diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
deleted file mode 100644
index 8c1b478861..0000000000
--- a/.github/workflows/build_test.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-name: Build Tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        container:
-        - 'px4io/px4-dev-simulation-focal:2021-05-31' # Gazebo 11
-        - 'px4io/px4-dev-simulation-bionic:2021-05-31' # Gazebo 9
-    container: ${{ matrix.container }}
-    steps:
-    - uses: actions/checkout@v1
-    - name: submodule update
-      run: git submodule update --init --recursive
-    - name: Install latest mavlink
-      run: git clone --depth 1 https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink && rm -rf /usr/local/include/mavlink/.git
-    - name: Cmake Build
-      run: |
-        mkdir build
-        cd build
-        cmake ..
-        make
-    - name: Unit Tests
-      working-directory: build
-      run: |
-        cmake -DENABLE_UNIT_TESTS=On ..
-        make
-        make test
diff --git a/.github/workflows/build_test_macos.yml b/.github/workflows/build_test_macos.yml
deleted file mode 100644
index c8535e03d9..0000000000
--- a/.github/workflows/build_test_macos.yml
+++ /dev/null
@@ -1,54 +0,0 @@
-name: MacOS Build Tests
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  build:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [macos-10.15, macos-11.0]
-    steps:
-    - uses: actions/checkout@v1
-    - name: submodule update
-      run: git submodule update --init --recursive
-    - name: Before Install
-      run: |
-        brew update;
-        git clone -b release-1.10.0 https://github.com/google/googletest
-        git clone https://github.com/mavlink/c_library_v2.git /usr/local/include/mavlink
-    - name: Install
-      run: |
-        pushd googletest
-        mkdir build
-        pushd build
-        cmake ..
-        make
-        make install
-        popd
-        popd
-        brew install gstreamer gst-plugins-base gst-plugins-good glib python
-        brew install --cask xquartz
-        brew tap PX4/px4
-        brew install px4-dev
-        brew install px4-sim
-        pip3 install --user --upgrade setuptools
-        pip3 install --user --upgrade rospkg pyserial empy toml numpy pandas jinja2
-    - name: Cmake Build
-      run: |
-        mkdir build
-        cd build
-        cmake ..
-        make
-    - name: Unit Tests
-      working-directory: build
-      run: |
-        cmake -DENABLE_UNIT_TESTS=On ..
-        make
-        make test
diff --git a/.github/workflows/catkin_build_test.yml b/.github/workflows/catkin_build_test.yml
deleted file mode 100644
index c278561c92..0000000000
--- a/.github/workflows/catkin_build_test.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: Catkin Build Test
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        config:
-          # - {rosdistro: 'melodic', container: 'px4io/px4-dev-ros-melodic:2021-12-11'}
-          - {rosdistro: 'noetic', container: 'px4io/px4-dev-ros-noetic:2022-08-12'}
-    container: ${{ matrix.config.container }}
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-    - name: submodule update
-      run: git submodule update --init --recursive
-    - name: release_build_test
-      working-directory:
-      run: |
-        mkdir -p $HOME/catkin_ws/src;
-        cd $HOME/catkin_ws
-        catkin init
-        catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
-        catkin config --merge-devel
-        cd $HOME/catkin_ws/src
-        ln -s $GITHUB_WORKSPACE
-        cd $HOME/catkin_ws
-        rosdep update
-        rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_ENABLE_TESTING=False
-        catkin build -j$(nproc) -l$(nproc) mavlink_sitl_gazebo
diff --git a/.github/workflows/firmware_build_test.yml b/.github/workflows/firmware_build_test.yml
deleted file mode 100644
index ddebde2619..0000000000
--- a/.github/workflows/firmware_build_test.yml
+++ /dev/null
@@ -1,87 +0,0 @@
-name: Firmware Build and SITL Tests
-
-on:
-  push:
-    branches:
-      - main
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  Firmware-build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        model:
-          - "iris"
-          - "standard_vtol"
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-05-31
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - name: Checkout Firmware main
-      uses: actions/checkout@v2.3.1
-      with:
-        repository: PX4/Firmware
-        ref: main
-        path: Firmware
-        fetch-depth: 0
-        submodules: recurvise
-    - name: Checkout matching branch on PX4/Firmware if possible
-      run: |
-        git checkout ${{github.head_ref}} || echo "Firmware branch: ${{github.head_ref}} not found, using main instead"
-        git submodule update --init --recursive
-      working-directory: Firmware
-    - name: Configure Firmware to include current sitl_gazebo version
-      working-directory: Firmware/Tools/sitl_gazebo
-      run: |
-        git fetch origin pull/${{github.event.pull_request.number}}/head:${{github.head_ref}} || echo "Couldn't find the feature branch of the pull request, using default branch"
-        git checkout ${{github.head_ref}}
-    - name: Download MAVSDK
-      working-directory: Firmware
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      working-directory: Firmware
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-    - name: Build Firmware
-      working-directory: Firmware
-      env:
-        DONT_RUN: 1
-        GIT_SUBMODULES_ARE_EVIL: 1
-      run: make px4_sitl_default gazebo
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build MAVSDK tests
-      working-directory: Firmware
-      env:
-        DONT_RUN: 1
-        GIT_SUBMODULES_ARE_EVIL: 1
-      run: make px4_sitl_default gazebo mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
-    - name: Run SITL tests
-      working-directory: Firmware
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.model}} test/mavsdk_tests/configs/sitl.json
diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
deleted file mode 100644
index d6e0c6625a..0000000000
--- a/.github/workflows/noetic.yml
+++ /dev/null
@@ -1,48 +0,0 @@
-name: Noetic
-
-on:
-  push:
-
-    branches: [ firmware_1.13.2-deb ]
-
-  pull_request:
-    branches: [ firmware_1.13.2-deb ]
-
-  # schedule:
-  #   - cron:  '0 0 * * *' # at the end of every day
-
-  # Allows you to run this workflow manually from the Actions tab
-  workflow_dispatch:
-
-jobs:
-
-  build:
-    runs-on: ubuntu-20.04
-
-    env:
-      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
-
-    steps:
-
-      - uses: actions/checkout@v3
-        with:
-          fetch-depth: 0
-
-      - name: Checkout CI scripts
-        uses: actions/checkout@v3
-        with:
-          repository: ctu-mrs/ci_scripts
-          path: .ci_scripts
-          token: ${{ secrets.PUSH_TOKEN }}
-
-      - name: Install ROS
-        run: .ci_scripts/package_build/install_ros.sh
-
-      - name: Build
-        run: .ci/install_dependencies.sh
-
-      - name: Build
-        run: .ci_scripts/package_build/build_package.sh
-
-      - name: Deploy
-        run: .ci_scripts/package_build/deploy_deb.sh
diff --git a/.github/workflows/ros_package_build.yml b/.github/workflows/ros_package_build.yml
new file mode 100644
index 0000000000..ddd7023c33
--- /dev/null
+++ b/.github/workflows/ros_package_build.yml
@@ -0,0 +1,22 @@
+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ firmware_1.13.2-deb ]
+
+  pull_request:
+    branches: [ firmware_1.13.2-deb ]
+
+  workflow_dispatch:
+
+concurrency:
+  group: ${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+
+  build:
+    uses: ctu-mrs/ci_scripts/.github/workflows/ros_package_build.yml@master
+    secrets:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
diff --git a/.github/workflows/validate_sdf.yml b/.github/workflows/validate_sdf.yml
deleted file mode 100644
index 2bad0609de..0000000000
--- a/.github/workflows/validate_sdf.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Validate SDF
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - '*'
-
-jobs:
-  validate-sdf:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-simulation-bionic:2021-05-31
-    steps:
-    - uses: actions/checkout@v1
-    - name: submodule update
-      run: git submodule update --init --recursive
-    - name: Validate SDF
-      shell: bash
-      run: source scripts/validate_sdf.bash