diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3acf3ae..1af5cf4 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,7 +16,7 @@
 # CMake build rules for micro XRCE-DDS
 ###############################################################################
 
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 
 # Set CMAKE_BUILD_TYPE to Release by default.
 if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
@@ -27,11 +27,11 @@ if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
     set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
 endif()
 
-project(microxrcedds VERSION "2.2.1")
+project(microxrcedds VERSION "2.3.0")
 
-set(_client_tag v2.2.1)
-set(_client_version 2.2.1)
-set(_agent_tag v2.2.1)
+set(_client_tag v2.3.0)
+set(_client_version 2.3.0)
+set(_agent_tag v2.3.0)
 set(_gen_tag master)
 
 ###############################################################################
@@ -198,7 +198,7 @@ if(UXRCE_BUILD_TESTS)
             GIT_REPOSITORY
                 https://github.com/google/googletest.git
             GIT_TAG
-                2fe3bd994b3189899d93f1d5a881e725e046fdc2
+                release-1.11.0
             PREFIX
                 ${PROJECT_BINARY_DIR}/googletest
             INSTALL_DIR
diff --git a/ci/linux/CMakeLists.txt b/ci/linux/CMakeLists.txt
index 9ee5a57..d1e1f0b 100644
--- a/ci/linux/CMakeLists.txt
+++ b/ci/linux/CMakeLists.txt
@@ -41,8 +41,6 @@ ExternalProject_Add(microxrcedds
         ${PROJECT_BINARY_DIR}/microxrcedds-build
     INSTALL_DIR
         ${PROJECT_BINARY_DIR}/temp_install
-    BUILD_COMMAND
-        ""
     CMAKE_CACHE_ARGS
         -DCMAKE_CXX_COMPILER:STRING=${CMAKE_CXX_COMPILER}
         -DCMAKE_C_COMPILER:STRING=${CMAKE_C_COMPILER}
@@ -56,4 +54,4 @@ ExternalProject_Add(microxrcedds
         -DUXRCE_BUILD_CI_TESTS:BOOL=ON
         -DUXRCE_ENABLE_GEN:BOOL=OFF # TODO (juliber): move test away from Gradle.
         -DGTEST_INDIVIDUAL:BOOL=ON
-    )
\ No newline at end of file
+    )
diff --git a/ci/windows/CMakeLists.txt b/ci/windows/CMakeLists.txt
index c74493a..8701b67 100644
--- a/ci/windows/CMakeLists.txt
+++ b/ci/windows/CMakeLists.txt
@@ -25,8 +25,6 @@ ExternalProject_Add(uxrce
         ${PROJECT_BINARY_DIR}/uxrce
     INSTALL_DIR
         ${PROJECT_BINARY_DIR}/temp_install
-    BUILD_COMMAND
-        ""
     CMAKE_CACHE_ARGS
         -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
         -DCMAKE_GENERATOR_TOOLSET:STRING=${CMAKE_GENERATOR_TOOLSET}
@@ -34,4 +32,4 @@ ExternalProject_Add(uxrce
         -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
         -DUXRCE_BUILD_CI_TESTS:BOOL=ON
         -DGTEST_INDIVIDUAL:BOOL=ON
-    )
\ No newline at end of file
+    )
diff --git a/test/test/client_agent/ClientAgentCan.cpp b/test/test/client_agent/ClientAgentCan.cpp
index 14ca84b..c8c7ecb 100644
--- a/test/test/client_agent/ClientAgentCan.cpp
+++ b/test/test/client_agent/ClientAgentCan.cpp
@@ -9,7 +9,13 @@ TEST_P(ClientAgentCan, PingFromClientToAgent)
     ASSERT_NO_FATAL_FAILURE(client_can_.ping_agent());
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     CanTransports,
     ClientAgentCan,
     ::testing::Values(MiddlewareKind::FASTDDS));
\ No newline at end of file
diff --git a/test/test/client_agent/ClientAgentInteraction.cpp b/test/test/client_agent/ClientAgentInteraction.cpp
index e2ebd12..5250212 100644
--- a/test/test/client_agent/ClientAgentInteraction.cpp
+++ b/test/test/client_agent/ClientAgentInteraction.cpp
@@ -384,14 +384,20 @@ TEST_P(ClientAgentInteraction, PingFromClientToAgent)
     ASSERT_NO_FATAL_FAILURE(client_.ping_agent(transport_kind));
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     Transports,
     ClientAgentInteraction,
     ::testing::Combine(
         ::testing::Values(Transport::UDP_IPV4_TRANSPORT, Transport::TCP_IPV4_TRANSPORT, Transport::UDP_IPV6_TRANSPORT, Transport::TCP_IPV6_TRANSPORT),
         ::testing::Values(MiddlewareKind::FASTDDS, MiddlewareKind::FASTRTPS, MiddlewareKind::CED)));
 
-INSTANTIATE_TEST_CASE_P(
+GTEST_INSTANTIATE_TEST_MACRO(
     CustomTransports,
     ClientAgentInteraction,
     ::testing::Combine(
diff --git a/test/test/client_agent/ClientAgentSerial.cpp b/test/test/client_agent/ClientAgentSerial.cpp
index 23ad2a6..c7ce52b 100644
--- a/test/test/client_agent/ClientAgentSerial.cpp
+++ b/test/test/client_agent/ClientAgentSerial.cpp
@@ -39,7 +39,13 @@ TEST_P(ClientAgentSerial, PingFromClientToAgent)
     }
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     SerialTransports,
     ClientAgentSerial,
     ::testing::Combine(
diff --git a/test/test/discovery/DiscoveryIntegration.cpp b/test/test/discovery/DiscoveryIntegration.cpp
index f158836..bfe35aa 100644
--- a/test/test/discovery/DiscoveryIntegration.cpp
+++ b/test/test/discovery/DiscoveryIntegration.cpp
@@ -166,7 +166,13 @@ TEST_P(DiscoveryIntegration, DiscoveryMulticast)
     discovery_->multicast();
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     Transports,
     DiscoveryIntegration,
     ::testing::Combine(
diff --git a/test/test/interaction_client/Discovery.hpp b/test/test/interaction_client/Discovery.hpp
index 5516fe5..03daef5 100644
--- a/test/test/interaction_client/Discovery.hpp
+++ b/test/test/interaction_client/Discovery.hpp
@@ -11,6 +11,7 @@
 #include <gtest/gtest.h>
 #include <iostream>
 #include <thread>
+#include <algorithm>
 
 inline
 bool operator==(TransportLocator const & lhs, TransportLocator const & rhs)
diff --git a/test/test/publisher_subscriber/PublisherSubscriberCan.cpp b/test/test/publisher_subscriber/PublisherSubscriberCan.cpp
index c1754ee..35c6009 100644
--- a/test/test/publisher_subscriber/PublisherSubscriberCan.cpp
+++ b/test/test/publisher_subscriber/PublisherSubscriberCan.cpp
@@ -137,7 +137,13 @@ TEST_P(PublisherSubscriberCan, PubSub1ContinousFragmentedTopic)
     publisher_.publish(1, 0x80, 1, message);
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     PubSubCan,
     PublisherSubscriberCan,
     ::testing::Combine(
diff --git a/test/test/publisher_subscriber/PublisherSubscriberInteraction.cpp b/test/test/publisher_subscriber/PublisherSubscriberInteraction.cpp
index 870a91d..fae6fcb 100644
--- a/test/test/publisher_subscriber/PublisherSubscriberInteraction.cpp
+++ b/test/test/publisher_subscriber/PublisherSubscriberInteraction.cpp
@@ -202,7 +202,13 @@ TEST_P(PublisherSubscriberUnitary, PubSub1WithPing)
     ASSERT_EQ(subscriber_.get_received_topics(), message_number);
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     PublisherSubscriberWithPing,
     PublisherSubscriberUnitary,
     ::testing::Combine(
@@ -211,7 +217,7 @@ INSTANTIATE_TEST_CASE_P(
         ::testing::Values(0.0f),
         ::testing::Values(XRCECreationMode::XRCE_BIN_CREATION)));
 
-INSTANTIATE_TEST_CASE_P(
+GTEST_INSTANTIATE_TEST_MACRO(
     TransportAndLost,
     PublisherSubscriberNoLost,
     ::testing::Combine(
@@ -220,7 +226,7 @@ INSTANTIATE_TEST_CASE_P(
         ::testing::Values(0.0f),
         ::testing::Values(XRCECreationMode::XRCE_XML_CREATION)));
 
-INSTANTIATE_TEST_CASE_P(
+GTEST_INSTANTIATE_TEST_MACRO(
     TransportAndLostCreationModes,
     PublisherSubscriberNoLost,
     ::testing::Combine(
@@ -229,7 +235,7 @@ INSTANTIATE_TEST_CASE_P(
         ::testing::Values(0.0f),
         ::testing::Values(XRCECreationMode::XRCE_XML_CREATION, XRCECreationMode::XRCE_BIN_CREATION)));
 
-INSTANTIATE_TEST_CASE_P(
+GTEST_INSTANTIATE_TEST_MACRO(
     TransportAndLostCustomTransports,
     PublisherSubscriberNoLost,
     ::testing::Combine(
@@ -262,7 +268,7 @@ TEST_P(PublisherSubscriberLost, PubSub3FragmentedTopic4Parts)
     check_messages(message, 3, 0x80);
 }
 
-INSTANTIATE_TEST_CASE_P(
+GTEST_INSTANTIATE_TEST_MACRO(
     TransportAndLost,
     PublisherSubscriberLost,
     ::testing::Combine(
diff --git a/test/test/publisher_subscriber/PublisherSubscriberSerial.cpp b/test/test/publisher_subscriber/PublisherSubscriberSerial.cpp
index 3b2b6fc..b015e59 100644
--- a/test/test/publisher_subscriber/PublisherSubscriberSerial.cpp
+++ b/test/test/publisher_subscriber/PublisherSubscriberSerial.cpp
@@ -162,7 +162,13 @@ TEST_P(PublisherSubscriberSerial, MultiPubSub)
     check_messages(SMALL_MESSAGE, 10, 0x01);
 }
 
-INSTANTIATE_TEST_CASE_P(
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_SUITE_P(x, y, z)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z) INSTANTIATE_TEST_CASE_P(x, y, z)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(
     MultiSerialPubSubBin,
     PublisherSubscriberSerial,
     ::testing::Combine(
diff --git a/test/test/shapes_demo/ShapesDemo.cpp b/test/test/shapes_demo/ShapesDemo.cpp
index fce9844..56e1302 100644
--- a/test/test/shapes_demo/ShapesDemo.cpp
+++ b/test/test/shapes_demo/ShapesDemo.cpp
@@ -104,7 +104,13 @@ class ShapesDemoTest : public ::testing::TestWithParam<Transport>
 
 /* ############################################## TESTS ##################################################### */
 
-INSTANTIATE_TEST_CASE_P(Transport, ShapesDemoTest, ::testing::Values(UDP_TRANSPORT, TCP_TRANSPORT), ::testing::PrintToStringParamName());
+#ifdef INSTANTIATE_TEST_SUITE_P
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_SUITE_P(x, y, z, w)
+#else
+#define GTEST_INSTANTIATE_TEST_MACRO(x, y, z, w) INSTANTIATE_TEST_CASE_P(x, y, z, w)
+#endif // ifdef INSTANTIATE_TEST_SUITE_P
+
+GTEST_INSTANTIATE_TEST_MACRO(Transport, ShapesDemoTest, ::testing::Values(UDP_TRANSPORT, TCP_TRANSPORT), ::testing::PrintToStringParamName());
 
 TEST_P(ShapesDemoTest, CreateSession)
 {