diff --git a/fastrtps.repos b/fastrtps.repos
index 6d07be16275..0a51e85cf18 100644
--- a/fastrtps.repos
+++ b/fastrtps.repos
@@ -2,20 +2,20 @@ repositories:
     foonathan_memory_vendor:
         type: git
         url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: master
+        version: v1.3.1
     fastcdr:
         type: git
         url: https://github.com/eProsima/Fast-CDR.git
-        version: master
+        version: v2.1.0
     fastrtps:
         type: git
         url: https://github.com/eProsima/Fast-DDS.git
-        version: master
+        version: v2.12.1
     fastddsgen:
         type: git
         url: https://github.com/eProsima/Fast-DDS-Gen.git
-        version: master
+        version: v3.1.0
     fastddsgen/thirdparty/idl-parser:
         type: git
         url: https://github.com/eProsima/IDL-Parser.git
-        version: master
+        version: v2.0.0