diff --git a/.github/actions/install-python-packages/action.yml b/.github/actions/install-python-packages/action.yml
deleted file mode 100644
index fb600b95..00000000
--- a/.github/actions/install-python-packages/action.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-name: 'install-python-packages'
-description: 'Install necessary python packages'
-runs:
-  using: "composite"
-  steps:
-    - id: install-python-packages
-      run: |
-        sudo pip3 install -U \
-          black==22.3.0 \
-          colcon-common-extensions \
-          colcon-mixin \
-          doc8==0.8.0 \
-          GitPython \
-          setuptools \
-          gcovr==5.0 \
-          sphinx_rtd_theme==0.4.3 \
-          sphinx==3.0.3 \
-          sphinx-tabs==3.2.0 \
-          sphinxcontrib-imagehelper==1.1.1 \
-          sphinxcontrib.spelling==5.0.0 \
-          vcstool \
-          flake8==5.0.4 \
-          flake8-quotes \
-          pytest \
-          pytest-timeout
-
-      shell: bash
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index baebb8f1..b1f56090 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -100,8 +100,29 @@ jobs:
       - name: Install GTest
         uses: ./src/AML-IP/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
+
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -208,8 +229,28 @@ jobs:
       - name: Install apt packages
         uses: ./src/AML-IP/.github/actions/install-apt-packages
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -284,8 +325,28 @@ jobs:
       - name: Install GTest
         uses: ./src/AML-IP/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -345,8 +406,28 @@ jobs:
       - name: Install GTest
         uses: ./src/AML-IP/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -411,8 +492,28 @@ jobs:
       - name: Install GTest
         uses: ./src/AML-IP/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -466,8 +567,28 @@ jobs:
       - name: Install apt packages
         uses: ./src/AML-IP/.github/actions/install-apt-packages
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Install uncrustify
         run: |
@@ -541,8 +662,28 @@ jobs:
       - name: Install apt packages
         uses: ./src/AML-IP/.github/actions/install-apt-packages
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/AML-IP/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            black==22.3.0 \
+            doc8==0.8.0 \
+            GitPython \
+            setuptools \
+            gcovr==5.0 \
+            sphinx_rtd_theme==0.4.3 \
+            sphinx==3.0.3 \
+            sphinx-tabs==3.2.0 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinxcontrib.spelling==5.0.0 \
+            vcstool \
+            flake8==5.0.4 \
+            flake8-quotes \
+            pytest \
+            pytest-timeout
 
       - name: Get difference
         run: |