diff --git a/examples/cpp/discovery_server/ClientPublisherApp.cpp b/examples/cpp/discovery_server/ClientPublisherApp.cpp
index 75742960c85..466e0fdd190 100644
--- a/examples/cpp/discovery_server/ClientPublisherApp.cpp
+++ b/examples/cpp/discovery_server/ClientPublisherApp.cpp
@@ -144,15 +144,8 @@ ClientPublisherApp::ClientPublisherApp(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastrtps::rtps::DiscoveryProtocol_t::CLIENT;
 
-    // Set SERVER's GUID prefix
-    rtps::RemoteServerAttributes remote_server_att;
-    remote_server_att.guidPrefix = get_discovery_server_guid_from_id(config.connection_ds_id);
-
-    // Set SERVER's listening locator for PDP
-    remote_server_att.metatrafficUnicastLocatorList.push_back(server_locator);
-
     // Add remote SERVER to CLIENT's list of SERVERs
-    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
 
     // Add descriptor
     pqos.transport().user_transports.push_back(descriptor);
@@ -169,7 +162,6 @@ ClientPublisherApp::ClientPublisherApp(
         "Publisher Participant " << pqos.name() <<
         " created with GUID " << participant_->guid() <<
         " connecting to server <" << server_locator  << "> " <<
-        " with Guid: <" << remote_server_att.guidPrefix << "> " <<
         std::endl;
 
     // Regsiter type
diff --git a/examples/cpp/discovery_server/ClientSubscriberApp.cpp b/examples/cpp/discovery_server/ClientSubscriberApp.cpp
index 61bbad11ea9..f75ab6d79ba 100644
--- a/examples/cpp/discovery_server/ClientSubscriberApp.cpp
+++ b/examples/cpp/discovery_server/ClientSubscriberApp.cpp
@@ -146,15 +146,8 @@ ClientSubscriberApp::ClientSubscriberApp(
     pqos.wire_protocol().builtin.discovery_config.discoveryProtocol =
             eprosima::fastrtps::rtps::DiscoveryProtocol_t::CLIENT;
 
-    // Set SERVER's GUID prefix
-    rtps::RemoteServerAttributes remote_server_att;
-    remote_server_att.guidPrefix = get_discovery_server_guid_from_id(config.connection_ds_id);
-
-    // Set SERVER's listening locator for PDP
-    remote_server_att.metatrafficUnicastLocatorList.push_back(server_locator);
-
     // Add remote SERVER to CLIENT's list of SERVERs
-    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+    pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(server_locator);
 
     // Add descriptor
     pqos.transport().user_transports.push_back(descriptor);
@@ -172,7 +165,6 @@ ClientSubscriberApp::ClientSubscriberApp(
         "Subscriber Participant " << pqos.name() <<
         " created with GUID " << participant_->guid() <<
         " connecting to server <" << server_locator  << "> " <<
-        " with Guid: <" << remote_server_att.guidPrefix << "> " <<
         std::endl;
 
     // Register the type
diff --git a/examples/cpp/discovery_server/ServerApp.cpp b/examples/cpp/discovery_server/ServerApp.cpp
index e76c6f88260..ec70ba1b7ca 100644
--- a/examples/cpp/discovery_server/ServerApp.cpp
+++ b/examples/cpp/discovery_server/ServerApp.cpp
@@ -165,17 +165,10 @@ ServerApp::ServerApp(
     pqos.wire_protocol().builtin.metatrafficUnicastLocatorList.push_back(listening_locator);
 
     // Configure Connection address
-    rtps::RemoteServerAttributes remote_server_att;
     if (config.is_also_client)
     {
-        // Set SERVER's GUID prefix
-        remote_server_att.guidPrefix = get_discovery_server_guid_from_id(config.connection_ds_id);
-
-        // Set SERVER's listening locator for PDP
-        remote_server_att.metatrafficUnicastLocatorList.push_back(connection_locator);
-
         // Add remote SERVER to CLIENT's list of SERVERs
-        pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(remote_server_att);
+        pqos.wire_protocol().builtin.discovery_config.m_DiscoveryServers.push_back(connection_locator);
     }
 
 
@@ -193,7 +186,6 @@ ServerApp::ServerApp(
             "Server Participant " << pqos.name() <<
             " created with GUID " << participant_->guid() <<
             " listening in address <" << listening_locator  << "> " <<
-            " connecting with Discovery Server <" << remote_server_att.guidPrefix << "> "
             " with address <" << connection_locator  << "> " <<
             std::endl;
     }
diff --git a/test/examples/test_discovery_server.py b/test/examples/test_discovery_server.py
index 278190d86fa..7fad43811ed 100644
--- a/test/examples/test_discovery_server.py
+++ b/test/examples/test_discovery_server.py
@@ -6,14 +6,14 @@
     Each element is a ternary (pub_args, sub_args, server_args)
 """
 discovery_server_test_cases = [
-    ('--samples 10', '--samples 10', '--timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
-    ('--connection-port 11500 --samples 10', '--connection-port 11500 --samples 10', '--listening-port 11500 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
-    ('--transport tcpv4 --samples 10', '--transport tcpv4 --samples 10', '--transport tcpv4 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
-    ('--connection-ds-id 1 --samples 10', '--connection-ds-id 1 --samples 10', '--id 1 --timeout 5', '--id 2 --listening-port 11400 --timeout 1'),
-    ('--connection-ds-id 1 --samples 10', '--connection-ds-id 2 --connection-port 11400 --samples 10', '--id 1 --timeout 5 --connection-ds-id 2 --connection-port 11400', '--id 2 --listening-port 11400 --timeout 5'),
-    ('--transport udpv6 --connection-ds-id 1 --samples 10', '--transport udpv6 --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport udpv6 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport udpv6 --id 2 --listening-port 18000 --timeout 5'),
-    ('--transport tcpv4 --connection-ds-id 1 --samples 10', '--transport tcpv4 --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport tcpv4 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport tcpv4 --id 2 --listening-port 18000 --timeout 5'),
-    ('--transport tcpv6 --connection-ds-id 1 --samples 10', '--transport tcpv6  --connection-ds-id 2 --connection-port 18000 --samples 10', '--transport tcpv6 --id 1 --timeout 5 --connection-ds-id 2 --connection-port 18000', '--transport tcpv6 --id 2 --listening-port 18000 --timeout 5')
+    ('--samples 10', '--samples 10', '--timeout 5', '--listening-port 11400 --timeout 1'),
+    ('--connection-port 11500 --samples 10', '--connection-port 11500 --samples 10', '--listening-port 11500 --timeout 5', '--listening-port 11400 --timeout 1'),
+    ('--transport tcpv4 --samples 10', '--transport tcpv4 --samples 10', '--transport tcpv4 --timeout 5', '--listening-port 11400 --timeout 1'),
+    ('--samples 10', '--samples 10', '--timeout 5', '--listening-port 11400 --timeout 1'),
+    ('--samples 10', '--connection-port 11400 --samples 10', '--timeout 5 --connection-port 11400', '--listening-port 11400 --timeout 5'),
+    ('--transport udpv6 --samples 10', '--transport udpv6 --connection-port 18000 --samples 10', '--transport udpv6 --timeout 5 --connection-port 18000', '--transport udpv6 --listening-port 18000 --timeout 5'),
+    ('--transport tcpv4 --samples 10', '--transport tcpv4 --connection-port 18000 --samples 10', '--transport tcpv4 --timeout 5 --connection-port 18000', '--transport tcpv4 --listening-port 18000 --timeout 5'),
+    ('--transport tcpv6 --samples 10', '--transport tcpv6  --connection-port 18000 --samples 10', '--transport tcpv6 --timeout 5 --connection-port 18000', '--transport tcpv6 --listening-port 18000 --timeout 5')
 ]
 
 @pytest.mark.parametrize("pub_args, sub_args, server1_args, server2_args", discovery_server_test_cases)