diff --git a/include/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h b/include/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
index db8d1951607..8b85ebdfed5 100644
--- a/include/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
+++ b/include/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
@@ -15,6 +15,7 @@
 #ifndef _FASTDDS_SHAREDMEM_TRANSPORT_DESCRIPTOR_
 #define _FASTDDS_SHAREDMEM_TRANSPORT_DESCRIPTOR_
 
+#include <cstdint>
 #include <string>
 
 #include <fastdds/rtps/attributes/ThreadSettings.hpp>
@@ -43,6 +44,10 @@ class TransportInterface;
  */
 struct SharedMemTransportDescriptor : public PortBasedTransportDescriptor
 {
+    static constexpr uint32_t shm_default_segment_size = 0;
+    static constexpr uint32_t shm_default_port_queue_capacity = 512;
+    static constexpr uint32_t shm_default_healthy_check_timeout_ms = 1000;
+
     //! Destructor
     virtual ~SharedMemTransportDescriptor() = default;
 
@@ -149,13 +154,13 @@ struct SharedMemTransportDescriptor : public PortBasedTransportDescriptor
 
 private:
 
-    uint32_t segment_size_;
-    uint32_t port_queue_capacity_;
-    uint32_t healthy_check_timeout_ms_;
-    std::string rtps_dump_file_;
+    uint32_t segment_size_ = shm_default_segment_size;
+    uint32_t port_queue_capacity_ = shm_default_port_queue_capacity;
+    uint32_t healthy_check_timeout_ms_ = shm_default_healthy_check_timeout_ms;
+    std::string rtps_dump_file_ {""};
 
     //! Thread settings for the transport dump thread
-    ThreadSettings dump_thread_;
+    ThreadSettings dump_thread_ {};
 
 };
 
diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp b/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
index df70aba1cc6..5037526a612 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemTransport.cpp
@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <algorithm>
+#include <cstdint>
 #include <cstring>
 #include <thread>
 #include <utility>
@@ -26,6 +27,7 @@
 #include <fastdds/rtps/common/Locator.h>
 #include <fastdds/rtps/transport/SenderResource.h>
 #include <fastdds/rtps/transport/TransportInterface.h>
+#include <fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h>
 #include <fastrtps/rtps/messages/CDRMessage.h>
 #include <fastrtps/rtps/messages/MessageReceiver.h>
 
@@ -51,6 +53,9 @@ using LocatorSelectorEntry = fastrtps::rtps::LocatorSelectorEntry;
 using LocatorSelector = fastrtps::rtps::LocatorSelector;
 using PortParameters = fastrtps::rtps::PortParameters;
 
+// TODO(Adolfo): Calculate this value from UDP sockets buffers size.
+static constexpr uint32_t shm_default_segment_size = 512 * 1024;
+
 TransportInterface* SharedMemTransportDescriptor::create_transport() const
 {
     return new SharedMemTransport(*this);
@@ -249,8 +254,6 @@ bool SharedMemTransport::init(
         const uint32_t& max_msg_size_no_frag)
 {
     (void) max_msg_size_no_frag;
-    // TODO(Adolfo): Calculate this value from UDP sockets buffers size.
-    static constexpr uint32_t shm_default_segment_size = 512 * 1024;
 
     if (configuration_.segment_size() == 0)
     {
@@ -279,8 +282,14 @@ bool SharedMemTransport::init(
         {
             return false;
         }
-        shared_mem_segment_ = shared_mem_manager_->create_segment(configuration_.segment_size(),
-                        configuration_.port_queue_capacity());
+        constexpr uint32_t mean_message_size =
+                shm_default_segment_size / SharedMemTransportDescriptor::shm_default_port_queue_capacity;
+        uint32_t max_allocations = configuration_.segment_size() / mean_message_size;
+        if (configuration_.port_queue_capacity() > max_allocations)
+        {
+            max_allocations = configuration_.port_queue_capacity();
+        }
+        shared_mem_segment_ = shared_mem_manager_->create_segment(configuration_.segment_size(), max_allocations);
 
         // Memset the whole segment to zero in order to force physical map of the buffer
         auto buffer = shared_mem_segment_->alloc_buffer(configuration_.segment_size(),
diff --git a/src/cpp/rtps/transport/shared_mem/SharedMemTransportDescriptor.cpp b/src/cpp/rtps/transport/shared_mem/SharedMemTransportDescriptor.cpp
index 7b477ff0b06..df51408a0e1 100644
--- a/src/cpp/rtps/transport/shared_mem/SharedMemTransportDescriptor.cpp
+++ b/src/cpp/rtps/transport/shared_mem/SharedMemTransportDescriptor.cpp
@@ -21,27 +21,11 @@
 
 using namespace eprosima::fastdds::rtps;
 
-namespace eprosima {
-namespace fastdds {
-namespace rtps {
-
-static constexpr uint32_t shm_default_segment_size = 0;
-static constexpr uint32_t shm_default_port_queue_capacity = 512;
-static constexpr uint32_t shm_default_healthy_check_timeout_ms = 1000;
-
-} // rtps
-} // fastdds
-} // eprosima
-
 //*********************************************************
 // SharedMemTransportDescriptor
 //*********************************************************
 SharedMemTransportDescriptor::SharedMemTransportDescriptor()
     : PortBasedTransportDescriptor(shm_default_segment_size, s_maximumInitialPeersRange)
-    , segment_size_(shm_default_segment_size)
-    , port_queue_capacity_(shm_default_port_queue_capacity)
-    , healthy_check_timeout_ms_(shm_default_healthy_check_timeout_ms)
-    , rtps_dump_file_("")
 {
     maxMessageSize = s_maximumMessageSize;
 }
diff --git a/test/mock/rtps/SharedMemTransportDescriptor/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h b/test/mock/rtps/SharedMemTransportDescriptor/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
index 21795787fff..2f65b0bbde6 100644
--- a/test/mock/rtps/SharedMemTransportDescriptor/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
+++ b/test/mock/rtps/SharedMemTransportDescriptor/fastdds/rtps/transport/shared_mem/SharedMemTransportDescriptor.h
@@ -32,8 +32,12 @@ class TransportInterface;
  *
  * @ingroup TRANSPORT_MODULE
  */
-typedef struct SharedMemTransportDescriptor : public PortBasedTransportDescriptor
+struct SharedMemTransportDescriptor : public PortBasedTransportDescriptor
 {
+    static constexpr uint32_t shm_default_segment_size = 0;
+    static constexpr uint32_t shm_default_port_queue_capacity = 512;
+    static constexpr uint32_t shm_default_healthy_check_timeout_ms = 1000;
+
     virtual ~SharedMemTransportDescriptor()
     {
 
@@ -125,13 +129,13 @@ typedef struct SharedMemTransportDescriptor : public PortBasedTransportDescripto
 
 private:
 
-    uint32_t segment_size_;
-    uint32_t port_queue_capacity_;
-    uint32_t healthy_check_timeout_ms_;
+    uint32_t segment_size_ = shm_default_segment_size;
+    uint32_t port_queue_capacity_ = shm_default_port_queue_capacity;
+    uint32_t healthy_check_timeout_ms_ = shm_default_healthy_check_timeout_ms;
     std::string rtps_dump_file_;
     ThreadSettings dump_thread_;
 
-}SharedMemTransportDescriptor;
+};
 
 } // namespace rtps
 } // namespace fastdds