diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 8449a347..c185ef5d 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -2,16 +2,42 @@ name: test
 
 on:
   workflow_dispatch:
+    inputs:
+      foonathan_memory_vendor_branch:
+        description: 'foonathan_memory_vendor branch to be used'
+        required: false
+        default: 'master'
+      fastcdr_version:
+        description: 'Fast CDR branches to be used'
+        required: false
+        default: '1.1.x'
+      fastdds_branch:
+        description: 'Fast DDS branch to be used'
+        required: false
+        default: '2.6.x'
   pull_request:
   push:
     branches:
-      - main
+      - 1.1.x
   schedule:
     - cron: '0 0 * * *'
 
+concurrency:
+    group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
+    cancel-in-progress: true
+
 jobs:
   windows-build-test:
     runs-on: windows-2019
+    strategy:
+      fail-fast: false
+      matrix:
+        foonathan_memory_vendor_version:
+          - ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
+        fastcdr_version:
+          - ${{ github.event.inputs.fastcdr_version || '1.1.x' }}
+        fastdds_version:
+          - ${{ github.event.inputs.fastdds_branch || '2.6.x' }}
 
     env:
       CXXFLAGS: /MP
@@ -19,63 +45,97 @@ jobs:
 
     steps:
 
-      - name: install OpenSSL
+      - uses: eProsima/eProsima-CI/windows/install_openssl@v0
+
+      - name: Install Asio and TinyXML2
         shell: pwsh
         run: |
-          choco install openssl -yr --no-progress
-          "System32;SysWoW64" -split ";" | Join-Path -Path $env:windir -ChildPath {$_} `
-          | ls -Include libssl-*.dll | rm
-
-      - name: Install python build dependencies
+          mkdir "$pwdpath/choco_packages"
+          Invoke-WebRequest -Uri https://github.com/ros2/choco-packages/releases/download/2020-02-24/asio.1.12.1.nupkg -OutFile "$pwdpath/choco_packages/asio.1.12.1.nupkg"
+          Invoke-WebRequest -Uri https://github.com/ros2/choco-packages/releases/download/2020-02-24/tinyxml2.6.0.0.nupkg -OutFile "$pwdpath/choco_packages/tinyxml2.6.0.0.nupkg"
+          choco install -y -s "$pwdpath/choco_packages" asio tinyxml2
+          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: >
-          pip install -U colcon-common-extensions colcon-mixin vcstool;
+        run: choco install swig --allow-downgrade --version=4.0.2.04082020
 
-      - name: Install python tests dependencies
-        shell: pwsh
-        run: |
-          cd  (ni -Type Directory -Path "$Env:TMP\$(New-Guid)")
-          $cr = "`n"
-          'cmake_minimum_required(VERSION 3.5)' + $cr  +
-          'project(dummy VERSION 1.0.0 LANGUAGES CXX)' + $cr +
-          'find_package (Python3 COMPONENTS Interpreter Development REQUIRED)' + $cr +
-          'message(STATUS "cmake detected python=>>>>>${Python3_EXECUTABLE}<<<<<<")' | 
-          Out-File CMakeLists.txt 
-          (cmake .) *>&1 | % {
-            if($_ -Match "cmake detected python=>>>>>(?<exec>.*)<<<<<<")
-            {
-               $python_exec = $Matches.exec
-               return
-            }
-          }
-          & $python_exec -m pip install -U pytest pywin32
-
-      - uses: actions/checkout@v2
+      - name: Setup Python version
+        uses: eProsima/eProsima-CI/external/setup-python@v0
+        with:
+          python-version: '3.11'
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
+        with:
+          packages: pytest pywin32
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/multiplatform/install_colcon@v0
+
+      - name: Checkout Fast DDS Python
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastdds_python
 
-      - name: Fetch repositories
+      - name: Checkout foonathan memory vendor
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/foonathan_memory_vendor
+          path: src/foonathan_memory_vendor
+          ref: ${{ matrix.foonathan_memory_vendor_version }}
+
+      - name: Checkout Fast CDR
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-CDR
+          path: src/fastcdr
+          ref: ${{ matrix.fastcdr_version }}
+
+      - name: Checkout Fast DDS
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS
+          path: src/fastdds
+          ref: ${{ matrix.fastdds_version }}
+
+      - name: Setup CMake version
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: 3.22.6
+
+      - name: Setting ninja
+        id: ninja
+        if: github.event.schedule == ''
         shell: pwsh
         run: |
-          vcs import src --skip-existing --input src/fastdds_python/fastdds_python.repos
+          echo "cmake_generator=ninja" >> $Env:GITHUB_OUTPUT
+
+      - name: Setup ccache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+        with:
+          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 `
-                           -DevCmdArguments '/arch=x64 /host_arch=x64';
-          $cargs = @("--event-handlers=console_direct+", `
-                     "--metas", "./src/fastdds_python/.github/workflows/test.meta")
-          colcon build --executor parallel $cargs 
+        uses: eProsima/eProsima-CI/windows/colcon_build@v0
+        with:
+          colcon_meta_file: ./src/fastdds_python/.github/workflows/test.meta
+          colcon_build_args: --executor parallel --mixin ccache ${{ steps.ninja.outputs.cmake_generator }}
+          colcon_build_args_default: --event-handlers console_direct+ desktop_notification-
+          cmake_build_type: RelWithDebInfo
+          cmake_args_default: ' '
+          workspace: ${{ github.workspace }}
 
       - name: Run tests
-        shell: pwsh
-        run: |
-          colcon test --packages-select fastdds_python --event-handlers=console_direct+ `
-                      --return-code-on-test-failure --ctest-args --timeout 60
+        id: test
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: --packages-select fastdds_python --return-code-on-test-failure
+          colcon_test_args_default: --event-handlers console_direct+ desktop_notification-
+          ctest_args_default: --timeout 60
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ${{ github.workspace }}
 
       - name: Upload Logs
         uses: actions/upload-artifact@v1
@@ -85,46 +145,79 @@ jobs:
         if: always()
 
   ubuntu-build-test:
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        foonathan_memory_vendor_version:
+          - ${{ github.event.inputs.foonathan_memory_vendor_branch || 'master' }}
+        fastcdr_version:
+          - ${{ github.event.inputs.fastcdr_version || '1.1.x' }}
+        fastdds_version:
+          - ${{ github.event.inputs.fastdds_branch || '2.6.x' }}
+
 
     steps:
-      - uses: actions/checkout@v2
+      - name: Checkout Fast DDS Python
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastdds_python
 
       - name: Install apt dependencies
-        run: |
-          sudo apt update
-          sudo apt install -y \
-            python3 \
-            python3-pip \
-            swig \
-            libpython3-dev
-
-      - name: Install python dependencies
-        run: |
-          sudo pip3 install -U \
-            vcstool \
-            colcon-common-extensions
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libpython3-dev swig
 
-      - name: Fetch repositories
-        run: |
-          vcs import --skip-existing src < src/fastdds_python/fastdds_python.repos
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/multiplatform/install_colcon@v0
+
+      - name: Checkout foonathan memory vendor
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/foonathan_memory_vendor
+          path: src/foonathan_memory_vendor
+          ref: ${{ matrix.foonathan_memory_vendor_version }}
+
+      - name: Checkout Fast CDR
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-CDR
+          path: src/fastcdr
+          ref: ${{ matrix.fastcdr_version }}
+
+      - name: Checkout Fast DDS
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          repository: eProsima/Fast-DDS
+          path: src/fastdds
+          ref: ${{ matrix.fastdds_version }}
+
+      - name: Setup CMake version
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: 3.22.6
+
+      - name: Setup ccache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
       - name: Build workspace
-        run: >
-          colcon build --event-handlers=console_direct+ --metas ./src/fastdds_python/.github/workflows/test.meta
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ./src/fastdds_python/.github/workflows/test.meta
+          colcon_build_args: --executor parallel --mixin ccache
+          colcon_build_args_default: --event-handlers console_direct+
+          cmake_build_type: RelWithDebInfo
+          cmake_args_default: ''
+          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: --packages-select fastdds_python --return-code-on-test-failure
+          colcon_test_args_default: --event-handlers console_direct+
+          ctest_args_default: --timeout 60
+          workspace: ${{ github.workspace }}
 
       - name: Upload Logs
         uses: actions/upload-artifact@v1