret)
+
     fastdds_python_imported_location = '{}/fastdds_python/src/swig'.format(
             fastdds_python_repo_name)
     autodoc_mock_imports = ["_fastdds_python"]
@@ -389,7 +381,7 @@ def configure_doxyfile(
 #
 # This is also used if you do content translation via gettext catalogs.
 # Usually you set "language" from the command line for these cases.
-language = None
+language = 'en'
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:
diff --git a/docs/docutils.conf b/docs/docutils.conf
new file mode 100644
index 000000000..411124c2a
--- /dev/null
+++ b/docs/docutils.conf
@@ -0,0 +1,2 @@
+[general]
+halt_level: 2
diff --git a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
index 8c3cef901..74c18e734 100644
--- a/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/domain/domainparticipantqos.rst
@@ -8,5 +8,4 @@ DomainParticipantQos
 .. autoclass:: fastdds.DomainParticipantQos
 
 
-.. TODO
-   .. autoclass:: fastdds.PARTICIPANT_QOS_DEFAULT
+.. autodata:: fastdds.PARTICIPANT_QOS_DEFAULT
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
index 44ad05b63..06e70361c 100644
--- a/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/datawriterqos.rst
@@ -7,4 +7,4 @@ DataWriterQos
 
 .. autoclass:: fastdds.DataWriterQos
 
-.. autoclass:: fastdds.DATAWRITER_QOS_DEFAULT
+.. autodata:: fastdds.DATAWRITER_QOS_DEFAULT
diff --git a/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
index 71073d4c6..c9913cc4d 100644
--- a/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/publisher/publisherqos.rst
@@ -7,4 +7,4 @@ PublisherQos
 
 .. autoclass:: fastdds.PublisherQos
 
-.. autoclass:: fastdds.PUBLISHER_QOS_DEFAULT
+.. autodata:: fastdds.PUBLISHER_QOS_DEFAULT
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
index 8f5842cf6..45c73fe31 100644
--- a/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/datareaderqos.rst
@@ -7,4 +7,4 @@ DataReaderQos
 
 .. autoclass:: fastdds.DataReaderQos
 
-.. autoclass:: fastdds.DATAREADER_QOS_DEFAULT
+.. autodata:: fastdds.DATAREADER_QOS_DEFAULT
diff --git a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
index 48ea76696..baca2bb63 100644
--- a/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/subscriber/subscriberqos.rst
@@ -7,4 +7,4 @@ SubscriberQos
 
 .. autoclass:: fastdds.SubscriberQos
 
-.. autoclass:: fastdds.SUBSCRIBER_QOS_DEFAULT
+.. autodata:: fastdds.SUBSCRIBER_QOS_DEFAULT
diff --git a/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst b/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
index db6dfe0c0..9a57cdb67 100644
--- a/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
+++ b/docs/fastdds/python_api_reference/dds_pim/topic/topicqos.rst
@@ -7,4 +7,4 @@ TopicQos
 
 .. autoclass:: fastdds.TopicQos
 
-.. autoclass:: fastdds.TOPIC_QOS_DEFAULT
+.. autodata:: fastdds.TOPIC_QOS_DEFAULT