diff --git a/src/cpp/fastdds/core/policy/ParameterSerializer.hpp b/src/cpp/fastdds/core/policy/ParameterSerializer.hpp
index eec40a9d804..7354672cbac 100644
--- a/src/cpp/fastdds/core/policy/ParameterSerializer.hpp
+++ b/src/cpp/fastdds/core/policy/ParameterSerializer.hpp
@@ -251,7 +251,7 @@ inline bool ParameterSerializer<ParameterLocator_t>::read_content_from_cdr_messa
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_LOCATOR_LENGTH)
+    if (parameter_length < PARAMETER_LOCATOR_LENGTH)
     {
         return false;
     }
@@ -273,7 +273,7 @@ inline bool ParameterSerializer<ParameterKey_t>::read_content_from_cdr_message(
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KEY_HASH_LENGTH)
+    if (parameter_length < PARAMETER_KEY_HASH_LENGTH)
     {
         return false;
     }
@@ -343,7 +343,7 @@ inline bool ParameterSerializer<ParameterPort_t>::read_content_from_cdr_message(
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_PORT_LENGTH)
+    if (parameter_length < PARAMETER_PORT_LENGTH)
     {
         return false;
     }
@@ -367,7 +367,7 @@ inline bool ParameterSerializer<ParameterGuid_t>::read_content_from_cdr_message(
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_GUID_LENGTH)
+    if (parameter_length < PARAMETER_GUID_LENGTH)
     {
         return false;
     }
@@ -394,7 +394,7 @@ inline bool ParameterSerializer<ParameterProtocolVersion_t>::read_content_from_c
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_PROTOCOL_LENGTH)
+    if (parameter_length < PARAMETER_PROTOCOL_LENGTH)
     {
         return false;
     }
@@ -422,7 +422,7 @@ inline bool ParameterSerializer<ParameterVendorId_t>::read_content_from_cdr_mess
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_VENDOR_LENGTH)
+    if (parameter_length < PARAMETER_VENDOR_LENGTH)
     {
         return false;
     }
@@ -434,6 +434,61 @@ inline bool ParameterSerializer<ParameterVendorId_t>::read_content_from_cdr_mess
 }
 
 template<>
+<<<<<<< HEAD
+=======
+inline bool ParameterSerializer<ParameterProductVersion_t>::add_content_to_cdr_message(
+        const ParameterProductVersion_t& parameter,
+        rtps::CDRMessage_t* cdr_message)
+{
+    bool valid = rtps::CDRMessage::addOctet(cdr_message, parameter.version.major);
+    valid &= rtps::CDRMessage::addOctet(cdr_message, parameter.version.minor);
+    valid &= rtps::CDRMessage::addOctet(cdr_message, parameter.version.patch);
+    valid &= rtps::CDRMessage::addOctet(cdr_message, parameter.version.tweak);
+    return valid;
+}
+
+template<>
+inline bool ParameterSerializer<ParameterProductVersion_t>::read_content_from_cdr_message(
+        ParameterProductVersion_t& parameter,
+        rtps::CDRMessage_t* cdr_message,
+        const uint16_t parameter_length)
+{
+    if (parameter_length < PARAMETER_PRODUCT_VERSION_LENGTH)
+    {
+        return false;
+    }
+    parameter.length = parameter_length;
+    bool valid = rtps::CDRMessage::readOctet(cdr_message, &parameter.version.major);
+    valid &= rtps::CDRMessage::readOctet(cdr_message, &parameter.version.minor);
+    valid &= rtps::CDRMessage::readOctet(cdr_message, &parameter.version.patch);
+    valid &= rtps::CDRMessage::readOctet(cdr_message, &parameter.version.tweak);
+    return valid;
+}
+
+template<>
+inline bool ParameterSerializer<ParameterDomainId_t>::add_content_to_cdr_message(
+        const ParameterDomainId_t& parameter,
+        fastdds::rtps::CDRMessage_t* cdr_message)
+{
+    return fastdds::rtps::CDRMessage::addUInt32(cdr_message, parameter.domain_id);
+}
+
+template<>
+inline bool ParameterSerializer<ParameterDomainId_t>::read_content_from_cdr_message(
+        ParameterDomainId_t& parameter,
+        fastdds::rtps::CDRMessage_t* cdr_message,
+        const uint16_t parameter_length)
+{
+    if (parameter_length < PARAMETER_DOMAINID_LENGTH)
+    {
+        return false;
+    }
+    parameter.length = parameter_length;
+    return fastdds::rtps::CDRMessage::readUInt32(cdr_message, &parameter.domain_id);
+}
+
+template<>
+>>>>>>> 7b111f911 (Be less strict with parameter lengths (#5225))
 inline bool ParameterSerializer<ParameterIP4Address_t>::add_content_to_cdr_message(
         const ParameterIP4Address_t& parameter,
         fastrtps::rtps::CDRMessage_t* cdr_message)
@@ -447,7 +502,7 @@ inline bool ParameterSerializer<ParameterIP4Address_t>::read_content_from_cdr_me
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_IP4_LENGTH)
+    if (parameter_length < PARAMETER_IP4_LENGTH)
     {
         return false;
     }
@@ -473,7 +528,7 @@ inline bool ParameterSerializer<ParameterBool_t>::read_content_from_cdr_message(
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_BOOL_LENGTH)
+    if (parameter_length < PARAMETER_BOOL_LENGTH)
     {
         return false;
     }
@@ -501,7 +556,7 @@ inline bool ParameterSerializer<ParameterStatusInfo_t>::read_content_from_cdr_me
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_STATUS_INFO_LENGTH)
+    if (parameter_length < PARAMETER_STATUS_INFO_LENGTH)
     {
         return false;
     }
@@ -530,7 +585,7 @@ inline bool ParameterSerializer<ParameterCount_t>::read_content_from_cdr_message
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_COUNT_LENGTH)
+    if (parameter_length < PARAMETER_COUNT_LENGTH)
     {
         return false;
     }
@@ -552,7 +607,7 @@ inline bool ParameterSerializer<ParameterEntityId_t>::read_content_from_cdr_mess
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_ENTITYID_LENGTH)
+    if (parameter_length < PARAMETER_ENTITYID_LENGTH)
     {
         return false;
     }
@@ -576,7 +631,7 @@ inline bool ParameterSerializer<ParameterTime_t>::read_content_from_cdr_message(
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -604,12 +659,38 @@ inline bool ParameterSerializer<ParameterBuiltinEndpointSet_t>::read_content_fro
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_BUILTINENDPOINTSET_LENGTH)
+    if (parameter_length < PARAMETER_BUILTINENDPOINTSET_LENGTH)
     {
         return false;
     }
     parameter.length = parameter_length;
+<<<<<<< HEAD
     return fastrtps::rtps::CDRMessage::readUInt32(cdr_message, &parameter.endpointSet);
+=======
+    return rtps::CDRMessage::readUInt32(cdr_message, &parameter.endpointSet);
+}
+
+template<>
+inline bool ParameterSerializer<ParameterNetworkConfigSet_t>::add_content_to_cdr_message(
+        const ParameterNetworkConfigSet_t& parameter,
+        rtps::CDRMessage_t* cdr_message)
+{
+    return rtps::CDRMessage::addUInt32(cdr_message, parameter.netconfigSet);
+}
+
+template<>
+inline bool ParameterSerializer<ParameterNetworkConfigSet_t>::read_content_from_cdr_message(
+        ParameterNetworkConfigSet_t& parameter,
+        rtps::CDRMessage_t* cdr_message,
+        const uint16_t parameter_length)
+{
+    if (parameter_length < PARAMETER_NETWORKCONFIGSET_LENGTH)
+    {
+        return false;
+    }
+    parameter.length = parameter_length;
+    return rtps::CDRMessage::readUInt32(cdr_message, &parameter.netconfigSet);
+>>>>>>> 7b111f911 (Be less strict with parameter lengths (#5225))
 }
 
 template<>
@@ -761,7 +842,7 @@ inline bool ParameterSerializer<ParameterSampleIdentity_t>::read_content_from_cd
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_SAMPLEIDENTITY_LENGTH)
+    if (parameter_length < PARAMETER_SAMPLEIDENTITY_LENGTH)
     {
         return false;
     }
@@ -1039,7 +1120,7 @@ inline bool ParameterSerializer<ParameterParticipantSecurityInfo_t>::read_conten
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_PARTICIPANT_SECURITY_INFO_LENGTH)
+    if (parameter_length < PARAMETER_PARTICIPANT_SECURITY_INFO_LENGTH)
     {
         return false;
     }
@@ -1065,7 +1146,7 @@ inline bool ParameterSerializer<ParameterEndpointSecurityInfo_t>::read_content_f
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_ENDPOINT_SECURITY_INFO_LENGTH)
+    if (parameter_length < PARAMETER_ENDPOINT_SECURITY_INFO_LENGTH)
     {
         return false;
     }
diff --git a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
index 3c7830c253b..9f9b8c2e83d 100644
--- a/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
+++ b/src/cpp/fastdds/core/policy/QosPoliciesSerializer.hpp
@@ -97,7 +97,7 @@ inline bool QosPoliciesSerializer<DurabilityQosPolicy>::read_content_from_cdr_me
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH)
+    if (parameter_length < PARAMETER_KIND_LENGTH)
     {
         return false;
     }
@@ -126,7 +126,7 @@ inline bool QosPoliciesSerializer<DeadlineQosPolicy>::read_content_from_cdr_mess
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -155,7 +155,7 @@ inline bool QosPoliciesSerializer<LatencyBudgetQosPolicy>::read_content_from_cdr
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -190,7 +190,7 @@ inline bool QosPoliciesSerializer<LivelinessQosPolicy>::read_content_from_cdr_me
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH + PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_KIND_LENGTH + PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -229,7 +229,7 @@ inline bool QosPoliciesSerializer<ReliabilityQosPolicy>::read_content_from_cdr_m
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH + PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_KIND_LENGTH + PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -263,7 +263,7 @@ inline bool QosPoliciesSerializer<OwnershipQosPolicy>::read_content_from_cdr_mes
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH)
+    if (parameter_length < PARAMETER_KIND_LENGTH)
     {
         return false;
     }
@@ -292,7 +292,7 @@ inline bool QosPoliciesSerializer<DestinationOrderQosPolicy>::read_content_from_
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH)
+    if (parameter_length < PARAMETER_KIND_LENGTH)
     {
         return false;
     }
@@ -323,7 +323,7 @@ inline bool QosPoliciesSerializer<ResourceLimitsQosPolicy>::read_content_from_cd
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != 12)
+    if (parameter_length < 12)
     {
         return false;
     }
@@ -357,7 +357,7 @@ inline bool QosPoliciesSerializer<TimeBasedFilterQosPolicy>::read_content_from_c
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -397,7 +397,7 @@ inline bool QosPoliciesSerializer<PresentationQosPolicy>::read_content_from_cdr_
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_PRESENTATION_LENGTH)
+    if (parameter_length < PARAMETER_PRESENTATION_LENGTH)
     {
         return false;
     }
@@ -516,7 +516,7 @@ inline bool QosPoliciesSerializer<HistoryQosPolicy>::read_content_from_cdr_messa
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_KIND_LENGTH + 4)
+    if (parameter_length < PARAMETER_KIND_LENGTH + 4)
     {
         return false;
     }
@@ -553,7 +553,7 @@ inline bool QosPoliciesSerializer<DurabilityServiceQosPolicy>::read_content_from
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH + PARAMETER_KIND_LENGTH + 16)
+    if (parameter_length < PARAMETER_TIME_LENGTH + PARAMETER_KIND_LENGTH + 16)
     {
         return false;
     }
@@ -588,7 +588,7 @@ inline bool QosPoliciesSerializer<LifespanQosPolicy>::read_content_from_cdr_mess
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_TIME_LENGTH)
+    if (parameter_length < PARAMETER_TIME_LENGTH)
     {
         return false;
     }
@@ -615,7 +615,7 @@ inline bool QosPoliciesSerializer<OwnershipStrengthQosPolicy>::read_content_from
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != 4)
+    if (parameter_length < 4)
     {
         return false;
     }
@@ -638,7 +638,7 @@ inline bool QosPoliciesSerializer<TransportPriorityQosPolicy>::read_content_from
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != 4)
+    if (parameter_length < 4)
     {
         return false;
     }
@@ -800,7 +800,7 @@ inline bool QosPoliciesSerializer<DisablePositiveACKsQosPolicy>::read_content_fr
         fastrtps::rtps::CDRMessage_t* cdr_message,
         const uint16_t parameter_length)
 {
-    if (parameter_length != PARAMETER_BOOL_LENGTH)
+    if (parameter_length < PARAMETER_BOOL_LENGTH)
     {
         return false;
     }
diff --git a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
index a46a46a802f..4c707cc5c9d 100644
--- a/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
+++ b/test/unittest/rtps/builtin/BuiltinDataSerializationTests.cpp
@@ -12,7 +12,15 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+<<<<<<< HEAD
 #include "fastdds/rtps/messages/CDRMessage.h"
+=======
+#include <array>
+#include <cstdint>
+#include <iostream>
+#include <set>
+
+>>>>>>> 7b111f911 (Be less strict with parameter lengths (#5225))
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
 
@@ -1401,6 +1409,511 @@ TEST(BuiltinDataSerializationTests, null_checks)
     }
 }
 
+/*!
+ * This is a regression test for redmine issue #21537
+ *
+ * It checks that Fast DDS can deserialize DATA(p), DATA(w), and DATA(r) messages captured from InterCom DDS.
+ */
+TEST(BuiltinDataSerializationTests, interoperability_with_intercomdds)
+{
+    const VendorId_t intercom_vendor_id = { 1, 5 };
+
+    // DATA(p)
+    {
+        // This was captured with wireshark from intercom_dds-3.16.2.0_shape_main_linux taken from
+        // https://github.com/omg-dds/dds-rtps/releases/tag/v1.2.2024
+        octet data_p_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            // Participant GUID
+            0x50, 0x00, 0x10, 0x00,
+            0x01, 0x05, 0xfa, 0xd5, 0x7a, 0x09, 0x6a, 0x22, 0x84, 0xfb, 0x23, 0xa2, 0x00, 0x00, 0x01, 0xc1,
+            // Custom (0x8005)
+            0x05, 0x80, 0x18, 0x00,
+            0x12, 0x00, 0x00, 0x00, 0x49, 0x6e, 0x74, 0x65, 0x72, 0x43, 0x4f, 0x4d, 0x20, 0x33, 0x5f, 0x31,
+            0x36, 0x5f, 0x32, 0x5f, 0x30, 0x00, 0x00, 0x00,
+            // Custom (0x8006)
+            0x06, 0x80, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Custom (0x8007)
+            0x07, 0x80, 0x0c, 0x00,
+            0x01, 0x00, 0x06, 0x00, 0x01, 0x00, 0x00, 0x00, 0x17, 0x00, 0x00, 0x00,
+            // Custom (0x8008)
+            0x08, 0x80, 0x08, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Custom (0x8009)
+            0x09, 0x80, 0x34, 0x00,
+            0x2e, 0x00, 0x00, 0x00, 0x69, 0x6e, 0x74, 0x65, 0x72, 0x63, 0x6f, 0x6d, 0x5f, 0x64, 0x64, 0x73,
+            0x2d, 0x33, 0x2e, 0x31, 0x36, 0x2e, 0x32, 0x2e, 0x30, 0x5f, 0x73, 0x68, 0x61, 0x70, 0x65, 0x5f,
+            0x6d, 0x61, 0x69, 0x6e, 0x5f, 0x6c, 0x69, 0x6e, 0x75, 0x78, 0x20, 0x28, 0x37, 0x30, 0x34, 0x35,
+            0x29, 0x00, 0x00, 0x00,
+            // Domain ID
+            0x0f, 0x00, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Builtin endpoint QoS
+            0x77, 0x00, 0x04, 0x00,
+            0x01, 0x00, 0x00, 0x00,
+            // Builtin endpoint set
+            0x58, 0x00, 0x04, 0x00,
+            0x3f, 0xfc, 0x00, 0x00,
+            // Protocol version
+            0x15, 0x00, 0x04, 0x00,
+            0x02, 0x05, 0x00, 0x00,
+            // Vendor ID
+            0x16, 0x00, 0x04, 0x00,
+            0x01, 0x05, 0x00, 0x00,
+            // Default Unicast Locator
+            0x31, 0x00, 0x18, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0xf5, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0xac, 0x1a, 0x9f, 0xd5,
+            // Default Multicast Locator
+            0x48, 0x00, 0x18, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0xe9, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0xef, 0xff, 0x00, 0x01,
+            // Metatraffic unicast locator
+            0x32, 0x00, 0x18, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0xf4, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0xac, 0x1a, 0x9f, 0xd5,
+            // Metatraffic multicast locator
+            0x33, 0x00, 0x18, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0xe8, 0x1c, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0xef, 0xff, 0x00, 0x01,
+            // Participant lease duration
+            0x02, 0x00, 0x08, 0x00,
+            0x2c, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Sentinel
+            0x01, 0x00, 0x00, 0x00
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_p_buffer, static_cast<uint32_t>(sizeof(data_p_buffer)));
+        msg.length = msg.max_size;
+
+        ParticipantProxyData out({});
+        EXPECT_NO_THROW(EXPECT_TRUE(out.readFromCDRMessage(&msg, true, network, false, intercom_vendor_id)));
+    }
+
+    // DATA(w)
+    {
+        // This was captured with wireshark from intercom_dds-3.16.2.0_shape_main_linux taken from
+        // https://github.com/omg-dds/dds-rtps/releases/tag/v1.2.2024
+        octet data_w_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            // Writer GUID
+            0x5a, 0x00, 0x10, 0x00,
+            0x01, 0x05, 0xfa, 0xd5, 0x7a, 0x09, 0x6a, 0x22, 0x84, 0xfb, 0x23, 0xa2, 0x00, 0x00, 0x01, 0x02,
+            // Participant GUID
+            0x50, 0x00, 0x10, 0x00,
+            0x01, 0x05, 0xfa, 0xd5, 0x7a, 0x09, 0x6a, 0x22, 0x84, 0xfb, 0x23, 0xa2, 0x00, 0x00, 0x01, 0xc1,
+            // Topic name
+            0x05, 0x00, 0x0c, 0x00,
+            0x07, 0x00, 0x00, 0x00, 0x53, 0x71, 0x75, 0x61, 0x72, 0x65, 0x00, 0x00,
+            // Type name
+            0x07, 0x00, 0x10, 0x00,
+            0x0a, 0x00, 0x00, 0x00, 0x53, 0x68, 0x61, 0x70, 0x65, 0x54, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00,
+            // Type information
+            0x75, 0x00, 0x5c, 0x00,
+            0x58, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x50, 0x24, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+            0xf1, 0xa5, 0x12, 0xf3, 0x95, 0xe2, 0xba, 0xb0, 0xb9, 0xfc, 0x83, 0x8e, 0x08, 0x6e, 0x2c, 0x00,
+            0x57, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x02, 0x10, 0x00, 0x50, 0x24, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x77, 0x32, 0x07,
+            0xfb, 0x72, 0x38, 0x6e, 0x0d, 0xdb, 0x0e, 0x1a, 0x2b, 0x4f, 0xbe, 0x00, 0x84, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Topic data
+            0x2e, 0x00, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Data representation
+            0x73, 0x00, 0x08, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Property list
+            0x59, 0x00, 0x08, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Data tags
+            0x03, 0x10, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Service instance name
+            0x80, 0x00, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Related entity GUID
+            0x81, 0x00, 0x10, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // History
+            0x40, 0x00, 0x08, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+            // Custom (0x8030)
+            0x30, 0x80, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Sentinel
+            0x01, 0x00, 0x00, 0x00
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_w_buffer, static_cast<uint32_t>(sizeof(data_w_buffer)));
+        msg.length = msg.max_size;
+
+        WriterProxyData out(max_unicast_locators, max_multicast_locators);
+        EXPECT_NO_THROW(EXPECT_TRUE(out.readFromCDRMessage(&msg, network, true, intercom_vendor_id)));
+    }
+
+    // DATA(r)
+    {
+        // This was captured with wireshark from intercom_dds-3.16.2.0_shape_main_linux taken from
+        // https://github.com/omg-dds/dds-rtps/releases/tag/v1.2.2024
+        uint8_t data_r_buffer[] =
+        {
+            // Encapsulation
+            0x00, 0x03, 0x00, 0x00,
+            // Reader GUID
+            0x5a, 0x00, 0x10, 0x00,
+            0x01, 0x05, 0x0f, 0xda, 0x14, 0xdd, 0x32, 0x62, 0x74, 0xef, 0x08, 0xeb, 0x00, 0x00, 0x01, 0x07,
+            // Participant GUID
+            0x50, 0x00, 0x10, 0x00,
+            0x01, 0x05, 0x0f, 0xda, 0x14, 0xdd, 0x32, 0x62, 0x74, 0xef, 0x08, 0xeb, 0x00, 0x00, 0x01, 0xc1,
+            // Topic name
+            0x05, 0x00, 0x0c, 0x00,
+            0x07, 0x00, 0x00, 0x00, 0x53, 0x71, 0x75, 0x61, 0x72, 0x65, 0x00, 0x00,
+            // Type name
+            0x07, 0x00, 0x10, 0x00,
+            0x0a, 0x00, 0x00, 0x00, 0x53, 0x68, 0x61, 0x70, 0x65, 0x54, 0x79, 0x70, 0x65, 0x00, 0x00, 0x00,
+            // Type information
+            0x75, 0x00, 0x5c, 0x00,
+            0x58, 0x00, 0x00, 0x00, 0x01, 0x10, 0x00, 0x50, 0x24, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00,
+            0xf1, 0xa5, 0x12, 0xf3, 0x95, 0xe2, 0xba, 0xb0, 0xb9, 0xfc, 0x83, 0x8e, 0x08, 0x6e, 0x2c, 0x00,
+            0x57, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            0x02, 0x10, 0x00, 0x50, 0x24, 0x00, 0x00, 0x00, 0x14, 0x00, 0x00, 0x00, 0xf2, 0x77, 0x32, 0x07,
+            0xfb, 0x72, 0x38, 0x6e, 0x0d, 0xdb, 0x0e, 0x1a, 0x2b, 0x4f, 0xbe, 0x00, 0x84, 0x00, 0x00, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Reliability
+            0x1a, 0x00, 0x10, 0x00,
+            0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x9a, 0x99, 0x99, 0x19, 0x00, 0x00, 0x00, 0x00,
+            // Topic data
+            0x2e, 0x00, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Data representation
+            0x73, 0x00, 0x08, 0x00,
+            0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Type consistency
+            0x74, 0x00, 0x08, 0x00,
+            0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00,
+            // Property list
+            0x59, 0x00, 0x08, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // Data tags
+            0x03, 0x10, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Service instance name
+            0x80, 0x00, 0x04, 0x00,
+            0x00, 0x00, 0x00, 0x00,
+            // Related entity GUID
+            0x81, 0x00, 0x10, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+            // History
+            0x40, 0x00, 0x08, 0x00,
+            0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00,
+            // Sentinel
+            0x01, 0x00, 0x00, 0x00
+        };
+
+        CDRMessage_t msg(0);
+        msg.init(data_r_buffer, static_cast<uint32_t>(sizeof(data_r_buffer)));
+        msg.length = msg.max_size;
+
+        ReaderProxyData out(max_unicast_locators, max_multicast_locators);
+        EXPECT_NO_THROW(EXPECT_TRUE(out.readFromCDRMessage(&msg, network, true, intercom_vendor_id)));
+    }
+}
+
+/*!
+ * This is a regression test for redmine issue #21537
+ *
+ * It checks deserialization of builtin data with big parameters.
+ */
+TEST(BuiltinDataSerializationTests, deserialization_of_big_parameters)
+{
+    constexpr size_t encapsulation_length = 4;
+    constexpr size_t guid_length = 20;
+    constexpr size_t topic_name_length = 16;
+    constexpr size_t type_name_length = 16;
+    constexpr size_t parameter_length = 65536;
+    constexpr size_t sentinel_length = 4;
+    constexpr size_t total_length =
+            encapsulation_length + // encapsulation
+            parameter_length +   // Big parameter
+            guid_length +        // Participant GUID
+            guid_length +        // Endpoint GUID
+            topic_name_length +  // Topic name
+            type_name_length +   // Type name
+            sentinel_length;     // Sentinel
+    std::array<octet, total_length> buffer{{0}};
+
+    // Encapsulation (PL_CDR_LE)
+    size_t pos = 0;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x03;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+
+    // Room for the big parameter
+    pos += parameter_length;
+
+    // Participant GUID
+    buffer[pos++] = 0x50;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x10;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x01;
+    buffer[pos++] = 0x05;
+    buffer[pos++] = 0x0f;
+    buffer[pos++] = 0xda;
+    buffer[pos++] = 0x14;
+    buffer[pos++] = 0xdd;
+    buffer[pos++] = 0x32;
+    buffer[pos++] = 0x62;
+    buffer[pos++] = 0x74;
+    buffer[pos++] = 0xef;
+    buffer[pos++] = 0x08;
+    buffer[pos++] = 0xeb;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x01;
+    buffer[pos++] = 0xc1;
+
+    // Endpoint GUID
+    buffer[pos++] = 0x5a;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x10;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x01;
+    buffer[pos++] = 0x05;
+    buffer[pos++] = 0x0f;
+    buffer[pos++] = 0xda;
+    buffer[pos++] = 0x14;
+    buffer[pos++] = 0xdd;
+    buffer[pos++] = 0x32;
+    buffer[pos++] = 0x62;
+    buffer[pos++] = 0x74;
+    buffer[pos++] = 0xef;
+    buffer[pos++] = 0x08;
+    buffer[pos++] = 0xeb;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x01;
+    buffer[pos++] = 0x07;
+
+    // Topic name ("Square")
+    buffer[pos++] = 0x05;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x0c;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x07;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x53;
+    buffer[pos++] = 0x71;
+    buffer[pos++] = 0x75;
+    buffer[pos++] = 0x61;
+    buffer[pos++] = 0x72;
+    buffer[pos++] = 0x65;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+
+    // Type name ("MyType")
+    buffer[pos++] = 0x07;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x0c;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x07;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x4d;
+    buffer[pos++] = 0x79;
+    buffer[pos++] = 0x54;
+    buffer[pos++] = 0x79;
+    buffer[pos++] = 0x70;
+    buffer[pos++] = 0x65;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+
+    // Sentinel
+    buffer[pos++] = 0x01;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+    buffer[pos++] = 0x00;
+
+    ASSERT_EQ(total_length, pos);
+
+    std::set<uint16_t> failed_for_data_p;
+    std::set<uint16_t> failed_for_data_w;
+    std::set<uint16_t> failed_for_data_r;
+
+    // Loop all parameter IDs in the standard range
+    for (uint16_t pid = 0x2; pid <= 0x7FFF; ++pid)
+    {
+        // Clear big parameter
+        octet zero = 0u;
+        auto param_begin = buffer.begin() + encapsulation_length;
+        std::fill(param_begin, param_begin + parameter_length, zero);
+
+        // Set the parameter ID of the big parameter
+        constexpr uint16_t big_parameter_plength = parameter_length - 4;
+        buffer[encapsulation_length] = static_cast<octet>(pid & 0xFF);
+        buffer[encapsulation_length + 1] = static_cast<octet>((pid >> 8) & 0xFF);
+        buffer[encapsulation_length + 2] = static_cast<octet>(big_parameter_plength & 0xFF);
+        buffer[encapsulation_length + 3] = static_cast<octet>((big_parameter_plength >> 8) & 0xFF);
+
+        // Beware of semantically incorrect parameters
+        switch (pid)
+        {
+            // The protocol version should be 2
+            case eprosima::fastdds::dds::PID_PROTOCOL_VERSION:
+            {
+                buffer[encapsulation_length + 4] = 0x02;
+            }
+            break;
+
+            // The length of some string parameters should be lower than 256
+            case eprosima::fastdds::dds::PID_ENTITY_NAME:
+            case eprosima::fastdds::dds::PID_TYPE_NAME:
+            case eprosima::fastdds::dds::PID_TOPIC_NAME:
+            {
+                buffer[encapsulation_length + 2] = 0xFF;
+                buffer[encapsulation_length + 3] = 0x00;
+            }
+            break;
+
+            // Data parameters should fill the whole parameter
+            case eprosima::fastdds::dds::PID_USER_DATA:
+            case eprosima::fastdds::dds::PID_TOPIC_DATA:
+            case eprosima::fastdds::dds::PID_GROUP_DATA:
+            {
+                constexpr uint16_t inner_data_length = big_parameter_plength - 4;
+                buffer[encapsulation_length + 4] = static_cast<octet>(inner_data_length & 0xFF);
+                buffer[encapsulation_length + 5] = static_cast<octet>((inner_data_length >> 8) & 0xFF);
+            }
+            break;
+
+            // Custom content for partition
+            case eprosima::fastdds::dds::PID_PARTITION:
+            {
+                // Number of partitions (1)
+                buffer[encapsulation_length + 4] = 0x01;
+                buffer[encapsulation_length + 5] = 0x00;
+                buffer[encapsulation_length + 6] = 0x00;
+                buffer[encapsulation_length + 7] = 0x00;
+                // Partition name length (fills the rest of the parameter)
+                constexpr uint16_t partition_length = big_parameter_plength - 4 - 4;
+                buffer[encapsulation_length + 8] = static_cast<octet>(partition_length & 0xFF);
+                buffer[encapsulation_length + 9] = static_cast<octet>((partition_length >> 8) & 0xFF);
+                buffer[encapsulation_length + 10] = 0x00;
+                buffer[encapsulation_length + 11] = 0x00;
+            }
+            break;
+
+            // Custom content for security tokens
+            case eprosima::fastdds::dds::PID_IDENTITY_TOKEN:
+            case eprosima::fastdds::dds::PID_PERMISSIONS_TOKEN:
+            {
+                // Content is a string + properties (0) + binary properties (0)
+                // Should fill the whole parameter
+                constexpr uint16_t token_string_length = big_parameter_plength - 4 - 4 - 4;
+                buffer[encapsulation_length + 4] = static_cast<octet>(token_string_length & 0xFF);
+                buffer[encapsulation_length + 5] = static_cast<octet>((token_string_length >> 8) & 0xFF);
+            }
+            break;
+        }
+
+        // Deserialize a DATA(p)
+        {
+            CDRMessage_t msg(0);
+            msg.init(buffer.data(), static_cast<uint32_t>(buffer.size()));
+            msg.length = msg.max_size;
+
+            RTPSParticipantAllocationAttributes att;
+            att.data_limits.max_user_data = parameter_length;
+            ParticipantProxyData out({});
+            EXPECT_NO_THROW(
+                if (!out.readFromCDRMessage(&msg, true, network, false))
+                        {
+                            failed_for_data_p.insert(pid);
+                        }
+                );
+        }
+
+        // Deserialize a DATA(w)
+        {
+            CDRMessage_t msg(0);
+            msg.init(buffer.data(), static_cast<uint32_t>(buffer.size()));
+            msg.length = msg.max_size;
+
+            VariableLengthDataLimits limits;
+            limits.max_user_data = parameter_length;
+            WriterProxyData out(max_unicast_locators, max_multicast_locators, limits);
+            EXPECT_NO_THROW(
+                if (!out.readFromCDRMessage(&msg, network, true))
+                        {
+                            failed_for_data_w.insert(pid);
+                        }
+                );
+        }
+
+        // Deserialize a DATA(r)
+        {
+            CDRMessage_t msg(0);
+            msg.init(buffer.data(), static_cast<uint32_t>(buffer.size()));
+            msg.length = msg.max_size;
+
+            VariableLengthDataLimits limits;
+            limits.max_user_data = parameter_length;
+            ReaderProxyData out(max_unicast_locators, max_multicast_locators, limits);
+            EXPECT_NO_THROW(
+                if (!out.readFromCDRMessage(&msg, network, true))
+                        {
+                            failed_for_data_r.insert(pid);
+                        }
+                );
+        }
+    }
+
+    // Check if any parameter ID failed
+    EXPECT_EQ(failed_for_data_p.size(), 0u);
+    EXPECT_EQ(failed_for_data_w.size(), 0u);
+    EXPECT_EQ(failed_for_data_r.size(), 0u);
+
+    // Print the failed parameter IDs
+    if (!failed_for_data_p.empty())
+    {
+        std::cout << "Failed for DATA(p): ";
+        for (uint16_t pid : failed_for_data_p)
+        {
+            std::cout << std::hex << std::setfill('0') << std::setw(4) << pid << " ";
+        }
+        std::cout << std::endl;
+    }
+    if (!failed_for_data_w.empty())
+    {
+        std::cout << "Failed for DATA(w): ";
+        for (uint16_t pid : failed_for_data_w)
+        {
+            std::cout << std::hex << std::setfill('0') << std::setw(4) << pid << " ";
+        }
+        std::cout << std::endl;
+    }
+    if (!failed_for_data_r.empty())
+    {
+        std::cout << "Failed for DATA(r): ";
+        for (uint16_t pid : failed_for_data_r)
+        {
+            std::cout << std::hex << std::setfill('0') << std::setw(4) << pid << " ";
+        }
+        std::cout << std::endl;
+    }
+}
+
 } // namespace rtps
 } // namespace fastrtps
 } // namespace eprosima