diff --git a/.github/actions/fetch-fastdds_python-repos/action.yml b/.github/actions/fetch-fastdds_python-repos/action.yml
deleted file mode 100644
index 145def23..00000000
--- a/.github/actions/fetch-fastdds_python-repos/action.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: 'fetch-fastdds_python-repos'
-description: 'Fetch Fast DDS Python dependencies'
-inputs:
-  foonathan-memory-vendor-branch:
-    description: 'foonathan_memory_vendor branch to be used'
-    required: true
-  fastcdr-branch:
-    description: 'Fast-CDR branch to be used'
-    required: true
-  fastdds-branch:
-    description: 'Fast-DDS branch to be used'
-    required: true
-runs:
-  using: "composite"
-  steps:
-    - id: fetch-fastdds_python-repos
-      shell: bash
-      run: |
-        cd src
-        git clone https://github.com/eProsima/foonathan_memory_vendor.git --branch ${{ inputs.foonathan-memory-vendor-branch }}
-        git clone https://github.com/eProsima/Fast-CDR.git --branch ${{ inputs.fastcdr-branch }}
-        git clone https://github.com/eProsima/Fast-DDS.git --branch ${{ inputs.fastdds-branch }}
-        cd ..
diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 0908fa5f..b4f79cef 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -14,7 +14,7 @@ on:
       fastdds_branch:
         description: 'Fast-DDS branch to be used'
         required: false
-        default: 'master'
+        default: '2.12.x'
   pull_request:
   push:
     branches:
@@ -47,7 +47,6 @@ jobs:
           Set-Item -Force -Path "env:PATH" -Value "C:\ProgramData\chocolatey\lib\asio;C:\ProgramData\chocolatey\lib\tinyxml2;C:\ProgramData\chocolatey\lib\tinyxml2\lib;$env:PATH"
           echo "PATH=$env:PATH" | Out-File -FilePath $env:GITHUB_ENV -Encoding utf8 -Append
 
-
       - name: Install swig
         shell: pwsh
         run: choco install swig --allow-downgrade --version=4.0.2.04082020
@@ -66,11 +65,23 @@ jobs:
         with:
           path: src/fastdds_python
 
-      - uses: ./src/fastdds_python/.github/actions/fetch-fastdds_python-repos
+      - uses: eProsima/eProsima-CI/external/checkout@v0
         with:
-          foonathan-memory-vendor-branch: ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
-          fastcdr-branch: ${{ matrix.fastcdr_version }}
-          fastdds-branch: ${{ github.event.inputs.fastdds_branch || 'master' }}
+          repository: eProsima/foonathan_memory_vendor
+          path: src/foonathan_memory_vendor
+          ref: ${{ github.event.inputs.foonathan_memory_vendor_branch }}
+
+      - uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-CDR
+          path: src/fastcdr
+          ref: ${{ github.event.inputs.foonathan_memory_vendor_branch }}
+
+      - uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS
+          path: src/fastdds
+          ref: ${{ github.event.inputs.fastdds_branch }}
 
       - uses: eProsima/eProsima-CI/external/get-cmake@v0
         with:
@@ -89,23 +100,22 @@ jobs:
           windows_compile_environment: msvc
 
       - name: Build workspace
-        shell: pwsh
-        run: |
-          $installpath = "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise"
-          $modulepath = "$installpath\Common7\Tools\Microsoft.VisualStudio.DevShell.dll"
-          Import-Module $modulepath
-          Enter-VsDevShell -SetDefaultWindowTitle -InstallPath $installpath `
-                           -StartInPath (pwd) -DevCmdArguments '/arch=x64 /host_arch=x64';
-          cmake --version
-          colcon build --executor parallel --event-handlers console_direct+ desktop_notification- `
-              --metas ./src/fastdds_python/.github/workflows/test.meta `
-              --mixin rel-with-deb-info ccache ${{ steps.ninja.outputs.cmake_generator }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ./src/fastdds_python/.github/workflows/test.meta
+          colcon_build_args: --executor parallel desktop_notification- --mixin ccache ${{ steps.ninja.outputs.cmake_generator }}
+          colcon_build_args_default: --event-handlers=console_direct+
+          cmake_build_type: RelWithDebInfo
+          workspace: ${{ github.workspace }}
 
       - name: Run tests
-        shell: pwsh
-        run: |
-          colcon test --packages-select fastdds_python --event-handlers console_direct+ desktop_notification- `
-                      --return-code-on-test-failure --ctest-args --timeout 60
+        id: test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --packages-select fastdds_python --event-handlers console_direct+ desktop_notification- --return-code-on-test-failure
+          ctest_args_default: --timeout 60
+          workspace: ${{ github.workspace }}
 
       - name: Upload Logs
         uses: actions/upload-artifact@v1
@@ -131,11 +141,23 @@ jobs:
 
       - uses: eProsima/eProsima-CI/multiplatform/install_colcon@v0
 
-      - uses: ./src/fastdds_python/.github/actions/fetch-fastdds_python-repos
+      - uses: eProsima/eProsima-CI/external/checkout@v0
         with:
-          foonathan-memory-vendor-branch: ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
-          fastcdr-branch: ${{ matrix.fastcdr_version }}
-          fastdds-branch: ${{ github.event.inputs.fastdds_branch || 'master' }}
+          repository: eProsima/foonathan_memory_vendor
+          path: src/foonathan_memory_vendor
+          ref: ${{ github.event.inputs.foonathan_memory_vendor_branch }}
+
+      - uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-CDR
+          path: src/fastcdr
+          ref: ${{ github.event.inputs.foonathan_memory_vendor_branch }}
+
+      - uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS
+          path: src/fastdds
+          ref: ${{ github.event.inputs.fastdds_branch }}
 
       - uses: eProsima/eProsima-CI/external/get-cmake@v0
         with:
@@ -145,23 +167,22 @@ jobs:
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
       - name: Build workspace
-        run: |
-          cmake --version
-          colcon build \
-            --event-handlers=console_direct+ \
-            --metas ./src/fastdds_python/.github/workflows/test.meta \
-            --mixin rel-with-deb-info ccache
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ./src/fastdds_python/.github/workflows/test.meta
+          colcon_build_args: --executor parallel desktop_notification- --mixin ccache
+          colcon_build_args_default: --event-handlers=console_direct+
+          cmake_build_type: RelWithDebInfo
+          workspace: ${{ github.workspace }}
 
       - name: Run tests
-        run: |
-          source install/setup.bash && \
-          colcon test \
-            --packages-select fastdds_python \
-            --event-handlers=console_direct+ \
-            --return-code-on-test-failure \
-            --ctest-args \
-              --output-on-failure \
-              --timeout 60
+        id: test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --packages-select fastdds_python --event-handlers console_direct+ desktop_notification- --return-code-on-test-failure
+          ctest_args_default: --timeout 60
+          workspace: ${{ github.workspace }}
 
       - name: Upload Logs
         uses: actions/upload-artifact@v1