eProsima
diff --git a/‎src/cpp/rtps/history/WriterHistory.cpp
+10-3 b/‎src/cpp/rtps/history/WriterHistory.cpp
+10-3
diff --git a/‎src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+8-6 b/‎src/cpp/rtps/participant/RTPSParticipantImpl.cpp
+8-6
@@ -320,9 +320,16 @@ void WriterHistory::set_fragments(
     // If inlineqos for related_sample_identity is required, then remove its size from the final fragment size.
     if (0 < inline_qos_size)
     {
-        final_high_mark_for_frag -= (
-            fastdds::dds::ParameterSerializer<Parameter_t>::PARAMETER_SENTINEL_SIZE +
-            inline_qos_size);
+        uint32_t overhead = fastdds::dds::ParameterSerializer<Parameter_t>::PARAMETER_SENTINEL_SIZE + inline_qos_size;
+        constexpr uint32_t min_fragment_size = 4;
+        if (final_high_mark_for_frag < (overhead + min_fragment_size))
+        {
+            final_high_mark_for_frag = min_fragment_size;
+        }
+        else
+        {
+            final_high_mark_for_frag -= overhead;
+        }
     }
 
     // If it is big data, fragment it.
 
@@ -2390,20 +2390,22 @@ uint32_t RTPSParticipantImpl::getMaxDataSize()
 uint32_t RTPSParticipantImpl::calculateMaxDataSize(
         uint32_t length)
 {
-    uint32_t maxDataSize = length;
-
+    // RTPS header
+    uint32_t overhead = RTPSMESSAGE_HEADER_SIZE;
 #if HAVE_SECURITY
     // If there is rtps messsage protection, reduce max size for messages,
     // because extra data is added on encryption.
     if (security_attributes_.is_rtps_protected)
     {
-        maxDataSize -= m_security_manager.calculate_extra_size_for_rtps_message();
+        overhead += m_security_manager.calculate_extra_size_for_rtps_message();
     }
 #endif // if HAVE_SECURITY
 
-    // RTPS header
-    maxDataSize -= RTPSMESSAGE_HEADER_SIZE;
-    return maxDataSize;
+    if (length <= overhead)
+    {
+        return 0;
+    }
+    return length - overhead;
 }
 
 bool RTPSParticipantImpl::networkFactoryHasRegisteredTransports() const