diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
new file mode 100644
index 00000000000..7ea382d4972
--- /dev/null
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -0,0 +1,144 @@
+name: Fast-DDS Ubuntu CI reusable workflow
+
+on:
+  workflow_call:
+    inputs:
+      os-image:
+        description: 'The OS image for the workflow'
+        required: true
+        type: string
+      label:
+        description: 'ID associated to the workflow'
+        required: true
+        type: string
+      colcon-args:
+        description: 'Extra arguments for colcon cli'
+        required: false
+        type: string
+      cmake-args:
+        description: 'Extra arguments for cmake cli'
+        required: false
+        type: string
+      ctest-args:
+        description: 'Extra arguments for ctest cli'
+        required: false
+        type: string
+      fastdds-branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        type: string
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  reusable-ubuntu-ci:
+    runs-on: ${{ inputs.os-image }}
+    if: ${{ !contains(github.event.pull_request.labels.*.name, 'skip-ci') }}
+    strategy:
+      fail-fast: false
+      matrix:
+        cmake-build-type:
+          - 'RelWithDebInfo'
+    steps:
+      - name: Sync eProsima/Fast-DDS repository
+        uses: eProsima/eProsima-CI/external/checkout@v0
+        with:
+          path: src/fastrtps
+          ref: ${{ inputs.fastdds-branch }}
+
+      - name: Get minimum supported version of CMake
+        uses: lukka/get-cmake@latest
+        with:
+          cmakeVersion: '3.22.6'
+
+      - name: Install apt dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: libasio-dev libtinyxml2-dev libssl-dev
+          update: false
+          upgrade: false
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
+          upgrade: false
+
+      - name: Setup CCache
+        uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
+
+      # TODO(eduponz): Update known hosts file for DNS resolver testing. NOTE: The runner cannot modify /etc/hosts.
+      # TODO(eduponz): Set up libp11 and SoftHSM. NOTE: using SoftHSM requires adding the runner to a group,
+      #                which entails logout/login or rebooting the machine. This is not feasible in a CI environment.
+
+      - name: Prepare colcon workspace
+        id: colcon_ws_setup
+        run: |
+          # Nightly job
+          if [[ "${{ 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
+
+          # Create source dir and download the sources
+          vcs import src --input ${DEPENDS_REPOS_PATH} --skip-existing
+
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: ${{ github.workspace }}/ci.meta
+          colcon_build_args: ${{ inputs.colcon-args }}
+          cmake_args: ${{ inputs.cmake-args }}
+          cmake_args_default: -DCMAKE_CXX_FLAGS="-Werror -Wall"
+          cmake_build_type: ${{ matrix.cmake-build-type }}
+          workspace: ${{ github.workspace }}
+
+      - name: Colcon test
+        id: test
+        if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
+        uses: eProsima/eProsima-CI/multiplatform/colcon_test@v0
+        with:
+          colcon_test_args: ${{ inputs.colcon-args }}
+          colcon_test_args_default: --event-handlers=console_direct+
+          ctest_args: ${{ inputs.ctest-args }}
+          ctest_args_default: --repeat until-pass:3 --timeout 300 --label-exclude "xfail"
+          packages_names: fastrtps
+          workspace: ${{ github.workspace }}
+          test_report_artifact: ${{ format('test_report_{0}_{1}_{2}', inputs.label, github.job, join(matrix.*, '_')) }}
+
+      - name: Test summary
+        uses: eProsima/eProsima-CI/multiplatform/junit_summary@v0
+        if: ${{ !cancelled() && !contains(github.event.pull_request.labels.*.name, 'no-test') }}
+        with:
+          junit_reports_dir: "${{ steps.test.outputs.ctest_results_path }}"
+          print_summary: 'True'
+          show_failed: 'True'
+          show_disabled: 'False'
+          show_skipped: 'False'
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index 830cb70c365..ac5817fec9f 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -46,7 +46,7 @@ jobs:
         with:
           path: src/fastrtps
           submodules: true
-          ref: ${{ inputs.fastdds-branch }}
+          ref: ${{ inputs.fastdds_branch }}
 
       - name: Get minimum supported version of CMake
         uses: lukka/get-cmake@latest
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
new file mode 100644
index 00000000000..1ec8d2d434e
--- /dev/null
+++ b/.github/workflows/ubuntu-ci.yml
@@ -0,0 +1,47 @@
+name: Fast-DDS Ubuntu CI
+
+on:
+  workflow_dispatch:
+    inputs:
+      label:
+        description: 'ID associated to the workflow'
+        required: true
+        type: string
+      colcon-args:
+        description: 'Extra arguments for colcon cli'
+        required: false
+        type: string
+      cmake-args:
+        description: 'Extra arguments for cmake cli'
+        required: false
+        type: string
+      ctest-args:
+        description: 'Extra arguments for ctest cli'
+        required: false
+        type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        type: string
+        required: true
+
+concurrency:
+  group: ${{ github.workflow }}
+  cancel-in-progress: true
+
+jobs:
+  ubuntu-ci:
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os-image:
+          - 'ubuntu-22.04'
+
+    uses: ./.github/workflows/reusable-ubuntu-ci.yml
+    with:
+      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' }}
+      fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.12.x' }}