diff --git a/include/fastdds/rtps/participant/RTPSParticipantListener.h b/include/fastdds/rtps/participant/RTPSParticipantListener.h
index 0e7406261e3..6801a1ae22d 100644
--- a/include/fastdds/rtps/participant/RTPSParticipantListener.h
+++ b/include/fastdds/rtps/participant/RTPSParticipantListener.h
@@ -46,21 +46,6 @@ class FASTDDS_EXPORTED_API RTPSParticipantListener
     {
     }
 
-    /*!
-     * This method is called when a new Participant is discovered, or a previously discovered participant changes
-     * its QOS or is removed.
-     *
-     * @param[out] participant Pointer to the Participant which discovered the remote participant.
-     * @param[out] info Remote participant information. User can take ownership of the object.
-     */
-    virtual void onParticipantDiscovery(
-            RTPSParticipant* participant,
-            ParticipantDiscoveryInfo&& info)
-    {
-        static_cast<void>(participant);
-        static_cast<void>(info);
-    }
-
     /*!
      * This method is called when a new Participant is discovered, or a previously discovered participant changes
      * its QOS or is removed.
@@ -74,7 +59,9 @@ class FASTDDS_EXPORTED_API RTPSParticipantListener
             ParticipantDiscoveryInfo&& info,
             bool& should_be_ignored)
     {
-        onParticipantDiscovery(participant, std::move(info));
+        static_cast<void>(participant);
+        static_cast<void>(info);
+
         should_be_ignored = false;
     }
 
@@ -89,21 +76,6 @@ class FASTDDS_EXPORTED_API RTPSParticipantListener
 
 #endif // if HAVE_SECURITY
 
-    /*!
-     * This method is called when a new Reader is discovered, or a previously discovered reader changes
-     * its QOS or is removed.
-     *
-     * @param[out] participant Pointer to the Participant which discovered the remote reader.
-     * @param[out] info Remote reader information. User can take ownership of the object.
-     */
-    virtual void onReaderDiscovery(
-            RTPSParticipant* participant,
-            ReaderDiscoveryInfo&& info)
-    {
-        static_cast<void>(participant);
-        static_cast<void>(info);
-    }
-
     /*!
      * This method is called when a new Reader is discovered, or a previously discovered reader changes
      * its QOS or is removed.
@@ -119,22 +91,7 @@ class FASTDDS_EXPORTED_API RTPSParticipantListener
     {
         static_cast<void>(participant);
         static_cast<void>(info);
-        static_cast<void>(should_be_ignored);
-    }
-
-    /*!
-     * This method is called when a new Writer is discovered, or a previously discovered writer changes
-     * its QOS or is removed.
-     *
-     * @param[out] participant Pointer to the Participant which discovered the remote writer.
-     * @param[out] info Remote writer information. User can take ownership of the object.
-     */
-    virtual void onWriterDiscovery(
-            RTPSParticipant* participant,
-            WriterDiscoveryInfo&& info)
-    {
-        static_cast<void>(participant);
-        static_cast<void>(info);
+        should_be_ignored = false;
     }
 
     /*!
@@ -152,7 +109,7 @@ class FASTDDS_EXPORTED_API RTPSParticipantListener
     {
         static_cast<void>(participant);
         static_cast<void>(info);
-        static_cast<void>(should_be_ignored);
+        should_be_ignored = false;
     }
 
 };
diff --git a/src/cpp/fastdds/domain/DomainParticipantImpl.cpp b/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
index 8d55d7c029f..8135b7aa131 100644
--- a/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
+++ b/src/cpp/fastdds/domain/DomainParticipantImpl.cpp
@@ -1558,27 +1558,37 @@ void DomainParticipantImpl::MyRTPSParticipantListener::onParticipantAuthenticati
 
 void DomainParticipantImpl::MyRTPSParticipantListener::onReaderDiscovery(
         RTPSParticipant*,
-        ReaderDiscoveryInfo&& info)
+        ReaderDiscoveryInfo&& info,
+        bool& should_be_ignored)
 {
+    should_be_ignored = false;
+
     Sentry sentinel(this);
     if (sentinel)
     {
-        bool should_be_ignored = false;
-        participant_->listener_->on_data_reader_discovery(participant_->participant_, std::move(info),
-                should_be_ignored);
+        DomainParticipantListener* listener = participant_->listener_;
+        if (nullptr != listener)
+        {
+            listener->on_data_reader_discovery(participant_->participant_, std::move(info), should_be_ignored);
+        }
     }
 }
 
 void DomainParticipantImpl::MyRTPSParticipantListener::onWriterDiscovery(
         RTPSParticipant*,
-        WriterDiscoveryInfo&& info)
+        WriterDiscoveryInfo&& info,
+        bool& should_be_ignored)
 {
+    should_be_ignored = false;
+
     Sentry sentinel(this);
     if (sentinel)
     {
-        bool should_be_ignored = false;
-        participant_->listener_->on_data_writer_discovery(participant_->participant_, std::move(info),
-                should_be_ignored);
+        DomainParticipantListener* listener = participant_->listener_;
+        if (nullptr != listener)
+        {
+            listener->on_data_writer_discovery(participant_->participant_, std::move(info), should_be_ignored);
+        }
     }
 }
 
diff --git a/src/cpp/fastdds/domain/DomainParticipantImpl.hpp b/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
index 6b7991bcc4d..bf93ed1338b 100644
--- a/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
+++ b/src/cpp/fastdds/domain/DomainParticipantImpl.hpp
@@ -624,10 +624,6 @@ class DomainParticipantImpl
             bool on_guard_;
         };
 
-        using fastrtps::rtps::RTPSParticipantListener::onParticipantDiscovery;
-        using fastrtps::rtps::RTPSParticipantListener::onReaderDiscovery;
-        using fastrtps::rtps::RTPSParticipantListener::onWriterDiscovery;
-
     public:
 
         MyRTPSParticipantListener(
@@ -654,11 +650,13 @@ class DomainParticipantImpl
 
         void onReaderDiscovery(
                 fastrtps::rtps::RTPSParticipant* participant,
-                fastrtps::rtps::ReaderDiscoveryInfo&& info) override;
+                fastrtps::rtps::ReaderDiscoveryInfo&& info,
+                bool& should_be_ignored) override;
 
         void onWriterDiscovery(
                 fastrtps::rtps::RTPSParticipant* participant,
-                fastrtps::rtps::WriterDiscoveryInfo&& info) override;
+                fastrtps::rtps::WriterDiscoveryInfo&& info,
+                bool& should_be_ignored) override;
 
         DomainParticipantImpl* participant_;
         int callback_counter_ = 0;
diff --git a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
index 9ac865a440b..94588faabb3 100644
--- a/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
+++ b/src/cpp/rtps/builtin/discovery/participant/PDP.cpp
@@ -705,9 +705,11 @@ bool PDP::removeReaderProxyData(
                 RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     ReaderDiscoveryInfo info(std::move(*pR));
+                    bool should_be_ignored = false;
                     info.status = ReaderDiscoveryInfo::REMOVED_READER;
-                    listener->onReaderDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onReaderDiscovery(participant, std::move(info), should_be_ignored);
                 }
 
                 // Clear reader proxy data and move to pool in order to allow reuse
@@ -749,9 +751,11 @@ bool PDP::removeWriterProxyData(
                 RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     WriterDiscoveryInfo info(std::move(*pW));
+                    bool should_be_ignored = false;
                     info.status = WriterDiscoveryInfo::REMOVED_WRITER;
-                    listener->onWriterDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onWriterDiscovery(participant, std::move(info), should_be_ignored);
                 }
 
                 // Clear writer proxy data and move to pool in order to allow reuse
@@ -841,9 +845,11 @@ ReaderProxyData* PDP::addReaderProxyData(
                 RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     ReaderDiscoveryInfo info(*ret_val);
+                    bool should_be_ignored = false;
                     info.status = ReaderDiscoveryInfo::CHANGED_QOS_READER;
-                    listener->onReaderDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onReaderDiscovery(participant, std::move(info), should_be_ignored);
                 }
 
                 return ret_val;
@@ -891,9 +897,11 @@ ReaderProxyData* PDP::addReaderProxyData(
             RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
             if (listener)
             {
+                RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                 ReaderDiscoveryInfo info(*ret_val);
+                bool should_be_ignored = false;
                 info.status = ReaderDiscoveryInfo::DISCOVERED_READER;
-                listener->onReaderDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                listener->onReaderDiscovery(participant, std::move(info), should_be_ignored);
             }
 
             return ret_val;
@@ -938,9 +946,11 @@ WriterProxyData* PDP::addWriterProxyData(
                 RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     WriterDiscoveryInfo info(*ret_val);
+                    bool should_be_ignored = false;
                     info.status = WriterDiscoveryInfo::CHANGED_QOS_WRITER;
-                    listener->onWriterDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onWriterDiscovery(participant, std::move(info), should_be_ignored);
                 }
 
                 return ret_val;
@@ -987,9 +997,11 @@ WriterProxyData* PDP::addWriterProxyData(
             RTPSParticipantListener* listener = mp_RTPSParticipant->getListener();
             if (listener)
             {
+                RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                 WriterDiscoveryInfo info(*ret_val);
+                bool should_be_ignored = false;
                 info.status = WriterDiscoveryInfo::DISCOVERED_WRITER;
-                listener->onWriterDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                listener->onWriterDiscovery(participant, std::move(info), should_be_ignored);
             }
 
             return ret_val;
@@ -1198,9 +1210,11 @@ void PDP::actions_on_remote_participant_removed(
 
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     ReaderDiscoveryInfo info(std::move(*rit));
+                    bool should_be_ignored = false;
                     info.status = ReaderDiscoveryInfo::REMOVED_READER;
-                    listener->onReaderDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onReaderDiscovery(participant, std::move(info), should_be_ignored);
                 }
             }
         }
@@ -1215,9 +1229,11 @@ void PDP::actions_on_remote_participant_removed(
 
                 if (listener)
                 {
+                    RTPSParticipant* participant = mp_RTPSParticipant->getUserRTPSParticipant();
                     WriterDiscoveryInfo info(std::move(*wit));
+                    bool should_be_ignored = false;
                     info.status = WriterDiscoveryInfo::REMOVED_WRITER;
-                    listener->onWriterDiscovery(mp_RTPSParticipant->getUserRTPSParticipant(), std::move(info));
+                    listener->onWriterDiscovery(participant, std::move(info), should_be_ignored);
                 }
             }
         }
diff --git a/test/mock/rtps/RTPSParticipantImpl/rtps/participant/RTPSParticipantImpl.h b/test/mock/rtps/RTPSParticipantImpl/rtps/participant/RTPSParticipantImpl.h
index ec5933e2d4b..958bf83fc24 100644
--- a/test/mock/rtps/RTPSParticipantImpl/rtps/participant/RTPSParticipantImpl.h
+++ b/test/mock/rtps/RTPSParticipantImpl/rtps/participant/RTPSParticipantImpl.h
@@ -68,15 +68,6 @@ class MockParticipantListener : public RTPSParticipantListener
 {
 public:
 
-    void onParticipantDiscovery(
-            RTPSParticipant* participant,
-            ParticipantDiscoveryInfo&& info) override
-    {
-        onParticipantDiscovery_mock(participant, info);
-    }
-
-    MOCK_METHOD2(onParticipantDiscovery_mock, void (RTPSParticipant*, const ParticipantDiscoveryInfo&));
-
     void onParticipantDiscovery(
             RTPSParticipant* participant,
             ParticipantDiscoveryInfo&& info,