Hi Rosalynne,
If you are making the Collaborations right in the course, you'll want to make five individual collaborations, one for each group, and only invite one group to each.
Another way you might think about doing this is that when you create the five groups within a group set, each group gets its own "space" which I like to call a mini course within your course. In their Group space they will have their own Collaboration link where they can create their own and they would only have the option of adding people in their group. The link below shows a little bit about how to visit that group space for each group
https://community.canvaslms.com/docs/DOC-12815-how-do-i-view-content-and-student-activity-within-a-g...
The first method is probably the easiest, but if it really is a group project the 2nd option can be nice because they can post announcements to their group member, create discussions, pages, etc in addition to just a collaborative document.
Rick
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