diff --git a/CMakeLists.txt b/CMakeLists.txt
index f6b83342..ae7596fa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -141,6 +141,7 @@ endif()
 # Add an option to toggle the generation of the API documentation.
 option(BUILD_DOCUMENTATION "Use doxygen to create product documentation" OFF)
 option(CHECK_DOCUMENTATION "Use doxygen to check code documentation" OFF)
+option(GENERATE_PDF_DOC "Use doxygen to generate API Reference PDF" OFF)
 
 if(CHECK_DOCUMENTATION)
     set(BUILD_DOCUMENTATION ON)
@@ -188,6 +189,11 @@ if(BUILD_DOCUMENTATION)
     else()
         set(USE_DOT YES)
     endif()
+    if(GENERATE_PDF_DOC)
+        set(GENERATE_LATEX YES)
+    else()
+        set(GENERATE_LATEX NO)
+    endif()
     # Configure the template doxyfile for or specific project
     configure_file(doxyfile.in ${PROJECT_BINARY_DIR}/doxyfile @ONLY IMMEDIATE)
     # Add custom target to run doxygen when ever the project is build
@@ -198,6 +204,15 @@ if(BUILD_DOCUMENTATION)
 
     add_dependencies(doxygen docdirs)
 
+    if(GENERATE_PDF_DOC)
+        add_custom_target(make_pdf ALL
+            COMMAND "make" "pdf"
+            WORKING_DIRECTORY ${PROJECT_BINARY_DIR}/doxygen/latex
+            COMMENT "Generating API reference PDF" VERBATIM)
+
+        add_dependencies(make_pdf doxygen)
+    endif()
+
     ### README html ########################
 
     if(WIN32)
@@ -239,4 +254,11 @@ if(BUILD_DOCUMENTATION)
         DESTINATION ${README_INSTALL_LOCATION}
         COMPONENT documentation
         )
+
+    if(GENERATE_PDF_DOC)
+        install(FILES "${PROJECT_BINARY_DIR}/doxygen/latex/refman.pdf"
+        DESTINATION ${DOC_INSTALL_DIR}
+        RENAME fastcdr-${PROJECT_VERSION}-api-reference.pdf
+        COMPONENT documentation)
+    endif()
 endif()
diff --git a/doxyfile.in b/doxyfile.in
index f07dbe0e..a1e41dea 100644
--- a/doxyfile.in
+++ b/doxyfile.in
@@ -958,8 +958,7 @@ EXCLUDE_SYMLINKS       = NO
 # Note that the wildcards are matched against the file with absolute path, so to
 # exclude all test directories for example use the pattern */test/*
 
-EXCLUDE_PATTERNS       = */fastdds/* \
-                         */dds/*
+EXCLUDE_PATTERNS       =
 
 # The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names
 # (namespaces, classes, functions, etc.) that should be excluded from the
@@ -1782,7 +1781,7 @@ EXTRA_SEARCH_MAPPINGS  =
 # If the GENERATE_LATEX tag is set to YES, doxygen will generate LaTeX output.
 # The default value is: YES.
 
-GENERATE_LATEX         = NO
+GENERATE_LATEX         = @GENERATE_LATEX@
 
 # The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. If a
 # relative path is entered the value of OUTPUT_DIRECTORY will be put in front of