diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp b/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
index 4dbd05171d1..2e64de6a324 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemManager.hpp
@@ -19,10 +19,13 @@
 #include <list>
 #include <unordered_map>
 
-#include <rtps/transport/shared_mem/SharedMemGlobal.hpp>
+#include <foonathan/memory/container.hpp>
+#include <foonathan/memory/memory_pool.hpp>
 
-#include <utils/shared_memory/RobustSharedLock.hpp>
-#include <utils/shared_memory/SharedMemWatchdog.hpp>
+#include "rtps/transport/shared_mem/SharedMemGlobal.hpp"
+#include "utils/collections/node_size_helpers.hpp"
+#include "utils/shared_memory/RobustSharedLock.hpp"
+#include "utils/shared_memory/SharedMemWatchdog.hpp"
 
 namespace eprosima {
 namespace fastdds {
@@ -366,7 +369,12 @@ class SharedMemManager :
                 uint32_t payload_size,
                 uint32_t max_allocations,
                 const std::string& domain_name)
-            : segment_id_()
+            : buffer_node_list_allocator_(
+                buffer_node_list_helper::node_size,
+                buffer_node_list_helper::min_pool_size<pool_allocator_t>(max_allocations))
+            , free_buffers_(buffer_node_list_allocator_)
+            , allocated_buffers_(buffer_node_list_allocator_)
+            , segment_id_()
             , overflows_count_(0)
         {
             generate_segment_id_and_name(domain_name);
@@ -468,7 +476,6 @@ class SharedMemManager :
                     throw std::runtime_error("alloc_buffer: out of memory");
                 }
 
-                // TODO(Adolfo) : Dynamic allocation. Use foonathan to convert it to static allocation
                 allocated_buffers_.push_back(buffer_node);
             }
             catch (const std::exception&)
@@ -502,9 +509,15 @@ class SharedMemManager :
 
         std::unique_ptr<RobustExclusiveLock> segment_name_lock_;
 
-        // TODO(Adolfo) : Dynamic allocations. Use foonathan to convert it to static allocation
-        std::list<BufferNode*> free_buffers_;
-        std::list<BufferNode*> allocated_buffers_;
+        using buffer_node_list_helper =
+                utilities::collections::list_size_helper<BufferNode*>;
+
+        using pool_allocator_t =
+                foonathan::memory::memory_pool<foonathan::memory::node_pool, foonathan::memory::heap_allocator>;
+        pool_allocator_t buffer_node_list_allocator_;
+
+        foonathan::memory::list<BufferNode*, pool_allocator_t> free_buffers_;
+        foonathan::memory::list<BufferNode*, pool_allocator_t> allocated_buffers_;
 
         std::mutex alloc_mutex_;
         std::shared_ptr<SharedMemSegment> segment_;
diff --git a/src/cpp/utils/collections/impl/node-sizes/foonathan/list_node_size_impl.hpp b/src/cpp/utils/collections/impl/node-sizes/foonathan/list_node_size_impl.hpp
new file mode 100644
index 00000000000..ca9b2b51ad0
--- /dev/null
+++ b/src/cpp/utils/collections/impl/node-sizes/foonathan/list_node_size_impl.hpp
@@ -0,0 +1,27 @@
+// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file list_node_size_impl.hpp
+ */
+
+#ifndef SRC_CPP_UTILS_COLLECTIONS_IMPL_FOONATHAN_LIST_NODE_SIZE_IMPL_HPP_
+#define SRC_CPP_UTILS_COLLECTIONS_IMPL_FOONATHAN_LIST_NODE_SIZE_IMPL_HPP_
+
+template <typename T>
+struct list_node_size : foonathan::memory::list_node_size<typename std::list<T>::value_type>
+{
+};
+
+#endif  /* SRC_CPP_UTILS_COLLECTIONS_IMPL_FOONATHAN_LIST_NODE_SIZE_IMPL_HPP_ */
diff --git a/src/cpp/utils/collections/impl/node-sizes/list_node_size_impl.hpp b/src/cpp/utils/collections/impl/node-sizes/list_node_size_impl.hpp
new file mode 100644
index 00000000000..901c3d6a53b
--- /dev/null
+++ b/src/cpp/utils/collections/impl/node-sizes/list_node_size_impl.hpp
@@ -0,0 +1,34 @@
+// Copyright 2023 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/**
+ * @file list_node_size_impl.hpp
+ */
+
+#ifndef SRC_CPP_UTILS_COLLECTIONS_IMPL_LIST_NODE_SIZE_IMPL_HPP_
+#define SRC_CPP_UTILS_COLLECTIONS_IMPL_LIST_NODE_SIZE_IMPL_HPP_
+
+#include "./config.hpp"
+
+#if defined(USE_FOONATHAN_NODE_SIZES)
+#include "foonathan/list_node_size_impl.hpp"
+#elif defined(USE_STD_NODE_SIZES)
+#include "std/list_node_size_impl.hpp"
+#elif defined(USE_CUSTOM_NODE_SIZES)
+#include "custom/list_node_size_impl.hpp"
+#else
+#error "Don't now which list_node_size implementation to use"
+#endif // NODE SIZE CONFIG
+
+#endif  /* SRC_CPP_UTILS_COLLECTIONS_IMPL_LIST_NODE_SIZE_IMPL_HPP_ */
diff --git a/src/cpp/utils/collections/node_size_helpers.hpp b/src/cpp/utils/collections/node_size_helpers.hpp
index e1d51b7cce8..0f6834fd838 100644
--- a/src/cpp/utils/collections/node_size_helpers.hpp
+++ b/src/cpp/utils/collections/node_size_helpers.hpp
@@ -35,6 +35,7 @@ namespace detail {
 namespace fm = foonathan::memory;
 
 // Include implementations for node size helpers
+#include "impl/node-sizes/list_node_size_impl.hpp"
 #include "impl/node-sizes/map_node_size_impl.hpp"
 #include "impl/node-sizes/set_node_size_impl.hpp"
 #include "impl/node-sizes/unordered_map_node_size_impl.hpp"
@@ -100,6 +101,10 @@ struct pool_size_helper
 
 } // namespace detail
 
+template<typename T>
+struct list_size_helper : public detail::pool_size_helper<detail::list_node_size<T>::value>
+{
+};
 
 template<typename K, typename V>
 struct map_size_helper : public detail::pool_size_helper<detail::map_node_size<K, V>::value>
diff --git a/test/unittest/transport/CMakeLists.txt b/test/unittest/transport/CMakeLists.txt
index 73b2de89057..f73dfe82909 100644
--- a/test/unittest/transport/CMakeLists.txt
+++ b/test/unittest/transport/CMakeLists.txt
@@ -16,6 +16,7 @@ if(WIN32)
     add_definitions(
         -D_WIN32_WINNT=0x0601
         -D_CRT_SECURE_NO_WARNINGS
+        -DNOMINMAX
         )
 endif()
 
@@ -422,6 +423,7 @@ if(IS_THIRDPARTY_BOOST_OK)
         $<$<BOOL:${ANDROID}>:${ANDROID_IFADDRS_INCLUDE_DIR}>
         )
     target_link_libraries(SharedMemTests
+        foonathan_memory
         fastcdr
         GTest::gtest
         ${MOCKS}