diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0a843460..69bb87d1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,8 @@ option(UAGENT_SECURITY_PROFILE "Build security profile." OFF)
 option(UAGENT_BUILD_EXECUTABLE "Build Micro XRCE-DDS Agent provided executable." ON)
 option(UAGENT_BUILD_USAGE_EXAMPLES "Build Micro XRCE-DDS Agent built-in usage examples" OFF)
 
-set(UAGENT_P2P_CLIENT_VERSION 2.3.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
-set(UAGENT_P2P_CLIENT_TAG v2.3.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
+set(UAGENT_P2P_CLIENT_VERSION 2.4.0 CACHE STRING "Sets Micro XRCE-DDS client version for P2P")
+set(UAGENT_P2P_CLIENT_TAG v2.4.0 CACHE STRING "Sets Micro XRCE-DDS client tag for P2P")
 
 option(UAGENT_BUILD_CI_TESTS "Build CI test cases.")
 if(UAGENT_BUILD_CI_TESTS)
@@ -80,8 +80,8 @@ set(_deps "")
 if(UAGENT_USE_SYSTEM_FASTCDR)
     set(_fastcdr_version 1)
 else()
-    set(_fastcdr_version 1.0.26)
-    set(_fastcdr_tag v1.0.26)
+    set(_fastcdr_version 1.0.27)
+    set(_fastcdr_tag v1.0.27)
 endif()
 list(APPEND _deps "fastcdr\;${_fastcdr_version}")
 
@@ -95,9 +95,9 @@ if(UAGENT_FAST_PROFILE)
     if(UAGENT_USE_SYSTEM_FASTDDS)
         set(_fastdds_version 2)
     else()
-        set(_fastdds_version 2.9)
-        set(_fastdds_tag 2.9.x)
-        set(_foonathan_memory_tag v0.7-1) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
+        set(_fastdds_version 2.10)
+        set(_fastdds_tag 2.10.x)
+        set(_foonathan_memory_tag v0.7-3) # This tag should be updated every time it gets updated in foonathan_memory_vendor eProsima's package
     endif()
     list(APPEND _deps "fastrtps\;${_fastdds_version}")
 endif()
@@ -117,7 +117,7 @@ endif()
 ###############################################################################
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake/modules)
 if(NOT UAGENT_SUPERBUILD)
-    project(microxrcedds_agent VERSION "2.3.0" LANGUAGES C CXX)
+    project(microxrcedds_agent VERSION "2.4.0" LANGUAGES C CXX)
 else()
     project(uagent_superbuild NONE)
     include(${PROJECT_SOURCE_DIR}/cmake/SuperBuild.cmake)