diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1c032086526..cd6123bde7a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,7 @@ endif()
 ###############################################################################
 # Project                                                                     #
 ###############################################################################
-project(fastrtps VERSION "2.12.0" LANGUAGES C CXX)
+project(fastrtps VERSION "2.12.1" LANGUAGES C CXX)
 
 set(PROJECT_NAME_LARGE "Fast RTPS")
 string(TOUPPER "${PROJECT_NAME}" PROJECT_NAME_UPPER)
diff --git a/package.xml b/package.xml
index b0310a854d1..6658cbfebc0 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>fastrtps</name>
-  <version>2.12.0</version>
+  <version>2.12.1</version>
   <description>
      *eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. *eProsima Fast DDS* expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
   </description>
diff --git a/thirdparty/fastcdr b/thirdparty/fastcdr
index 8c784382d7c..92ea73de391 160000
--- a/thirdparty/fastcdr
+++ b/thirdparty/fastcdr
@@ -1 +1 @@
-Subproject commit 8c784382d7c7d65847a2a66362c02d821effb23e
+Subproject commit 92ea73de391e2013cd5b70bf8307b34cbdcc3f7c