diff --git a/ubuntu/install_colcon/action.yml b/ubuntu/install_colcon/action.yml
index be008d0a..0b57b7b3 100644
--- a/ubuntu/install_colcon/action.yml
+++ b/ubuntu/install_colcon/action.yml
@@ -8,7 +8,7 @@ runs:
     - name: Install colcon
       uses: eProsima/eProsima-CI/ubuntu/install_python_packages@main
       with:
-        packages: 'setuptools==58.3.0 colcon-common-extensions colcon-mixin'
+        packages: 'empy==3.3.4 setuptools==58.3.0 colcon-common-extensions colcon-mixin'
         upgrade: true
 
     - name: Download default colcon mixin
diff --git a/windows/install_colcon/action.yml b/windows/install_colcon/action.yml
index 7d6a311c..a607177c 100644
--- a/windows/install_colcon/action.yml
+++ b/windows/install_colcon/action.yml
@@ -7,7 +7,7 @@ runs:
     - name: Install colcon
       uses: eProsima/eProsima-CI/windows/install_python_packages@main
       with:
-        packages: 'vcstool setuptools==58.3.0 colcon-common-extensions colcon-mixin'
+        packages: 'empy==3.3.4 vcstool setuptools==58.3.0 colcon-common-extensions colcon-mixin'
         upgrade: true
 
     - name: Download default colcon mixin