diff --git a/CMakeLists.txt b/CMakeLists.txt
index dc408822a..c4445b1fd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,10 +29,12 @@ option(BUILD_SHARED_LIBS "Control shared/static building." ON)
 
 option(UAGENT_USE_SYSTEM_FASTDDS "Force find and use system installed Fast-DDS." OFF)
 option(UAGENT_USE_SYSTEM_FASTCDR "Force find and use system installed Fast-CDR." OFF)
+option(UAGENT_USE_SYSTEM_LOGGER "Force find and use system installed spdlog." OFF)
 option(UAGENT_FAST_PROFILE "Build FastMiddleware profile." ON)
 option(UAGENT_CED_PROFILE "Build CedMiddleware profile." ON)
 option(UAGENT_DISCOVERY_PROFILE "Build Discovery profile." ON)
 option(UAGENT_P2P_PROFILE "Build P2P discovery profile." ON)
+option(UAGENT_SOCKETCAN_PROFILE "Build Agent CAN FD transport." ON)
 option(UAGENT_LOGGER_PROFILE "Build logger profile." ON)
 option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
@@ -54,6 +56,10 @@ if((CMAKE_SYSTEM_NAME STREQUAL "") AND (NOT CMAKE_HOST_SYSTEM_NAME STREQUAL "Lin
     set(UAGENT_P2P_PROFILE OFF)
 endif()
 
+if((CMAKE_SYSTEM_NAME STREQUAL "Darwin") OR (CMAKE_SYSTEM_NAME STREQUAL "Windows"))
+    set(UAGENT_SOCKETCAN_PROFILE OFF)
+endif()
+
 set(UAGENT_CONFIG_RELIABLE_STREAM_DEPTH        16       CACHE STRING "Reliable streams depth.")
 set(UAGENT_CONFIG_BEST_EFFORT_STREAM_DEPTH     16       CACHE STRING "Best-effort streams depth.")
 set(UAGENT_CONFIG_HEARTBEAT_PERIOD             200      CACHE STRING "Heartbeat period in milliseconds.")
@@ -97,8 +103,12 @@ if(UAGENT_FAST_PROFILE)
 endif()
 
 if(UAGENT_LOGGER_PROFILE)
-    set(_spdlog_version 1.4.2)
-    set(_spdlog_tag v1.4.2)
+    if(UAGENT_USE_SYSTEM_LOGGER)
+        set(_spdlog_version 1)
+    else()
+        set(_spdlog_version 1.9.2)
+        set(_spdlog_tag v1.9.2)
+    endif()
     list(APPEND _deps "spdlog\;${_spdlog_version}")
 endif()
 
@@ -107,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.1.0" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.1.1" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)
@@ -147,18 +157,18 @@ endforeach()
 # Sources
 ###############################################################################
 # Check platform.
-if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android")
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux" OR CMAKE_SYSTEM_NAME STREQUAL "Android" OR CMAKE_SYSTEM_NAME STREQUAL "Darwin")
     set(TRANSPORT_SRCS
         src/cpp/transport/udp/UDPv4AgentLinux.cpp
         src/cpp/transport/udp/UDPv6AgentLinux.cpp
         src/cpp/transport/tcp/TCPv4AgentLinux.cpp
         src/cpp/transport/tcp/TCPv6AgentLinux.cpp
-        src/cpp/transport/can/CanAgentLinux.cpp
         src/cpp/transport/serial/SerialAgentLinux.cpp
         src/cpp/transport/serial/TermiosAgentLinux.cpp
         src/cpp/transport/serial/MultiSerialAgentLinux.cpp
         src/cpp/transport/serial/MultiTermiosAgentLinux.cpp
         src/cpp/transport/serial/PseudoTerminalAgentLinux.cpp
+        $<$<BOOL:${UAGENT_SOCKETCAN_PROFILE}>:src/cpp/transport/can/CanAgentLinux.cpp>
         $<$<BOOL:${UAGENT_DISCOVERY_PROFILE}>:src/cpp/transport/discovery/DiscoveryServerLinux.cpp>
         $<$<BOOL:${UAGENT_P2P_PROFILE}>:src/cpp/transport/p2p/AgentDiscovererLinux.cpp>
         )
diff --git a/cmake/SuperBuild.cmake b/cmake/SuperBuild.cmake
index a4b38b2ec..3acb1edac 100644
--- a/cmake/SuperBuild.cmake
+++ b/cmake/SuperBuild.cmake
@@ -155,7 +155,7 @@ if(UAGENT_FAST_PROFILE AND NOT UAGENT_USE_SYSTEM_FASTDDS)
     endif()
 endif()
 
-if(UAGENT_LOGGER_PROFILE)
+if(UAGENT_LOGGER_PROFILE AND NOT UAGENT_USE_SYSTEM_LOGGER)
     # spdlog.
     unset(spdlog_DIR CACHE)
     find_package(spdlog ${_spdlog_version} EXACT QUIET)
@@ -172,7 +172,7 @@ if(UAGENT_LOGGER_PROFILE)
             CMAKE_CACHE_ARGS
                 -DCMAKE_INSTALL_PREFIX:PATH=<INSTALL_DIR>
                 -DCMAKE_PREFIX_PATH:PATH=${CMAKE_PREFIX_PATH};${CMAKE_INSTALL_PREFIX}
-                -DBUILD_SHARED_LIBS:BOOL=${BUILD_SHARED_LIBS}
+                -DBUILD_SHARED_LIBS:BOOL=OFF
                 -DCMAKE_TOOLCHAIN_FILE:PATH=${CMAKE_TOOLCHAIN_FILE}
                 ${CROSS_CMAKE_ARGS}
                 -DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
diff --git a/include/uxr/agent/config.hpp.in b/include/uxr/agent/config.hpp.in
index b9e40027e..e1fcaad7f 100644
--- a/include/uxr/agent/config.hpp.in
+++ b/include/uxr/agent/config.hpp.in
@@ -27,6 +27,7 @@ namespace uxr {
 #ifdef UAGENT_CED_PROFILE
 #cmakedefine UAGENT_P2P_PROFILE
 #endif
+#cmakedefine UAGENT_SOCKETCAN_PROFILE
 #cmakedefine UAGENT_LOGGER_PROFILE
 
 const uint16_t DISCOVERY_PORT = 7400;
diff --git a/include/uxr/agent/transport/serial/baud_rate_table_linux.h b/include/uxr/agent/transport/serial/baud_rate_table_linux.h
index 44655dadc..55d47cb38 100644
--- a/include/uxr/agent/transport/serial/baud_rate_table_linux.h
+++ b/include/uxr/agent/transport/serial/baud_rate_table_linux.h
@@ -100,6 +100,7 @@ speed_t getBaudRate(const char* baudrate_str)
     {
         rv = B230400;
     }
+#ifndef __APPLE__
     else if (0 == strcmp(baudrate_str, "460800"))
     {
         rv = B460800;
@@ -148,6 +149,7 @@ speed_t getBaudRate(const char* baudrate_str)
     {
         rv = B4000000;
     }
+#endif // __APPLE__
     else
     {
         speed_t custom_baud_rate = (speed_t)atoi(baudrate_str);
diff --git a/include/uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp b/include/uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp
index e3725bf80..7f0aa12ca 100644
--- a/include/uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp
+++ b/include/uxr/agent/transport/stream_framing/StreamFramingProtocol.hpp
@@ -24,6 +24,8 @@
 #ifdef _WIN32
 #include <BaseTsd.h>
 typedef SSIZE_T ssize_t;
+#else
+#include <sys/types.h>
 #endif
 
 namespace eprosima {
diff --git a/include/uxr/agent/utils/ArgumentParser.hpp b/include/uxr/agent/utils/ArgumentParser.hpp
index eec38f740..fc6d77951 100644
--- a/include/uxr/agent/utils/ArgumentParser.hpp
+++ b/include/uxr/agent/utils/ArgumentParser.hpp
@@ -22,6 +22,7 @@
 #include <type_traits>
 #include <unordered_map>
 #include <uxr/agent/transport/Server.hpp>
+#include <uxr/agent/config.hpp>
 
 #ifdef _WIN32
 #include <uxr/agent/transport/udp/UDPv4AgentWindows.hpp>
@@ -33,12 +34,15 @@
 #include <uxr/agent/transport/udp/UDPv6AgentLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPv4AgentLinux.hpp>
 #include <uxr/agent/transport/tcp/TCPv6AgentLinux.hpp>
-#include <uxr/agent/transport/can/CanAgentLinux.hpp>
 #include <uxr/agent/transport/serial/TermiosAgentLinux.hpp>
 #include <uxr/agent/transport/serial/MultiTermiosAgentLinux.hpp>
 #include <uxr/agent/transport/serial/PseudoTerminalAgentLinux.hpp>
 #include <uxr/agent/transport/serial/baud_rate_table_linux.h>
 
+#ifdef UAGENT_SOCKETCAN_PROFILE
+#include <uxr/agent/transport/can/CanAgentLinux.hpp>
+#endif // UAGENT_SOCKETCAN_PROFILE
+
 #include <termios.h>
 #include <fcntl.h>
 #include <sys/stat.h>
@@ -61,7 +65,9 @@ enum class TransportKind
     TCP4,
     TCP6,
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     CAN,
+#endif // UAGENT_SOCKETCAN_PROFILE
     SERIAL,
     MULTISERIAL,
     PSEUDOTERMINAL,
@@ -867,7 +873,7 @@ class MultiSerialArgs : public PseudoTerminalArgs<AgentType>
     Argument<std::string> file_;
 };
 
-
+#ifdef UAGENT_SOCKETCAN_PROFILE
 /*************************************************************************************************
  * Specific arguments for CAN transports
  *************************************************************************************************/
@@ -919,6 +925,7 @@ class CanArgs
     Argument<std::string> dev_;
     Argument<std::string> can_id_;
 };
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
 
 /*************************************************************************************************
@@ -937,7 +944,9 @@ class ArgumentParser
         , common_args_()
         , ip_args_()
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
         , can_args_()
+#endif // UAGENT_SOCKETCAN_PROFILE
         , serial_args_()
         , multiserial_args_()
         , pseudoterminal_args_()
@@ -971,11 +980,13 @@ class ArgumentParser
                 break;
             }
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
             case TransportKind::CAN:
             {
                 result &= can_args_.parse(argc_, argv_);
                 break;
             }
+#endif // UAGENT_SOCKETCAN_PROFILE
             case TransportKind::SERIAL:
             {
                 result &= serial_args_.parse(argc_, argv_);
@@ -1081,8 +1092,10 @@ class ArgumentParser
         ss << "  * SERIAL (serial, multiserial, pseudoterminal)" << std::endl;
         ss << pseudoterminal_args_.get_help();
         ss << serial_args_.get_help();
+#ifdef UAGENT_SOCKETCAN_PROFILE
         ss << "  * CAN FD (canfd)" << std::endl;
         ss << can_args_.get_help();
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
         ss << std::endl;
         // TODO(@jamoralp): Once documentation is updated with proper CLI section, add here an hyperlink to that section
@@ -1095,7 +1108,9 @@ class ArgumentParser
     CommonArgs<AgentType> common_args_;
     IPvXArgs<AgentType> ip_args_;
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     CanArgs<AgentType> can_args_;
+#endif // UAGENT_SOCKETCAN_PROFILE
     SerialArgs<AgentType> serial_args_;
     MultiSerialArgs<AgentType> multiserial_args_;
     PseudoTerminalArgs<AgentType> pseudoterminal_args_;
@@ -1162,6 +1177,7 @@ template<> inline bool ArgumentParser<PseudoTerminalAgent>::launch_agent()
     return false;
 }
 
+#ifdef UAGENT_SOCKETCAN_PROFILE
 template<> inline bool ArgumentParser<CanAgent>::launch_agent()
 {
     uint32_t can_id = strtoul(can_args_.can_id().c_str(), NULL, 16);
@@ -1179,6 +1195,7 @@ template<> inline bool ArgumentParser<CanAgent>::launch_agent()
 
     return false;
 }
+#endif // UAGENT_SOCKETCAN_PROFILE
 #endif // _WIN32
 
 } // namespace parser
diff --git a/src/cpp/AgentInstance.cpp b/src/cpp/AgentInstance.cpp
index 519140644..df551dca8 100644
--- a/src/cpp/AgentInstance.cpp
+++ b/src/cpp/AgentInstance.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <uxr/agent/config.hpp>
 #include <uxr/agent/AgentInstance.hpp>
 #include <uxr/agent/middleware/utils/Callbacks.hpp>
 
@@ -64,11 +65,13 @@ bool AgentInstance::create(
             break;
         }
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
         case agent::TransportKind::CAN:
         {
             agent_thread_ = std::move(agent::create_agent_thread<CanAgent>(argc, argv, exit_signal, valid_transport));
             break;
         }
+#endif // UAGENT_SOCKETCAN_PROFILE
         case agent::TransportKind::SERIAL:
         {
             agent_thread_ = std::move(agent::create_agent_thread<TermiosAgent>(argc, argv, exit_signal, valid_transport));
diff --git a/src/cpp/middleware/fastdds/FastDDSEntities.cpp b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
index b7ef01f41..0124f16b4 100644
--- a/src/cpp/middleware/fastdds/FastDDSEntities.cpp
+++ b/src/cpp/middleware/fastdds/FastDDSEntities.cpp
@@ -360,7 +360,16 @@ static void set_qos_from_xrce_object(
  **********************************************************************************************************************/
 FastDDSParticipant::~FastDDSParticipant()
 {
-    factory_->delete_participant(ptr_);
+    if (ptr_)
+    {
+        // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
+        // if (ptr_->has_active_entities())
+        {
+            // ptr_->delete_contained_entities();
+        }
+
+        factory_->delete_participant(ptr_);
+    }
 }
 
 bool FastDDSParticipant::create_by_ref(
@@ -489,6 +498,35 @@ fastdds::dds::Publisher* FastDDSParticipant::create_publisher(
 ReturnCode_t FastDDSParticipant::delete_publisher(
         fastdds::dds::Publisher* publisher)
 {
+    if (NULL == publisher)
+    {
+        return ReturnCode_t::RETCODE_ALREADY_DELETED;
+    }
+
+    if (publisher->has_datawriters())
+    {
+        ReturnCode_t ret = ReturnCode_t::RETCODE_OK;
+
+        // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
+        // ret = publisher->delete_contained_entities();
+
+        //if (ReturnCode_t::RETCODE_UNSUPPORTED == ret)
+        {
+            std::vector<eprosima::fastdds::dds::DataWriter*> writers;
+            publisher->get_datawriters(writers);
+
+            for (auto datawriter : writers)
+            {
+                ret = publisher->delete_datawriter(datawriter);
+
+                if (ReturnCode_t::RETCODE_OK != ret)
+                {
+                    return ret;
+                }
+            }
+        }       
+    }
+
     return ptr_->delete_publisher(publisher);
 }
 
@@ -503,6 +541,35 @@ fastdds::dds::Subscriber* FastDDSParticipant::create_subscriber(
 ReturnCode_t FastDDSParticipant::delete_subscriber(
         fastdds::dds::Subscriber* subscriber)
 {
+    if (NULL == subscriber)
+    {
+        return ReturnCode_t::RETCODE_ALREADY_DELETED;
+    }
+
+    if (subscriber->has_datareaders())
+    {
+        ReturnCode_t ret = ReturnCode_t::RETCODE_OK;
+
+        // TODO: Not available on foxy (Need FastDDS >= 2.2.0 for declaration and FastDDS >= 2.4.1 for implementation)
+        // ret = subscriber->delete_contained_entities();
+
+        // if (ReturnCode_t::RETCODE_UNSUPPORTED == ret)
+        {
+            std::vector<eprosima::fastdds::dds::DataReader*> readers;
+            subscriber->get_datareaders(readers);
+
+            for (auto datareader : readers)
+            {
+                ret = subscriber->delete_datareader(datareader);
+
+                if (ReturnCode_t::RETCODE_OK != ret)
+                {
+                    return ret;
+                }
+            }
+        }       
+    }
+
     return ptr_->delete_subscriber(subscriber);
 }
 
@@ -750,6 +817,11 @@ fastdds::dds::DataWriter* FastDDSPublisher::create_datawriter(
 ReturnCode_t FastDDSPublisher::delete_datawriter(
     fastdds::dds::DataWriter* writer)
 {
+    if (NULL == writer)
+    {
+        return ReturnCode_t::RETCODE_ALREADY_DELETED;
+    }
+
     return ptr_->delete_datawriter(writer);
 }
 
@@ -809,6 +881,11 @@ fastdds::dds::DataReader* FastDDSSubscriber::create_datareader(
 ReturnCode_t FastDDSSubscriber::delete_datareader(
         fastdds::dds::DataReader* reader)
 {
+    if (NULL == reader)
+    {
+        return ReturnCode_t::RETCODE_ALREADY_DELETED;
+    }
+
     return ptr_->delete_datareader(reader);
 }
 
diff --git a/src/cpp/processor/Processor.cpp b/src/cpp/processor/Processor.cpp
index 9964d36d3..98ecf3a06 100644
--- a/src/cpp/processor/Processor.cpp
+++ b/src/cpp/processor/Processor.cpp
@@ -781,6 +781,16 @@ bool Processor<EndPoint>::process_get_info_packet(
     dds::xrce::ResultStatus result_status = root_.get_info(object_info);
     if (dds::xrce::STATUS_OK == result_status.status())
     {
+        uint32_t raw_client_key;
+        if (server_.get_client_key(input_packet.source, raw_client_key))
+        {
+            result_status.implementation_status(1);
+        } 
+        else
+        {
+            result_status.implementation_status(0);
+        }
+
         dds::xrce::AGENT_ActivityInfo agent_info;
         agent_info.availability(1);
 
diff --git a/src/cpp/transport/can/CanAgentLinux.cpp b/src/cpp/transport/can/CanAgentLinux.cpp
index 88f83b536..269407c43 100644
--- a/src/cpp/transport/can/CanAgentLinux.cpp
+++ b/src/cpp/transport/can/CanAgentLinux.cpp
@@ -28,13 +28,14 @@ namespace eprosima {
 namespace uxr {
 
 CanAgent::CanAgent(
-        char const * dev,
+        char const* dev,
         uint32_t can_id,
         Middleware::Kind middleware_kind)
     : Server<CanEndPoint>{middleware_kind}
     , dev_{dev}
     , can_id_{can_id}
-{}
+{
+}
 
 CanAgent::~CanAgent()
 {
@@ -60,7 +61,7 @@ bool CanAgent::init()
 
     if (-1 != poll_fd_.fd)
     {
-        struct sockaddr_can address{};
+        struct sockaddr_can address {};
         struct ifreq ifr;
 
         // Get interface index by name
@@ -72,12 +73,12 @@ bool CanAgent::init()
         address.can_ifindex = ifr.ifr_ifindex;
 
         if (-1 != bind(poll_fd_.fd,
-                        reinterpret_cast<struct sockaddr*>(&address),
-                        sizeof(address)))
+                reinterpret_cast<struct sockaddr*>(&address),
+                sizeof(address)))
         {
             // Enable CAN FD
             if (-1 != setsockopt(poll_fd_.fd, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
-                &enable_canfd, sizeof(enable_canfd)))
+                    &enable_canfd, sizeof(enable_canfd)))
             {
                 poll_fd_.events = POLLIN;
                 rv = true;
@@ -88,15 +89,7 @@ bool CanAgent::init()
                     dev_, poll_fd_.fd);
 
 
-                    // TODO: add filter for micro-ROS msgs??
-                    /*
-                    struct can_filter rfilter;
-
-                    rfilter.can_id   = 22;
-                    rfilter.can_mask = CAN_EFF_MASK;
-
-                    setsockopt(poll_fd_.fd, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
-                    */
+                // TODO: add filter for micro-ROS devices
             }
             else
             {
@@ -153,7 +146,6 @@ bool CanAgent::fini()
     return rv;
 }
 
-
 bool CanAgent::recv_message(
         InputPacket<CanEndPoint>& input_packet,
         int timeout,
@@ -166,19 +158,25 @@ bool CanAgent::recv_message(
 
     if (0 < poll_rv)
     {
-        if (0 < read(poll_fd_.fd, &frame, static_cast<size_t>(CANFD_MTU)))
+        if (0 < read(poll_fd_.fd, &frame, sizeof(struct canfd_frame)))
         {
             // Omit EFF, RTR, ERR flags (Assume EFF on CAN FD)
             uint32_t can_id = frame.can_id & CAN_ERR_MASK;
+            size_t len = frame.data[0];   // XRCE payload lenght
 
-            input_packet.message.reset(new InputMessage(frame.data, size_t(frame.len)));
+            if (len > (CANFD_MTU - 1))
+            {
+                // Overflow MTU (63 bytes)
+                return false;
+            }
+
+            input_packet.message.reset(new InputMessage(&frame.data[1], len));
             input_packet.source = CanEndPoint(can_id);
             rv = true;
 
             uint32_t raw_client_key;
             if (Server<CanEndPoint>::get_client_key(input_packet.source, raw_client_key))
             {
-                // TODO: add can_id to messages?
                 UXR_AGENT_LOG_MESSAGE(
                     UXR_DECORATE_YELLOW("[==>> CAN <<==]"),
                     raw_client_key,
@@ -208,9 +206,9 @@ bool CanAgent::send_message(
     struct pollfd poll_fd_write_;
     size_t packet_len = output_packet.message->get_len();
 
-    if (packet_len > CANFD_MTU)
+    if (packet_len > (CANFD_MTU - 1))
     {
-        // Overflow MTU
+        // Overflow MTU (63 bytes)
         return 0;
     }
 
@@ -220,11 +218,13 @@ bool CanAgent::send_message(
 
     if (0 < poll_rv)
     {
-        frame.can_id = output_packet.destination.get_can_id();
-        frame.len = (uint8_t) packet_len;
-        memcpy(&frame.data[0], output_packet.message->get_buf(), packet_len);
+        frame.can_id = output_packet.destination.get_can_id() | CAN_EFF_FLAG;
+        frame.data[0] = (uint8_t) packet_len;   // XRCE payload lenght
+        frame.len = (uint8_t) (packet_len + 1);   // CAN frame DLC
+
+        memcpy(&frame.data[1], output_packet.message->get_buf(), packet_len);
 
-        if (0 < ::write(poll_fd_.fd, &frame, static_cast<size_t>(CANFD_MTU)))
+        if (0 < ::write(poll_fd_.fd, &frame, sizeof(struct canfd_frame)))
         {
             rv = true;
 
diff --git a/src/cpp/transport/tcp/TCPv4AgentLinux.cpp b/src/cpp/transport/tcp/TCPv4AgentLinux.cpp
index 38d6095c7..2a4b31499 100644
--- a/src/cpp/transport/tcp/TCPv4AgentLinux.cpp
+++ b/src/cpp/transport/tcp/TCPv4AgentLinux.cpp
@@ -83,6 +83,15 @@ bool TCPv4Agent::init()
 
     if (-1 != listener_poll_.fd)
     {
+        int value = 1;
+        if (0 != setsockopt(listener_poll_.fd, SOL_SOCKET, SO_REUSEADDR, &value, sizeof(value)))
+        {
+            UXR_AGENT_LOG_ERROR(
+                    UXR_DECORATE_YELLOW("SO_REUSEADDR socket option failed"),
+                    "port: {}, errno: {}",
+                    agent_port_, errno);
+        }
+
         struct sockaddr_in address;
 
         address.sin_family = AF_INET;
diff --git a/src/cpp/utils/ArgumentParser.cpp b/src/cpp/utils/ArgumentParser.cpp
index b1d0542ef..a34505ce8 100644
--- a/src/cpp/utils/ArgumentParser.cpp
+++ b/src/cpp/utils/ArgumentParser.cpp
@@ -15,6 +15,7 @@
 #ifndef UXR_AGENT_UTILS_ARGUMENTPARSER_CPP_
 #define UXR_AGENT_UTILS_ARGUMENTPARSER_CPP_
 
+#include <uxr/agent/config.hpp>
 #include <uxr/agent/utils/ArgumentParser.hpp>
 
 // TODO(jamoralp): move definitions of ArgumentParser.hpp into this file, to maintain code coherence.
@@ -32,7 +33,7 @@ bool eprosima::uxr::agent::parser::utils::usage(
     std::stringstream ss;
     ss << "Usage: '" << executable_name_str << " <udp4|udp6|tcp4|tpc6";
 #ifndef _WIN32
-    ss << "|serial|multiserial|pseudoterminal";
+    ss << "|canfd|serial|multiserial|pseudoterminal";
 #endif // _WIN32
     ss << "> <<args>>'" << std::endl;
     if (no_help)
@@ -53,7 +54,9 @@ eprosima::uxr::agent::TransportKind eprosima::uxr::agent::parser::utils::check_t
     {"tcp4", eprosima::uxr::agent::TransportKind::TCP4},
     {"tcp6", eprosima::uxr::agent::TransportKind::TCP6},
 #ifndef _WIN32
+#ifdef UAGENT_SOCKETCAN_PROFILE
     {"canfd", eprosima::uxr::agent::TransportKind::CAN},
+#endif // UAGENT_SOCKETCAN_PROFILE
     {"serial", eprosima::uxr::agent::TransportKind::SERIAL},
     {"multiserial", eprosima::uxr::agent::TransportKind::MULTISERIAL},
     {"pseudoterminal", eprosima::uxr::agent::TransportKind::PSEUDOTERMINAL},