diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index f4d783210ae..7ede3ef2d6a 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -76,7 +76,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
         with:
-          packages: vcstool xmlschema
+          packages: vcstool xmlschema psutil
           upgrade: false
 
       - name: Setup CCache
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 42a6c83ac26..e220c3050b7 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -199,7 +199,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
         with:
-          packages: vcstool xmlschema
+          packages: vcstool xmlschema psutil
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index 5af2cc2b2b3..1353e4cbf58 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -88,7 +88,7 @@ jobs:
       - name: Install Python dependencies
         uses: eProsima/eProsima-CI/windows/install_python_packages@v0
         with:
-          packages: vcstool xmlschema
+          packages: vcstool xmlschema psutil
 
       - name: Update known hosts file for DNS resolver testing
         if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
diff --git a/test/system/tools/fastdds/CMakeLists.txt b/test/system/tools/fastdds/CMakeLists.txt
index 4a9321a42b0..83f783a5ec5 100644
--- a/test/system/tools/fastdds/CMakeLists.txt
+++ b/test/system/tools/fastdds/CMakeLists.txt
@@ -27,6 +27,7 @@ if(Python3_Interpreter_FOUND)
     set(TESTS
         test_fastdds_installed
         test_fastdds_discovery
+        test_fastdds_discovery_run
         test_ros_discovery
         test_fastdds_shm
         test_fastdds_xml_validate
diff --git a/test/system/tools/fastdds/tests.py b/test/system/tools/fastdds/tests.py
index ea9b4c312f3..3f7e399377e 100644
--- a/test/system/tools/fastdds/tests.py
+++ b/test/system/tools/fastdds/tests.py
@@ -26,16 +26,28 @@
 Available tests:
 
     test_fastdds_installed
+    test_fastdds_version
     test_fastdds_discovery
+    test_fastdds_discovery_run
     test_fastdds_shm
+    test_fastdds_xml_validate
+    test_ros_discovery
 
 """
 
 import argparse
 import os
 import subprocess
+import signal
 import sys
 from pathlib import Path
+try: # Try catch for new python dependency
+    import psutil
+except ImportError:
+    print(
+        'psutil module not found. '
+        'Try to install running "pip install psutil"')
+    sys.exit(1)
 
 
 def setup_script_name():
@@ -121,6 +133,36 @@ def test_fastdds_discovery(install_path, setup_script_path):
         sys.exit(ret)
 
 
+def test_fastdds_discovery_run(install_path, setup_script_path):
+    """Test that discovery command runs."""
+    args = ' discovery -l 127.0.0.1'
+    try:
+        test_timeout = 10
+        process = subprocess.Popen(
+            cmd(install_path=install_path,
+                setup_script_path=setup_script_path,
+                args=args),
+            shell=True)
+        ret = process.wait(timeout=test_timeout)
+        # Manually set the error return code because we need the process to timeout
+        ret = 3
+    except subprocess.TimeoutExpired:
+        print(f'Timeout {test_timeout} expired. Test successful')
+        try:
+            # Need to kill all child processes to properly end the test 
+            parent = psutil.Process(process.pid)
+            for child in parent.children(recursive=True):
+                child.terminate()
+            parent.terminate()
+            ret = 0
+        except Exception as e:
+            print(f"Error while ending child processes: {e}")
+
+    if 0 != ret:
+        print('test_fastdds_discovery_run FAILED')
+        sys.exit(ret)
+
+
 def test_ros_discovery(install_path, setup_script_path):
     """Test that discovery command runs."""
     args = ' -h'
@@ -200,6 +242,8 @@ def get_paths(install_path):
         lambda: test_fastdds_installed(fastdds_tool_path),
         'test_fastdds_discovery': lambda: test_fastdds_discovery(
             fastdds_tool_path, setup_script_path),
+        'test_fastdds_discovery_run': lambda: test_fastdds_discovery_run(
+            fastdds_tool_path, setup_script_path),
         'test_ros_discovery':
         lambda: test_ros_discovery(ros_disc_tool_path, setup_script_path),
         'test_fastdds_shm': lambda: test_fastdds_shm(fastdds_tool_path),
diff --git a/tools/fastdds/discovery/parser.py b/tools/fastdds/discovery/parser.py
index 8446698e89e..3f7ce232719 100644
--- a/tools/fastdds/discovery/parser.py
+++ b/tools/fastdds/discovery/parser.py
@@ -54,6 +54,16 @@ def __init__(self, argv):
                     (len(argv) == 1 and argv[0] == '--help')
                ):
                 print(self.__edit_tool_help(result.stdout))
+<<<<<<< HEAD
+=======
+            elif (
+                (len(argv) == 1 and argv[0] == '-v') or
+                (len(argv) == 1 and argv[0] == '--version')
+                ):
+                result = subprocess.run([tool_path, '-v'])
+                if result.returncode != 0:
+                    sys.exit(result.returncode)
+>>>>>>> 2cdc2d96 (Fix Discovery CLI Tool in Windows (#5493))
             else:
                 # Call the tool
                 result = subprocess.run([tool_path] + argv)
@@ -87,9 +97,13 @@ def __find_tool_path(self):
         elif os.name == 'nt':
             ret = tool_path / 'fast-discovery-server.exe'
             if not os.path.exists(ret):
-                ret = tool_path / 'fast-discovery-server.bat'
-                if not os.path.exists(ret):
-                    print('fast-discovery-server tool not installed')
+                exe_files = [f for f in tool_path.glob('*.exe') if re.match(r'fast-discovery-server.*\.exe$', f.name)]
+                if len(exe_files) == 0:
+                    print("Unable to find fast-discovery-server tool. Check installation")
+                elif len(exe_files) == 1:
+                    ret = exe_files[0]
+                else:
+                    print('Multiple candidates for fast-discovery-server.exe. Check installation')
                     sys.exit(1)
         else:
             print(f'{os.name} not supported')
diff --git a/tools/fds/CMakeLists.txt b/tools/fds/CMakeLists.txt
index 007033f63c1..0059845ba41 100644
--- a/tools/fds/CMakeLists.txt
+++ b/tools/fds/CMakeLists.txt
@@ -107,7 +107,7 @@ install(EXPORT ${PROJECT_NAME}-targets
 if( WIN32 )
     # Use powershell to generate the link
     install(
-      CODE "execute_process( COMMAND PowerShell -Command \"if( test-path ${PROJECT_NAME}.exe -PathType Leaf ) { rm ${PROJECT_NAME}.exe } ; New-Item -ItemType SymbolicLink -Target $<TARGET_FILE_NAME:${PROJECT_NAME}> -Path ${PROJECT_NAME}.exe \" ERROR_QUIET RESULTS_VARIABLE SYMLINK_FAILED WORKING_DIRECTORY \"${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}\") \n if( SYMLINK_FAILED ) \n message(STATUS \"Windows requires admin installation rights to create symlinks. A bat script will be provided instead.\") \n set(FAST_SERVER_BINARY_NAME $<TARGET_FILE_NAME:${PROJECT_NAME}>) \n configure_file(${CMAKE_CURRENT_LIST_DIR}/fast-discovery-server.bat.in ${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}${MSVCARCH_DIR_EXTENSION}/${PROJECT_NAME}.bat @ONLY) \n endif()"
+      CODE "execute_process( COMMAND PowerShell -Command \"if( test-path ${PROJECT_NAME}.exe -PathType Leaf ) { rm ${PROJECT_NAME}.exe } ; New-Item -ItemType SymbolicLink -Target $<TARGET_FILE_NAME:${PROJECT_NAME}> -Path ${PROJECT_NAME}.exe \" ERROR_QUIET RESULTS_VARIABLE SYMLINK_FAILED WORKING_DIRECTORY \"${CMAKE_INSTALL_PREFIX}/${BIN_INSTALL_DIR}\") \n if( SYMLINK_FAILED ) \n message(STATUS \"Windows requires admin installation rights to create symlinks. Build again with privileges to create symlink. Tool will try to find executable if no symlink is found.\") \n endif()"
       COMPONENT discovery)
 else()
     # Use ln to create the symbolic link. We remove the version from the file name but keep the debug suffix
diff --git a/tools/fds/fast-discovery-server.bat.in b/tools/fds/fast-discovery-server.bat.in
deleted file mode 100644
index a62744006b3..00000000000
--- a/tools/fds/fast-discovery-server.bat.in
+++ /dev/null
@@ -1,15 +0,0 @@
-@echo off
-rem This batch file simplifies fast-discovery-server tool scripting use by
-rem offering a version independent name. It will be generated only if an unprivileged
-rem installation prevents symlink creation. 
-
-rem Bypass "Terminate Batch Job" prompt.
-if "%~1"=="-FIXED_CTRL_C" (
-   REM Remove the -FIXED_CTRL_C parameter
-   SHIFT
-   "%~dp0@FAST_SERVER_BINARY_NAME@" %*
-) ELSE (
-   REM Run the batch with <NUL and -FIXED_CTRL_C
-   CALL <NUL %0 -FIXED_CTRL_C %*
-   GOTO :EOF
-)