diff --git a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.h b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.h
index 047b9598c..5a8fb5627 100644
--- a/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.h
+++ b/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport_impl.h
@@ -784,6 +784,9 @@ size_t TypeSupport<MembersType>::calculateMaxSerializedSize(
 
   size_t initial_alignment = current_alignment;
 
+  // Encapsulation
+  current_alignment += 4;
+
   for (uint32_t i = 0; i < members->member_count_; ++i) {
     const auto * member = members->members_ + i;
 
@@ -891,6 +894,9 @@ bool TypeSupport<MembersType>::serializeROSmessage(
 {
   assert(ros_message);
 
+  // Serialize encapsulation
+  ser.serialize_encapsulation();
+
   if (members_->member_count_ != 0) {
     TypeSupport::serializeROSmessage(ser, members_, ros_message);
   } else {
@@ -907,7 +913,11 @@ bool TypeSupport<MembersType>::deserializeROSmessage(
   assert(buffer);
   assert(ros_message);
 
-  eprosima::fastcdr::Cdr deser(*buffer);
+  eprosima::fastcdr::Cdr deser(*buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
+
+  // Deserialize encapsulation.
+  deser.read_encapsulation();
 
   if (members_->member_count_ != 0) {
     TypeSupport::deserializeROSmessage(deser, members_, ros_message, false);
@@ -936,7 +946,8 @@ bool TypeSupport<MembersType>::serialize(
   eprosima::fastcdr::Cdr * ser = static_cast<eprosima::fastcdr::Cdr *>(data);
   if (payload->max_size >= ser->getSerializedDataLength()) {
     payload->length = static_cast<uint32_t>(ser->getSerializedDataLength());
-    payload->encapsulation = CDR_LE;
+    payload->encapsulation = ser->endianness() ==
+      eprosima::fastcdr::Cdr::BIG_ENDIANNESS ? CDR_BE : CDR_LE;
     memcpy(payload->data, ser->getBufferPointer(), ser->getSerializedDataLength());
     return true;
   }
diff --git a/rmw_fastrtps_cpp/src/functions.cpp b/rmw_fastrtps_cpp/src/functions.cpp
index 0ee6b98d7..f9f8c2a2e 100644
--- a/rmw_fastrtps_cpp/src/functions.cpp
+++ b/rmw_fastrtps_cpp/src/functions.cpp
@@ -948,7 +948,8 @@ rmw_ret_t rmw_publish(const rmw_publisher_t * publisher, const void * ros_messag
   assert(info);
 
   eprosima::fastcdr::FastBuffer buffer;
-  eprosima::fastcdr::Cdr ser(buffer);
+  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
 
   if (_serialize_ros_message(ros_message, ser, info->type_support_,
     info->typesupport_identifier_))
@@ -1699,7 +1700,8 @@ rmw_ret_t rmw_send_request(const rmw_client_t * client,
   assert(info);
 
   eprosima::fastcdr::FastBuffer buffer;
-  eprosima::fastcdr::Cdr ser(buffer);
+  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
 
   if (_serialize_ros_message(ros_request, ser, info->request_type_support_,
     info->typesupport_identifier_))
@@ -1816,7 +1818,8 @@ rmw_ret_t rmw_send_response(const rmw_service_t * service,
   assert(info);
 
   eprosima::fastcdr::FastBuffer buffer;
-  eprosima::fastcdr::Cdr ser(buffer);
+  eprosima::fastcdr::Cdr ser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN,
+    eprosima::fastcdr::Cdr::DDS_CDR);
 
   _serialize_ros_message(ros_response, ser, info->response_type_support_,
     info->typesupport_identifier_);