diff --git a/.github/actions/install-python-packages/action.yml b/.github/actions/install-python-packages/action.yml
deleted file mode 100644
index 7d4809b2..00000000
--- a/.github/actions/install-python-packages/action.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: 'install-python-packages'
-description: 'Install necessary python packages'
-runs:
-  using: "composite"
-  steps:
-    - id: install-python-packages
-      run: |
-        sudo pip3 install -U \
-          sphinx==4.3.1 \
-          doc8==0.10.1 \
-          sphinx_rtd_theme==0.5.2 \
-          sphinxcontrib.spelling==7.2.1 \
-          sphinxcontrib-imagehelper==1.1.1 \
-          sphinx-tabs==3.2.0 \
-          colcon-common-extensions \
-          colcon-mixin \
-          vcstool \
-          GitPython==3.1.24 \
-          setuptools==58.2.0 \
-          gcovr==5.0 \
-          pyyaml \
-          jsonschema
-      shell: bash
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 20790ab5..2b1122ba 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -62,8 +62,25 @@ jobs:
       - name: Install apt packages
         uses: ./src/DDS-Pipe/.github/actions/install-apt-packages
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/DDS-Pipe/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            sphinx==4.3.1 \
+            doc8==0.10.1 \
+            sphinx_rtd_theme==0.5.2 \
+            sphinxcontrib.spelling==7.2.1 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinx-tabs==3.2.0 \
+            vcstool \
+            GitPython==3.1.24 \
+            setuptools==58.2.0 \
+            gcovr==5.0 \
+            pyyaml \
+            jsonschema
 
       - name: Install uncrustify
         run: |
@@ -148,8 +165,25 @@ jobs:
       - name: Install GTest
         uses: ./src/DDS-Pipe/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/DDS-Pipe/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            sphinx==4.3.1 \
+            doc8==0.10.1 \
+            sphinx_rtd_theme==0.5.2 \
+            sphinxcontrib.spelling==7.2.1 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinx-tabs==3.2.0 \
+            vcstool \
+            GitPython==3.1.24 \
+            setuptools==58.2.0 \
+            gcovr==5.0 \
+            pyyaml \
+            jsonschema
 
       - name: Get build eProsima dependencies Job Id
         run: |
@@ -225,8 +259,25 @@ jobs:
       - name: Install GTest
         uses: ./src/DDS-Pipe/.github/actions/install-gtest-linux
 
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
       - name: Install Python packages
-        uses: ./src/DDS-Pipe/.github/actions/install-python-packages
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+        with:
+          packages: \
+            sphinx==4.3.1 \
+            doc8==0.10.1 \
+            sphinx_rtd_theme==0.5.2 \
+            sphinxcontrib.spelling==7.2.1 \
+            sphinxcontrib-imagehelper==1.1.1 \
+            sphinx-tabs==3.2.0 \
+            vcstool \
+            GitPython==3.1.24 \
+            setuptools==58.2.0 \
+            gcovr==5.0 \
+            pyyaml \
+            jsonschema
 
       - name: Get build eProsima dependencies Job Id
         run: |