diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 25df3bb92..d469b4ce2 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -94,7 +94,7 @@ jobs:
       - name: Install apt dependencies
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
-          packages: libasio-dev libtinyxml2-dev libssl-dev swig4.1 doxygen imagemagick plantuml
+          packages: libasio-dev libtinyxml2-dev libssl-dev swig doxygen imagemagick plantuml
           update: false
           upgrade: false
 
diff --git a/docs/conf.py b/docs/conf.py
index 0faa1472b..a2f33dc43 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -299,7 +299,7 @@ def configure_doxyfile(
         sys.exit(doxygen_ret)
 
     # Generate SWIG code.
-    swig_ret = subprocess.call('swig4.1 -python -doxygen -I{}/include \
+    swig_ret = subprocess.call('swig -python -doxygen -I{}/include \
             -outdir {}/fastdds_python/src/swig -c++ -interface \
             _fastdds_python -o \
             {}/fastdds_python/src/swig/fastddsPYTHON_wrap.cxx \
diff --git a/readthedocs.yaml b/readthedocs.yaml
index a3713380b..016d04b47 100644
--- a/readthedocs.yaml
+++ b/readthedocs.yaml
@@ -6,12 +6,12 @@
 version: 2
 
 build:
-  os: ubuntu-24.04
+  os: ubuntu-20.04
   tools:
     python: "3.11"
   apt_packages:
     - plantuml
-    - swig4.1
+    - swig
 
 # Build documentation in the docs/ directory with Sphinx
 sphinx: