diff --git a/.github/workflows/config/asan_colcon.meta b/.github/workflows/config/asan_colcon.meta
index 9ece0c38ed5..1b81a856752 100644
--- a/.github/workflows/config/asan_colcon.meta
+++ b/.github/workflows/config/asan_colcon.meta
@@ -1,32 +1,19 @@
-{
-    "names":
-    {
-        "fastrtps":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_BUILD_TYPE=Debug",
-                "-DEPROSIMA_BUILD_TESTS=ON",
-                "-DGTEST_INDIVIDUAL=ON",
-                "-DRTPS_API_TESTS=ON",
-                "-DFASTRTPS_API_TESTS=ON",
-                "-DFASTDDS_PIM_API_TESTS=ON",
-                "-DPERFORMANCE_TESTS=ON",
-                "-DNO_TLS=OFF",
-                "-DSECURITY=ON",
-                "-DFASTDDS_STATISTICS=ON",
-                "-DSANITIZER=Address",
-                "-DCMAKE_CXX_FLAGS='-Werror'"
-            ]
-        },
-
-        "discovery-server":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_BUILD_TYPE=Debug",
-                "-DSANITIZER=Address",
-            ]
-        }
-    }
-}
+names:
+    fastrtps:
+        cmake-args:
+            "-DCMAKE_BUILD_TYPE=Debug",
+            "-DEPROSIMA_BUILD_TESTS=ON",
+            "-DGTEST_INDIVIDUAL=ON",
+            "-DRTPS_API_TESTS=ON",
+            "-DFASTRTPS_API_TESTS=ON",
+            "-DFASTDDS_PIM_API_TESTS=ON",
+            "-DPERFORMANCE_TESTS=ON",
+            "-DNO_TLS=OFF",
+            "-DSECURITY=ON",
+            "-DFASTDDS_STATISTICS=ON",
+            "-DSANITIZER=Address",
+            "-DCMAKE_CXX_FLAGS='-Werror'"
+    discovery-server:
+        cmake-args:
+            "-DCMAKE_BUILD_TYPE=Debug",
+            "-DSANITIZER=Address",
diff --git a/.github/workflows/config/ci.repos b/.github/workflows/config/ci.repos
new file mode 100644
index 00000000000..5052ee825f4
--- /dev/null
+++ b/.github/workflows/config/ci.repos
@@ -0,0 +1,5 @@
+repositories:
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci.meta b/.github/workflows/config/default_ci.meta
deleted file mode 100644
index 26a40a08ab9..00000000000
--- a/.github/workflows/config/default_ci.meta
+++ /dev/null
@@ -1,29 +0,0 @@
-names:
-    fastrtps:
-        cmake-args:
-            - "-DBUILD_DOCUMENTATION=OFF"
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DCOMPILE_EXAMPLES=ON"
-            - "-DEPROSIMA_BUILD_TESTS=ON"
-            - "-DFASTDDS_ENFORCE_LOG_INFO=ON"
-            - "-DFASTDDS_PIM_API_TESTS=ON"
-            - "-DFASTDDS_STATISTICS=ON"
-            - "-DFASTRTPS_API_TESTS=OFF"
-            - "-DGTEST_INDIVIDUAL=ON"
-            - "-DINSTALL_EXAMPLES=ON"
-            - "-DINSTALL_TOOLS=ON"
-            - "-DINTERNAL_DEBUG=ON"
-            - "-DNO_TLS=OFF"
-            - "-DPERFORMANCE_TESTS=ON"
-            - "-DPROFILING_TESTS=OFF"
-            - "-DSECURITY=ON"
-            - "-DSHM_TRANSPORT_DEFAULT=ON"
-            - "-DSTRICT_REALTIME=OFF"
-            - "-DSYSTEM_TESTS=ON"
-            - "-DMEMORYCHECK_COMMAND_OPTIONS=-q --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=50 --log-fd=2 --error-exitcode=1"
-            - "-DMEMORYCHECK_SUPPRESSIONS_FILE=../../src/fastrtps/valgrind.supp"
-    googletest-distribution:
-        cmake-args:
-            - "-Dgtest_force_shared_crt=ON"
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/default_ci_2.6.x.repos b/.github/workflows/config/default_ci_2.6.x.repos
deleted file mode 100644
index dafcf2fd3f7..00000000000
--- a/.github/workflows/config/default_ci_2.6.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.0.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.2.1
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
index b434c33736c..0b80ec1d49d 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -1,32 +1,19 @@
-{
-    "names":
-    {
-        "fastcdr":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
-                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
-            ]
-        },
-        "fastrtps":
-        {
-            "cmake-args":
-            [
-                "-DCOMPILE_EXAMPLES=OFF",
-                "-DEPROSIMA_BUILD_TESTS=ON",
-                "-DGTEST_INDIVIDUAL=ON",
-                "-DRTPS_API_TESTS=ON",
-                "-DFASTRTPS_API_TESTS=OFF",
-                "-DFASTDDS_PIM_API_TESTS=ON",
-                "-DPERFORMANCE_TESTS=ON",
-                "-DNO_TLS=OFF",
-                "-DSECURITY=ON",
-                "-DFASTDDS_STATISTICS=ON",
-                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
-                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
-            ]
-        }
-
-    }
-}
+names:
+    fastcdr:
+        cmake-args:
+            "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
+            "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+    fastrtps:
+        cmake-args:
+            "-DCOMPILE_EXAMPLES=OFF",
+            "-DEPROSIMA_BUILD_TESTS=ON",
+            "-DGTEST_INDIVIDUAL=ON",
+            "-DRTPS_API_TESTS=ON",
+            "-DFASTRTPS_API_TESTS=OFF",
+            "-DFASTDDS_PIM_API_TESTS=ON",
+            "-DPERFORMANCE_TESTS=ON",
+            "-DNO_TLS=OFF",
+            "-DSECURITY=ON",
+            "-DFASTDDS_STATISTICS=ON",
+            "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
+            "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
diff --git a/.github/workflows/mac-ci.yml b/.github/workflows/mac-ci.yml
index 171d921eecf..14152386b71 100644
--- a/.github/workflows/mac-ci.yml
+++ b/.github/workflows/mac-ci.yml
@@ -44,6 +44,6 @@ jobs:
     with:
       label: ${{ inputs.label || 'mac-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: ${{ inputs.cmake-args }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
       ctest-args: ${{ inputs.ctest-args }}
       fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.6.x' }}
diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index b9dfe21fa57..6dc5300cd21 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -82,38 +82,19 @@ jobs:
       # TODO(eduponz): Set up libp11 and SoftHSM. NOTE: using SoftHSM requires adding the runner to a group,
       #                which entails logout/login or rebooting the machine. This is not feasible in a CI environment.
 
-      - name: Prepare colcon workspace
-        id: colcon_ws_setup
-        run: |
-          # Nightly job
-          if [[ "${{ inputs.label }}" == *"nightly"* ]]
-          then
-            DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/nightly_${{ inputs.fastdds-branch }}.repos"
-            if [ ! -f ${DEPENDS_REPOS_PATH} ]
-            then
-              DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/nightly_2.6.x.repos"
-            fi
-            META_PATH="./src/fastrtps/.github/workflows/config/nightly.meta"
-
-          # Either PR or manual
-          else
-            DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/default_ci_${{ inputs.fastdds-branch }}.repos"
-            if [ ! -f ${DEPENDS_REPOS_PATH} ]
-            then
-              DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/default_ci_2.6.x.repos"
-            fi
-            META_PATH="./src/fastrtps/.github/workflows/config/default_ci.meta"
-          fi
-
-          echo "Selected repos files: ${DEPENDS_REPOS_PATH}"
-          cat ${DEPENDS_REPOS_PATH}
-
-          echo "Selected metas files: ${META_PATH}"
-          cp ${META_PATH} ci.meta
-          cat ci.meta
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # Create source dir and download the sources
-          vcs import src --input ${DEPENDS_REPOS_PATH} --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       # TODO(eduponz): There is a warning in clang >= 16 regarding enum-constexpr-conversion:
       #   - Issue: https://github.com/boostorg/mpl/issues/69.
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index b5804377cd4..0286f648e53 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -76,38 +76,19 @@ jobs:
       # TODO(eduponz): Set up libp11 and SoftHSM. NOTE: using SoftHSM requires adding the runner to a group,
       #                which entails logout/login or rebooting the machine. This is not feasible in a CI environment.
 
-      - name: Prepare colcon workspace
-        id: colcon_ws_setup
-        run: |
-          # Nightly job
-          if [[ "${{ inputs.label }}" == *"nightly"* ]]
-          then
-            DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/nightly_${{ inputs.fastdds-branch }}.repos"
-            if [ ! -f ${DEPENDS_REPOS_PATH} ]
-            then
-              DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/nightly_master.repos"
-            fi
-            META_PATH="./src/fastrtps/.github/workflows/config/nightly.meta"
-
-          # Either PR or manual
-          else
-            DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/default_ci_${{ inputs.fastdds-branch }}.repos"
-            if [ ! -f ${DEPENDS_REPOS_PATH} ]
-            then
-              DEPENDS_REPOS_PATH="./src/fastrtps/.github/workflows/config/default_ci_master.repos"
-            fi
-            META_PATH="./src/fastrtps/.github/workflows/config/default_ci.meta"
-          fi
-
-          echo "Selected repos files: ${DEPENDS_REPOS_PATH}"
-          cat ${DEPENDS_REPOS_PATH}
-
-          echo "Selected metas files: ${META_PATH}"
-          cp ${META_PATH} ci.meta
-          cat ci.meta
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # Create source dir and download the sources
-          vcs import src --input ${DEPENDS_REPOS_PATH} --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Colcon build
         continue-on-error: false
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index 437cbb2dbcb..8e4e4884210 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -115,44 +115,19 @@ jobs:
           # Show the result
           gc $hostfile
 
-      - name: Prepare colcon workspace
-        run: |
-          # Get some convenient tools
-          Install-Module -Name ConvertBase64Strings -Force -AllowClobber
-          Import-Module -name ConvertBase64Strings -Prefix CI
-          Install-Module powershell-yaml -Force
-
-          # Nightly job
-          if ("${{ inputs.label }}".Contains("nightly"))
-          {
-              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_${{ inputs.fastdds_branch }}.repos"
-              if (!(Test-Path -Path $depends_repos_path))
-              {
-                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_2.6.x.repos"
-              }
-              $meta_path = ".\src\fastrtps\.github\workflows\config\nightly.meta"
-          }
-          # Either PR or manual
-          else
-          {
-              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci_${{ inputs.fastdds_branch }}.repos"
-              if (!(Test-Path -Path $depends_repos_path))
-              {
-                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci_2.6.x.repos"
-              }
-              $meta_path = ".\src\fastrtps\.github\workflows\config\default_ci.meta"
-          }
-          Write-Output "Selected repos files: $depends_repos_path"
-          Write-Output "Selected metas files: $meta_path"
-
-          # Generate the meta file
-          "::group::deployed colcon.meta file"
-          $meta = Get-Content $meta_path | ConvertFrom-Yaml
-          $meta | ConvertTo-Json -Depth 3 | Tee-Object -FilePath ci.meta -Encoding OEM
-          "::endgroup::"
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # create source dir and download the sources
-          vcs import src --input $depends_repos_path --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Build
         id: build
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
index 53c0ce76605..ae94ed5ec5e 100644
--- a/.github/workflows/ubuntu-ci.yml
+++ b/.github/workflows/ubuntu-ci.yml
@@ -42,6 +42,6 @@ jobs:
       os-image: ${{ matrix.os-image }}
       label: ${{ inputs.label || 'ubuntu-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: ${{ inputs.cmake-args || "-DSECURITY=ON" }}
-      ctest-args: ${{ inputs.ctest-args || "-LE xfail" }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
+      ctest-args: ${{ inputs.ctest-args || '-LE xfail' }}
       fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.6.x' }}
diff --git a/.github/workflows/windows-ci.yml b/.github/workflows/windows-ci.yml
index 7ce7b652bc5..dbd7222410d 100644
--- a/.github/workflows/windows-ci.yml
+++ b/.github/workflows/windows-ci.yml
@@ -44,6 +44,6 @@ jobs:
     with:
       label: ${{ inputs.label || 'windows-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: ${{ inputs.cmake-args }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
       ctest-args: ${{ inputs.ctest-args }}
       fastdds_branch: ${{ inputs.fastdds_branch || github.ref || '2.6.x' }}