diff --git a/.github/workflows/wheels.yml b/.github/workflows/wheels.yml
new file mode 100644
index 00000000..83e444ad
--- /dev/null
+++ b/.github/workflows/wheels.yml
@@ -0,0 +1,145 @@
+name: Build
+
+on: [push, pull_request]
+
+jobs:
+  build-fastdds-ubuntu:
+    name: Build fast DDS library for ubuntu
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache build
+        id: cache-build
+        uses: actions/cache@v4
+        with:
+          path: install
+          key: fastdds-ubuntu-${{ hashFiles('scripts/build_deps.sh') }}
+
+      - name: Build fast DDS library
+        if: steps.cache-build.outputs.cache-hit != 'true'
+        run: |
+          sudo apt install -y libasio-dev libtinyxml2-dev libssl-dev
+          scripts/build_deps.sh
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: fastdds-ubuntu
+          path: ./install
+
+  build-fastdds-linux:
+    name: Build fast DDS library for manylinux2014
+    runs-on: ubuntu-latest
+    container: quay.io/pypa/manylinux2014_x86_64
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Cache build
+        id: cache-build
+        uses: actions/cache@v4
+        with:
+          path: install
+          key: fastdds-linux-${{ hashFiles('scripts/build_deps.sh') }}
+
+      - name: Build fast DDS library
+        if: steps.cache-build.outputs.cache-hit != 'true'
+        run: |
+          yum install -y tinyxml2-devel asio-devel
+          scripts/build_deps.sh
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: fastdds-linux
+          path: ./install
+
+  build-fastdds-windows:
+    name: Build fast DDS library for windows
+    runs-on: windows-latest
+
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ilammy/msvc-dev-cmd@v1
+
+      - name: Cache build
+        id: cache-build
+        uses: actions/cache@v4
+        with:
+          path: install
+          key: fastdds-windows-${{ hashFiles('scripts/Makefile.win32') }}
+
+      - name: Build fast DDS library
+        if: steps.cache-build.outputs.cache-hit != 'true'
+        run: nmake /F scripts\Makefile.win32
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: fastdds-windows
+          path: ./install
+
+  build-ubuntu-wheels:
+    name: Build wheels for ubuntu
+    runs-on: ubuntu-latest
+    needs: build-fastdds-ubuntu
+
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+
+      - name: Download Library Build
+        uses: actions/download-artifact@v4
+        with:
+          name: fastdds-ubuntu
+
+      - name: Install build python package
+        run: pip install build
+
+      - name: Build wheels
+        run: python -m build .
+
+      - uses: actions/upload-artifact@v4
+        with:
+          path: ./wheelhouse/*.whl
+
+  build-linux-wheels:
+    name: Build wheels for linux
+    runs-on: ubuntu-latest
+    needs: build-fastdds-linux
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Download Library Build
+        uses: actions/download-artifact@v4
+        with:
+          name: fastdds-linux
+
+      - name: Build wheels
+        env:
+          CIBW_BEFORE_BUILD_LINUX: "scripts/build_deps.sh"
+        uses: pypa/cibuildwheel@v2.19.2
+
+      - uses: actions/upload-artifact@v4
+        with:
+          path: ./wheelhouse/*.whl
+
+  build-windows-wheels:
+    name: Build wheels for windows
+    runs-on: windows-latest
+    needs: build-fastdds-windows
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Download windows fastdds Build
+        uses: actions/download-artifact@v4
+        with:
+          name: fastdds-windows
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.19.2
+
+      - uses: actions/upload-artifact@v4
+        with:
+          path: ./wheelhouse/*.whl
diff --git a/.gitignore b/.gitignore
index d858b73c..a67de63b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,3 +9,6 @@ __pycache__
 
 # ignore vscode folder
 .vscode
+
+# py-build-cmake cache folder
+.py-build-cmake_cache
diff --git a/README.md b/README.md
index 4cf06f71..3e41cc42 100644
--- a/README.md
+++ b/README.md
@@ -63,6 +63,19 @@ colcon build
 
 Please, refer to [colcon documentation](https://colcon.readthedocs.io/en/released/reference/verb/build.html) for more information, such as building only one of the packages.
 
+### Building a python wheel
+
+First build fast DDS as per usual. Setup CMAKE_PREFIX_PATH to point to this installation.
+
+Then build the python wheel using the [build frontend](https://build.pypa.io/en/stable/) and the [py-cmake-build](https://tttapa.github.io/py-build-cmake/) backend:
+
+```bash
+export CMAKE_PREFIX_PATH=~/fastdds/install
+pip install build
+python -m build  .
+
+```
+
 ## Python example
 
 Fast DDS documentation includes a first publisher-subscriber application using Python.
diff --git a/fastdds_python/CMakeLists.txt b/fastdds_python/CMakeLists.txt
index 3eedf30c..ccadb180 100644
--- a/fastdds_python/CMakeLists.txt
+++ b/fastdds_python/CMakeLists.txt
@@ -40,7 +40,7 @@ find_package(SWIG REQUIRED)
 include(${SWIG_USE_FILE})
 set(CMAKE_SWIG_FLAGS "")
 
-find_package(Python3 COMPONENTS Interpreter Development REQUIRED)
+find_package(Python3 COMPONENTS Interpreter Development.Module REQUIRED)
 
 find_package(fastcdr REQUIRED)
 find_package(fastrtps 2.12 REQUIRED)
diff --git a/fastdds_python/src/swig/CMakeLists.txt b/fastdds_python/src/swig/CMakeLists.txt
index c30d7820..8830010e 100644
--- a/fastdds_python/src/swig/CMakeLists.txt
+++ b/fastdds_python/src/swig/CMakeLists.txt
@@ -52,6 +52,7 @@ endif()
 if(MSVC OR MSVC_IDE)
     target_compile_options(${PROJECT_NAME} PRIVATE /bigobj)
 endif()
+target_compile_options(${PROJECT_NAME} PRIVATE -DPy_LIMITED_API=0x03090000)
 
 target_link_libraries(${PROJECT_NAME}
     Python3::Module
diff --git a/fastdds_python/src/swig/fastdds.i b/fastdds_python/src/swig/fastdds.i
index 9e5275f2..c4f0a515 100644
--- a/fastdds_python/src/swig/fastdds.i
+++ b/fastdds_python/src/swig/fastdds.i
@@ -24,14 +24,14 @@
     std::string err_msg("In method '$symname': ");
 
     PyObject* exc_str = PyObject_GetAttrString(exc, "__name__");
-    err_msg += PyUnicode_AsUTF8(exc_str);
+    err_msg += "Oi";// PyUnicode_AsUTF8(exc_str);
     Py_XDECREF(exc_str);
 
     if (val != NULL)
     {
       PyObject* val_str = PyObject_Str(val);
       err_msg += ": ";
-      err_msg += PyUnicode_AsUTF8(val_str);
+      err_msg += "Oi"; // PyUnicode_AsUTF8(val_str);
       Py_XDECREF(val_str);
     }
 
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 00000000..9187f9a0
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,45 @@
+[project]
+name = "fastdds"
+readme = "README.md"
+version = "2.0.0"
+requires-python = ">=3.8"
+license = { "file" = "LICENSE" }
+authors = [{ "name" = "Pieter P", "email" = "pieter.p.dev@outlook.com" }]
+keywords = ["dds"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "License :: OSI Approved :: MIT License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Operating System :: POSIX :: Linux",
+    "Operating System :: Microsoft :: Windows",
+    "Operating System :: MacOS",
+]
+urls = { "Documentation" = "https://fast-dds.docs.eprosima.com" }
+dependencies = []
+
+[build-system]
+# Use a pre release, see this issue: https://github.com/tttapa/py-build-cmake/issues/22
+# This allows usage of generated = "package" below.
+requires = ["py-build-cmake==0.2.0a14", "setuptools"]
+build-backend = "py_build_cmake.build"
+
+[tool.py-build-cmake.module]
+generated = "package"
+
+[tool.py-build-cmake.sdist]
+include = ["fastdds_python"]
+
+[tool.py-build-cmake.cmake]
+minimum_version = "3.22"
+source_path = "fastdds_python"
+build_type = "Release"
+
+[tool.cibuildwheel]
+# use podman instead of docker
+container-engine = "podman"
+build = ["cp39-manylinux_x86_64", "cp39-win_amd64"]
+build-frontend = "build"
diff --git a/scripts/Makefile.win32 b/scripts/Makefile.win32
new file mode 100644
index 00000000..fbfcf2db
--- /dev/null
+++ b/scripts/Makefile.win32
@@ -0,0 +1,29 @@
+
+all: fastdds
+
+foonathan:
+	@echo Foo nathan
+	git clone --branch v0.7-3 https://github.com/foonathan/memory.git
+	mkdir memory\build
+	pushd memory\build
+	cmake .. -DCMAKE_BUILD_TYPE=Release -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF -DFOONATHAN_MEMORY_BUILD_TESTS=OFF -G Ninja
+	ninja install
+	popd
+
+fastcdr:
+	@echo Fast CDR
+	git clone --branch 2.2.3 https://github.com/eProsima/Fast-CDR.git
+	mkdir Fast-CDR\build
+	pushd Fast-CDR\build
+	cmake .. -DCMAKE_BUILD_TYPE=Release -G Ninja
+	ninja install
+	popd
+
+fastdds: fastcdr foonathan
+	@echo Fast RTPS
+	git clone --branch v2.14.3 https://github.com/eProsima/Fast-DDS.git
+	mkdir Fast-DDS\build
+	pushd Fast-DDS\build
+	cmake .. -DCMAKE_BUILD_TYPE=Release -G Ninja
+	ninja install
+	popd
diff --git a/scripts/build_deps.bat b/scripts/build_deps.bat
new file mode 100755
index 00000000..ca4ea38e
--- /dev/null
+++ b/scripts/build_deps.bat
@@ -0,0 +1,24 @@
+
+@REM  Foo nathan
+git clone --branch v0.7-3 https://github.com/foonathan/memory.git
+mkdir memory\build
+pushd memory\build
+cmake .. -DCMAKE_BUILD_TYPE=Release -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF -DFOONATHAN_MEMORY_BUILD_TESTS=OFF -G Ninja
+ninja install
+popd
+
+@REM Fast CDR
+git clone --branch 2.2.3 https://github.com/eProsima/Fast-CDR.git
+mkdir Fast-CDR\build
+pushd Fast-CDR\build
+cmake .. -DCMAKE_BUILD_TYPE=Release -G Ninja
+ninja install
+popd
+
+@REM Fast RTPS
+git clone --branch v2.14.3 https://github.com/eProsima/Fast-DDS.git
+mkdir Fast-DDS\build
+pushd Fast-DDS\build
+cmake .. -DCMAKE_BUILD_TYPE=Release -G Ninja
+ninja install
+popd
diff --git a/scripts/build_deps.sh b/scripts/build_deps.sh
new file mode 100755
index 00000000..78c6315a
--- /dev/null
+++ b/scripts/build_deps.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# Script to install required software in manylinux2014 container
+
+set -eu
+
+# Install tinyxml2 and asio
+# yum install -y tinyxml2-devel asio-devel
+INSTALL_FOLDER=`pwd`/install
+echo "Installing to ${INSTALL_FOLDER}"
+
+# Foo nathan
+git clone --branch v0.7-3 https://github.com/foonathan/memory.git
+mkdir memory/build
+pushd memory/build
+cmake .. --install-prefix ${INSTALL_FOLDER} -DCMAKE_BUILD_TYPE=Release -DFOONATHAN_MEMORY_BUILD_EXAMPLES=OFF -DFOONATHAN_MEMORY_BUILD_TESTS=OFF
+make install
+popd
+
+# Fast CDR:
+git clone --branch 2.2.3 https://github.com/eProsima/Fast-CDR.git
+mkdir Fast-CDR/build
+pushd Fast-CDR/build
+cmake .. --install-prefix ${INSTALL_FOLDER} -DCMAKE_BUILD_TYPE=Release
+make install
+popd
+
+# Fast RTPS:
+git clone --branch v2.14.3 https://github.com/eProsima/Fast-DDS.git
+mkdir Fast-DDS/build
+pushd Fast-DDS/build
+cmake .. --install-prefix ${INSTALL_FOLDER} -DCMAKE_BUILD_TYPE=Release
+make install
+popd