diff --git a/test_communication/CMakeLists.txt b/test_communication/CMakeLists.txt
index f2062b88..4b7a98dd 100644
--- a/test_communication/CMakeLists.txt
+++ b/test_communication/CMakeLists.txt
@@ -26,8 +26,11 @@ ament_auto_find_build_dependencies()
 
 if(BUILD_TESTING)
   find_package(ament_cmake REQUIRED)
-  find_package(test_msgs REQUIRED)
   find_package(osrf_testing_tools_cpp REQUIRED)
+  find_package(rcpputils REQUIRED)
+  find_package(rcl REQUIRED)
+  find_package(rclcpp REQUIRED)
+  find_package(test_msgs REQUIRED)
 
   ament_index_get_resource(interface_files "rosidl_interfaces" "test_msgs")
   string(REPLACE "\n" ";" interface_files "${interface_files}")
@@ -57,6 +60,8 @@ if(BUILD_TESTING)
 
   set(other_message_files
     "msg/FieldsWithSameType.msg"
+    "msg/Inner.msg"
+    "msg/Outer.msg"
     "msg/UInt32.msg"
   )
   rosidl_generate_interfaces(${PROJECT_NAME}
@@ -428,7 +433,7 @@ if(BUILD_TESTING)
   # publisher combined with a subscriber
   custom_executable(test_publisher_subscriber_cpp
     "test/test_publisher_subscriber.cpp")
-  target_link_libraries(test_publisher_subscriber_cpp subscribe_types)
+  target_link_libraries(test_publisher_subscriber_cpp subscribe_types rcpputils::rcpputils)
   # subcription valid data
   custom_executable(test_subscription_valid_data_cpp
     "test/test_subscription_valid_data.cpp")
@@ -449,6 +454,11 @@ if(BUILD_TESTING)
   custom_executable(test_action_server_cpp
     "test/test_action_server.cpp")
 
+  # Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+  custom_executable(test_nested_types
+    "test/test_nested_types.cpp")
+  target_link_libraries(test_nested_types rcpputils::rcpputils)
+
   macro(targets)
     if(NOT SKIP_SINGLE_RMW_TESTS)
       custom_test_c(test_messages_c
@@ -458,6 +468,8 @@ if(BUILD_TESTING)
       custom_test(test_publisher_subscriber_cpp TRUE)
       # subcription valid data
       custom_test(test_subscription_valid_data_cpp FALSE)
+      # Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+      custom_test(test_nested_types FALSE)
     endif()
 
     set(rmw_implementation1 "${rmw_implementation}")
diff --git a/test_communication/msg/Inner.msg b/test_communication/msg/Inner.msg
new file mode 100644
index 00000000..7d6a4971
--- /dev/null
+++ b/test_communication/msg/Inner.msg
@@ -0,0 +1,3 @@
+# Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+float64 float_field
+bool bool_field
diff --git a/test_communication/msg/Outer.msg b/test_communication/msg/Outer.msg
new file mode 100644
index 00000000..0d37043b
--- /dev/null
+++ b/test_communication/msg/Outer.msg
@@ -0,0 +1,5 @@
+# Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+test_communication/Inner inner
+bool bool_field_1
+bool bool_field_2
+bool bool_field_3
diff --git a/test_communication/test/test_nested_types.cpp b/test_communication/test/test_nested_types.cpp
new file mode 100644
index 00000000..753d52f7
--- /dev/null
+++ b/test_communication/test/test_nested_types.cpp
@@ -0,0 +1,91 @@
+// Copyright 2023 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Regression test for https://github.com/ros2/rmw_fastrtps/issues/715
+
+#include <chrono>
+#include <limits>
+#include <thread>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "rcpputils/scope_exit.hpp"
+
+#include "test_communication/msg/outer.hpp"
+
+template<class T>
+static typename std::enable_if<!std::numeric_limits<T>::is_integer, bool>::type
+almost_equal(T x, T y, int ulp)
+{
+  // the machine epsilon has to be scaled to the magnitude of the values used
+  // and multiplied by the desired precision in ULPs (units in the last place)
+  return std::fabs(x - y) <= std::numeric_limits<T>::epsilon() * std::fabs(x + y) * ulp
+         // unless the result is subnormal
+         || std::fabs(x - y) < std::numeric_limits<T>::min();
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  RCPPUTILS_SCOPE_EXIT(
+  {
+    rclcpp::shutdown();
+  });
+
+  auto node = rclcpp::Node::make_shared("test_nested_types");
+
+  std::thread spin_thread([node]() {
+      rclcpp::spin(node);
+    });
+
+  bool valid = false;
+  bool received = false;
+  auto callback = [&valid, &received](const test_communication::msg::Outer & msg) {
+      if (almost_equal(msg.inner.float_field, 1.23456789, 2) &&
+        msg.inner.bool_field && msg.bool_field_1 && msg.bool_field_2 && msg.bool_field_3)
+      {
+        valid = true;
+      }
+
+      received = true;
+    };
+  auto subscription =
+    node->create_subscription<test_communication::msg::Outer>("nested_type_topic", 10, callback);
+
+  auto publisher = node->create_publisher<test_communication::msg::Outer>("nested_type_topic", 10);
+
+  auto start = std::chrono::steady_clock::now();
+  rclcpp::WallRate cycle_rate(20);
+  while (!received && ((std::chrono::steady_clock::now() - start) < std::chrono::seconds(10))) {
+    auto msg = test_communication::msg::Outer();
+    msg.inner.float_field = 1.23456789;
+    msg.inner.bool_field = true;
+    msg.bool_field_1 = true;
+    msg.bool_field_2 = true;
+    msg.bool_field_3 = true;
+    publisher->publish(msg);
+
+    cycle_rate.sleep();
+  }
+
+  rclcpp::shutdown();
+
+  spin_thread.join();
+
+  if (valid) {
+    return 0;
+  } else {
+    return 1;
+  }
+}