diff --git a/.github/actions/fetch-fastdds-repos/action.yml b/.github/actions/fetch-fastdds-repos/action.yml
deleted file mode 100644
index 7a82b434ec7..00000000000
--- a/.github/actions/fetch-fastdds-repos/action.yml
+++ /dev/null
@@ -1,52 +0,0 @@
-name: 'fetch-fastdds-repos'
-description: 'Fetch Fast DDS dependencies'
-inputs:
-  target_directory:
-    description: 'Target directory where the dependencies will be downloaded.'
-    required: true
-    default: '.'
-  googletest:
-    description: 'Specifies if GoogleTest repository should be downloaded.'
-    required: false
-    default: 'false'
-  discovery_server:
-    description: 'Specifies if Discovery Server repository should be downloaded.'
-    required: false
-    default: 'false'
-  discovery_server_branch:
-    description: 'Specifies Discovery Server branch. The final branch is calculated based on the event that triggers
-      the action. Thus, if the action has been triggered as a result of a Pull Request, the branch will be the source
-      branch, the target branch, "master", or the branch specified in this parameter.'
-    required: false
-    default: 'master'
-runs:
-  using: "composite"
-  steps:
-    - name: Fetch eProsima dependencies
-      run: |
-        git clone https://github.com/eProsima/foonathan_memory_vendor.git ${{ inputs.target_directory }}/foonathan_memory_vendor
-        git clone https://github.com/eProsima/Fast-CDR.git ${{ inputs.target_directory }}/fastcdr
-      shell: bash
-
-    - name: Fetch GoogleTest
-      if: ${{ inputs.googletest == 'true' }}
-      run: git clone https://github.com/google/googletest.git --branch release-1.12.1 ${{ inputs.target_directory }}/googletest
-      shell: bash
-
-    - name: Fetch Discovery Server
-      if: ${{ inputs.discovery_server == 'true' }}
-      run: |
-        base_dir=${PWD}
-        git clone https://github.com/eProsima/Discovery-Server.git ${{ inputs.target_directory }}/discovery_server
-        cd ${{ inputs.target_directory }}/discovery_server
-
-        if [[ $(git rev-parse --verify "${{ github.head_ref }}" 2>/dev/null) ]]; then
-          git checkout ${{ github.head_ref }}
-        elif [[ $(git rev-parse --verify "${{ github.base_ref }}" 2>/dev/null) ]]; then
-          git checkout ${{ github.base_ref }}
-        else
-          git checkout ${{ inputs.discovery_server_branch }}
-        fi
-
-        cd ${base_dir}
-      shell: bash
diff --git a/.github/actions/install-apt-packages-documentation/action.yml b/.github/actions/install-apt-packages-documentation/action.yml
deleted file mode 100644
index 689a081a7fd..00000000000
--- a/.github/actions/install-apt-packages-documentation/action.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-name: 'install-apt-packages-documentation'
-description: 'Install necessary apt packages for building documentation'
-runs:
-  using: "composite"
-  steps:
-    - id: install-apt-packages-documentation
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install \
-          doxygen \
-          imagemagick \
-          plantuml
-      shell: bash
diff --git a/.github/workflows/sanitizer-tests.yaml b/.github/workflows/address-sanitizers.yaml
similarity index 95%
rename from .github/workflows/sanitizer-tests.yaml
rename to .github/workflows/address-sanitizers.yaml
index f0ab26d2ed2..1074111fb64 100644
--- a/.github/workflows/sanitizer-tests.yaml
+++ b/.github/workflows/address-sanitizers.yaml
@@ -1,4 +1,4 @@
-name: Sanitizer analysis
+name: Address Sanitizer analysis
 
 on:
   workflow_dispatch:
@@ -6,17 +6,19 @@ on:
       discovery_server_branch:
         description: 'Branch or tag of Discovery Server repository (https://github.com/eProsima/Discovery-Server)'
         required: true
-        default: 'master'
+        default: 'v1.2.2'
       fastdds_branch:
         description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
         required: true
-        default: 'master'
+        default: '2.13.x'
+
   pull_request:
-  push:
     branches:
-      - master
-  schedule:
-    - cron: '0 1 * * *'
+      - '2.13.x'
+    paths-ignore:
+      - '**.md'
+      - '**.txt'
+      - '!**/CMakeLists.txt'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.event.pull_request.number || github.ref }}
@@ -32,7 +34,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     env:
-        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
+        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || '2.13.x' }}
 
     steps:
       - name: Install apt packages
@@ -117,8 +119,8 @@ jobs:
     runs-on: ubuntu-22.04
 
     env:
-      FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
-      DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'master' }}
+      FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || '2.13.x' }}
+      DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'v1.2.2' }}
 
     steps:
       - name: Install apt packages
diff --git a/.github/workflows/config/asan_colcon.meta b/.github/workflows/config/asan_colcon.meta
index cda173af037..8c9830e3683 100644
--- a/.github/workflows/config/asan_colcon.meta
+++ b/.github/workflows/config/asan_colcon.meta
@@ -1,31 +1,18 @@
-{
-    "names":
-    {
-        "fastrtps":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_BUILD_TYPE=Debug",
-                "-DEPROSIMA_BUILD_TESTS=ON",
-                "-DRTPS_API_TESTS=ON",
-                "-DFASTRTPS_API_TESTS=ON",
-                "-DFASTDDS_PIM_API_TESTS=ON",
-                "-DPERFORMANCE_TESTS=ON",
-                "-DNO_TLS=OFF",
-                "-DSECURITY=ON",
-                "-DFASTDDS_STATISTICS=ON",
-                "-DSANITIZER=Address",
-                "-DCMAKE_CXX_FLAGS='-Werror'"
-            ]
-        },
-
-        "discovery-server":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_BUILD_TYPE=Debug",
-                "-DSANITIZER=Address",
-            ]
-        }
-    }
-}
+names:
+    fastrtps:
+        cmake-args:
+            - "-DCMAKE_BUILD_TYPE=Debug"
+            - "-DEPROSIMA_BUILD_TESTS=ON"
+            - "-DRTPS_API_TESTS=ON"
+            - "-DFASTRTPS_API_TESTS=ON"
+            - "-DFASTDDS_PIM_API_TESTS=ON"
+            - "-DPERFORMANCE_TESTS=ON"
+            - "-DNO_TLS=OFF"
+            - "-DSECURITY=ON"
+            - "-DFASTDDS_STATISTICS=ON"
+            - "-DSANITIZER=Address"
+            - "-DCMAKE_CXX_FLAGS='-Werror'"
+    discovery-server:
+        cmake-args:
+            - "-DCMAKE_BUILD_TYPE=Debug"
+            - "-DSANITIZER=Address"
diff --git a/.github/workflows/config/nightly.meta b/.github/workflows/config/ci.meta
similarity index 100%
rename from .github/workflows/config/nightly.meta
rename to .github/workflows/config/ci.meta
diff --git a/.github/workflows/config/ci.repos b/.github/workflows/config/ci.repos
new file mode 100644
index 00000000000..5052ee825f4
--- /dev/null
+++ b/.github/workflows/config/ci.repos
@@ -0,0 +1,5 @@
+repositories:
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/coverage.repos b/.github/workflows/config/coverage.repos
deleted file mode 100644
index f6580b0e8f8..00000000000
--- a/.github/workflows/config/coverage.repos
+++ /dev/null
@@ -1,17 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.1.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: master
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.10.0
-    discovery-server:
-        type: git
-        url: https://github.com/eProsima/Discovery-Server.git
-        version: master
diff --git a/.github/workflows/config/default_ci.meta b/.github/workflows/config/default_ci.meta
deleted file mode 100644
index 55514ebbce6..00000000000
--- a/.github/workflows/config/default_ci.meta
+++ /dev/null
@@ -1,28 +0,0 @@
-names:
-    fastrtps:
-        cmake-args:
-            - "-DBUILD_DOCUMENTATION=OFF"
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DCOMPILE_EXAMPLES=ON"
-            - "-DEPROSIMA_BUILD_TESTS=ON"
-            - "-DFASTDDS_ENFORCE_LOG_INFO=ON"
-            - "-DFASTDDS_PIM_API_TESTS=ON"
-            - "-DFASTDDS_STATISTICS=ON"
-            - "-DFASTRTPS_API_TESTS=OFF"
-            - "-DINSTALL_EXAMPLES=ON"
-            - "-DINSTALL_TOOLS=ON"
-            - "-DINTERNAL_DEBUG=ON"
-            - "-DNO_TLS=OFF"
-            - "-DPERFORMANCE_TESTS=ON"
-            - "-DPROFILING_TESTS=OFF"
-            - "-DSECURITY=ON"
-            - "-DSHM_TRANSPORT_DEFAULT=ON"
-            - "-DSTRICT_REALTIME=OFF"
-            - "-DSYSTEM_TESTS=ON"
-            - "-DMEMORYCHECK_COMMAND_OPTIONS=-q --tool=memcheck --leak-check=yes --show-reachable=yes --num-callers=50 --log-fd=2 --error-exitcode=1"
-            - "-DMEMORYCHECK_SUPPRESSIONS_FILE=../../src/fastrtps/valgrind.supp"
-    googletest-distribution:
-        cmake-args:
-            - "-Dgtest_force_shared_crt=ON"
-            - "-DBUILD_SHARED_LIBS=ON"
-            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/default_ci_2.10.x.repos b/.github/workflows/config/default_ci_2.10.x.repos
deleted file mode 100644
index e5a8ab31ec8..00000000000
--- a/.github/workflows/config/default_ci_2.10.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.0.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.3.0
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci_2.12.x.repos b/.github/workflows/config/default_ci_2.12.x.repos
deleted file mode 100644
index f1c0628cf69..00000000000
--- a/.github/workflows/config/default_ci_2.12.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: v2.1.0
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.3.1
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci_2.6.x.repos b/.github/workflows/config/default_ci_2.6.x.repos
deleted file mode 100644
index dafcf2fd3f7..00000000000
--- a/.github/workflows/config/default_ci_2.6.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.0.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.2.1
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci_master.repos b/.github/workflows/config/default_ci_master.repos
deleted file mode 100644
index 5d3651ca82c..00000000000
--- a/.github/workflows/config/default_ci_master.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: master
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: master
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/documentation.meta b/.github/workflows/config/documentation.meta
new file mode 100644
index 00000000000..c0d85a3d55f
--- /dev/null
+++ b/.github/workflows/config/documentation.meta
@@ -0,0 +1,17 @@
+names:
+    fastrtps:
+        cmake-args:
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DSECURITY=ON"
+            - "-DTHIRDPARTY_Asio=FORCE"
+            - "-DTHIRDPARTY_TinyXML2=FORCE"
+            - "-DTHIRDPARTY_UPDATE=OFF"
+    fastdds-docs:
+        cmake-args:
+            - "-DBUILD_DOCUMENTATION=ON"
+            - "-DCOMPILE_TESTS=ON"
+    googletest-distribution:
+        cmake-args:
+            - "-Dgtest_force_shared_crt=ON"
+            - "-DBUILD_SHARED_LIBS=ON"
+            - "-DBUILD_GMOCK=ON"
diff --git a/.github/workflows/config/nightly_2.10.x.repos b/.github/workflows/config/nightly_2.10.x.repos
deleted file mode 100644
index e5a8ab31ec8..00000000000
--- a/.github/workflows/config/nightly_2.10.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.0.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.3.0
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/nightly_2.12.x.repos b/.github/workflows/config/nightly_2.12.x.repos
deleted file mode 100644
index f1c0628cf69..00000000000
--- a/.github/workflows/config/nightly_2.12.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: v2.1.0
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.3.1
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/nightly_2.6.x.repos b/.github/workflows/config/nightly_2.6.x.repos
deleted file mode 100644
index dafcf2fd3f7..00000000000
--- a/.github/workflows/config/nightly_2.6.x.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: 1.0.x
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: v1.2.1
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/nightly_master.repos b/.github/workflows/config/nightly_master.repos
deleted file mode 100644
index 5d3651ca82c..00000000000
--- a/.github/workflows/config/nightly_master.repos
+++ /dev/null
@@ -1,13 +0,0 @@
-repositories:
-    fastcdr:
-        type: git
-        url: https://github.com/eProsima/Fast-CDR.git
-        version: master
-    foonathan_memory_vendor:
-        type: git
-        url: https://github.com/eProsima/foonathan_memory_vendor.git
-        version: master
-    googletest-distribution:
-        type: git
-        url: https://github.com/google/googletest.git
-        version: release-1.11.0
diff --git a/.github/workflows/config/tsan_colcon.meta b/.github/workflows/config/tsan_colcon.meta
index c33e7bc2938..e7f8a45e3ff 100644
--- a/.github/workflows/config/tsan_colcon.meta
+++ b/.github/workflows/config/tsan_colcon.meta
@@ -1,31 +1,18 @@
-{
-    "names":
-    {
-        "fastcdr":
-        {
-            "cmake-args":
-            [
-                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
-                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
-            ]
-        },
-        "fastrtps":
-        {
-            "cmake-args":
-            [
-                "-DCOMPILE_EXAMPLES=OFF",
-                "-DEPROSIMA_BUILD_TESTS=ON",
-                "-DRTPS_API_TESTS=ON",
-                "-DFASTRTPS_API_TESTS=OFF",
-                "-DFASTDDS_PIM_API_TESTS=ON",
-                "-DPERFORMANCE_TESTS=ON",
-                "-DNO_TLS=OFF",
-                "-DSECURITY=ON",
-                "-DFASTDDS_STATISTICS=ON",
-                "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'",
-                "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
-            ]
-        }
-
-    }
-}
+names:
+    fastcdr:
+        cmake-args:
+            - "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+            - "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+    fastrtps:
+        cmake-args:
+            - "-DCOMPILE_EXAMPLES=OFF"
+            - "-DEPROSIMA_BUILD_TESTS=ON"
+            - "-DRTPS_API_TESTS=ON"
+            - "-DFASTRTPS_API_TESTS=OFF"
+            - "-DFASTDDS_PIM_API_TESTS=ON"
+            - "-DPERFORMANCE_TESTS=ON"
+            - "-DNO_TLS=OFF"
+            - "-DSECURITY=ON"
+            - "-DFASTDDS_STATISTICS=ON"
+            - "-DCMAKE_C_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
+            - "-DCMAKE_CXX_FLAGS='-fsanitize=thread -O2 -g -fno-omit-frame-pointer'"
diff --git a/.github/workflows/documentation-tests.yaml b/.github/workflows/documentation-tests.yaml
index 3277ce2a7c6..58e12a3d01e 100644
--- a/.github/workflows/documentation-tests.yaml
+++ b/.github/workflows/documentation-tests.yaml
@@ -6,19 +6,11 @@ on:
         description: 'Documentation branch name'
         required: true
         type: string
-        default: 'master'
-
-  push:
-    branches:
-      - 'master'
-    paths-ignore:
-      - '**.md'
-      - '**.txt'
-      - '!**/CMakeLists.txt'
+        default: '2.13.x'
 
   pull_request:
     branches:
-      - 'master'
+      - '2.13.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -40,24 +32,47 @@ jobs:
     runs-on: ubuntu-22.04
     steps:
       - name: Sync eProsima/Fast-DDS repository
-        uses: actions/checkout@v3
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
           submodules: true
 
-      - name: Install Fast DDS packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages
-
-      - name: Install documentation packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages-documentation
+      - name: Get minimum supported version of CMake
+        uses: eProsima/eProsima-CI/external/get-cmake@v0
+        with:
+          cmakeVersion: '3.20.6'
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
 
-      - name: Download FastDDS dependencies
-        run: |
-          pip3 install vcstool
-          vcs import --skip-existing src < ./src/fastrtps/fastrtps.repos
+      - name: Install apt dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+        with:
+          packages: curl grep wget libssl-dev doxygen imagemagick plantuml
+          update: false
+          upgrade: false
+
+      - name: Install GTest
+        uses: eProsima/eProsima-CI/multiplatform/install_gtest@v0
+        with:
+          cmake_build_type: Release
+          version: release-1.11.0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/multiplatform/install_python_packages@v0
+        with:
+          packages: vcstool
+          upgrade: false
+
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Download Fast DDS .repos
+        uses: eProsima/eProsima-CI/ubuntu/vcs_import@v0
+        with:
+          vcs_repos_file: ./src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Determine the Fast DDS Documentation branch to be used
         run: |
@@ -93,7 +108,7 @@ jobs:
 
                 # Attempt to use version's branch, which will most likely be the base anyways.
                 # This is just in case the PR was to an intermediate branch
-                TEMP_BRANCH=master
+                TEMP_BRANCH=2.13.x
                 RESPONSE_CODE=$(git ls-remote --heads $DOCS_REPO $TEMP_BRANCH | wc -l)
 
                 if [[ ${RESPONSE_CODE} == "0" ]]
@@ -110,25 +125,51 @@ jobs:
           fi
 
       - name: Download FastDDS documentation repo
-        uses: actions/checkout@v4
+        uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           repository: eProsima/Fast-DDS-docs
           path: src/fastdds-docs
           ref: ${{ env.ACTION_BRANCH_NAME }}
 
-      - name: Install colcon
-        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
-
-      - name: Install required python packages
+      - name: Install Fast DDS Docs required python packages
         uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
         with:
           upgrade: false
           requirements_file_name: src/fastdds-docs/docs/requirements.txt
 
-      - name: Build documentation
-        run: |
-          colcon build --event-handlers=console_direct+ --metas
-
-      - name: Run documentation tests
-        run: |
-          colcon test --event-handlers=console_direct+ --packages-select fastdds-docs --return-code-on-test-failure
+      - name: Colcon build
+        continue-on-error: false
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
+        with:
+          colcon_meta_file: './src/fastrtps/.github/workflows/config/documentation.meta'
+          colcon_build_args: ''
+          colcon_build_args_default: ''
+          cmake_args: ''
+          cmake_args_default: ''
+          cmake_build_type: Release
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+
+      - 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: ''
+          colcon_test_args_default: --event-handlers=console_direct+
+          ctest_args: ''
+          ctest_args_default: ''
+          packages_names: fastdds-docs
+          workspace: ${{ github.workspace }}
+          workspace_dependencies: ''
+          test_report_artifact: ${{ format('test_report_{0}', 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/mac-ci.yml b/.github/workflows/mac-ci.yml
index 26b2c7f84c4..f4817793981 100644
--- a/.github/workflows/mac-ci.yml
+++ b/.github/workflows/mac-ci.yml
@@ -24,17 +24,9 @@ on:
         type: string
         required: true
 
-  push:
-    branches:
-      - 'master'
-      - '2.12.x'
-      - '2.10.x'
-      - '2.6.x'
-    paths-ignore:
-      - '**.md'
-      - '**.txt'
-      - '!**/CMakeLists.txt'
   pull_request:
+    branches:
+      - '2.13.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -52,6 +44,6 @@ jobs:
     with:
       label: ${{ inputs.label || 'mac-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: ${{ inputs.cmake-args }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
       ctest-args: ${{ inputs.ctest-args }}
-      fastdds-branch: ${{ inputs.fastdds_branch || github.ref || 'master' }}
+      fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.13.x' }}
diff --git a/.github/workflows/mirror.yml b/.github/workflows/mirror.yml
deleted file mode 100644
index c6de29ebc78..00000000000
--- a/.github/workflows/mirror.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-# .github/workflows/mirror.yml
-on:
-  push:
-    branches:
-      - 'master'
-jobs:
-  mirror_job:
-    runs-on: ubuntu-latest
-    name: Mirror master branch to API & ABI compatible minor version branches
-    strategy:
-      fail-fast: false
-      matrix:
-        dest_branch:
-          - '2.13.x'
-    steps:
-    - name: Mirror action step
-      id: mirror
-      uses: eProsima/eProsima-CI/external/mirror-branch-action@v0
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        source: 'master'
-        dest: ${{ matrix.dest_branch }}
diff --git a/.github/workflows/nightly-mac-ci.yml b/.github/workflows/nightly-mac-ci.yml
deleted file mode 100644
index adb0e0e0c8b..00000000000
--- a/.github/workflows/nightly-mac-ci.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Fast-DDS MacOS CI (nightly)
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: '0 1 * * *'
-
-jobs:
-  nightly-sec-mac-ci:
-    uses: ./.github/workflows/reusable-mac-ci.yml
-    with:
-      label: 'nightly-sec-mac-ci'
-      cmake-args: "-DSECURITY=ON"
-      ctest-args: "-LE xfail"
-      fastdds-branch: 'master'
-
-  nightly-nosec-mac-ci:
-    uses: ./.github/workflows/reusable-mac-ci.yml
-    with:
-      label: 'nightly-nosec-mac-ci'
-      cmake-args: "-DSECURITY=OFF"
-      ctest-args: "-LE xfail"
-      fastdds-branch: 'master'
diff --git a/.github/workflows/nightly-windows-ci.yml b/.github/workflows/nightly-windows-ci.yml
deleted file mode 100644
index ebc01791750..00000000000
--- a/.github/workflows/nightly-windows-ci.yml
+++ /dev/null
@@ -1,31 +0,0 @@
-name: Fast-DDS Windows CI (nightly)
-
-on:
-  workflow_dispatch:
-  schedule:
-    - cron: '0 1 * * *'
-
-jobs:
-  nightly-sec-windows-ci:
-    uses: ./.github/workflows/reusable-windows-ci.yml
-    with:
-      label: 'nightly-sec-windows-ci'
-      cmake-args: "-DSECURITY=ON"
-      ctest-args: "-LE xfail"
-      fastdds_branch: 'master'
-
-  nightly-nosec-windows-ci:
-    uses: ./.github/workflows/reusable-windows-ci.yml
-    with:
-      label: 'nightly-nosec-windows-ci'
-      cmake-args: "-DSECURITY=OFF"
-      ctest-args: "-LE xfail"
-      fastdds_branch: 'master'
-
-  nightly-3_0_x-windows-ci:
-    uses: ./.github/workflows/reusable-windows-ci.yml
-    with:
-      label: 'nightly-3.0.x-windows-ci'
-      cmake-args: "-DSECURITY=ON"
-      ctest-args: "-LE xfail"
-      fastdds_branch: '3.0.x-devel'
diff --git a/.github/workflows/rebase-3.0.x-devel.yaml b/.github/workflows/rebase-3.0.x-devel.yaml
deleted file mode 100644
index a29973215cc..00000000000
--- a/.github/workflows/rebase-3.0.x-devel.yaml
+++ /dev/null
@@ -1,47 +0,0 @@
-name: rebase-3.0.x-devel-master
-
-on:
-  schedule:
-  - cron: '0 0 * * *'
-  # scheduled every midnight
-  workflow_dispatch:
-  #manual run of the workflow job
-
-jobs:
-  rebase-branches:
-    name: Rebase 3.0.x-devel branch HEAD with master current branch
-    runs-on: ubuntu-latest
-
-    steps:
-      # Step 1: checkout action
-    - name: Checkout target repo
-      uses: eProsima/eProsima-CI/external/checkout@v0
-      with:
-        ref: 3.0.x-devel
-        fetch-depth: 0
-        persist-credentials: true
-
-      # Step 2: Set git config
-    - name: Set git config
-      id: config
-      run: |
-        git config --local user.email "ricardogonzalez@eprosima.com"
-        git config --local user.name "richiprosima"
-      shell: bash
-
-      # Step 3: Rebase
-    - name: Rebase current branch
-      id: rebase_master
-      run: |
-        git fetch origin master
-        git rebase origin/master
-      shell: bash
-
-      # Step 4: Push
-    - name: Force push if required
-      id: push
-      run: |
-        if [ "$(git status | grep 'diverged\|ahead')" ]; then
-          git push -f
-        fi;
-      shell: bash
diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index 2094fd78679..45245988403 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -82,38 +82,19 @@ jobs:
       # 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
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # Create source dir and download the sources
-          vcs import src --input ${DEPENDS_REPOS_PATH} --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       # TODO(eduponz): There is a warning in clang >= 16 regarding enum-constexpr-conversion:
       #   - Issue: https://github.com/boostorg/mpl/issues/69.
@@ -123,7 +104,7 @@ jobs:
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/ci.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.meta
           colcon_build_args: ${{ inputs.colcon-args }}
           cmake_args: ${{ inputs.cmake-args }}
           cmake_args_default: -DCMAKE_CXX_FLAGS="-Werror -Wall -Wno-enum-constexpr-conversion"
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 7ea382d4972..0387d140d78 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -76,44 +76,25 @@ jobs:
       # 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
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # Create source dir and download the sources
-          vcs import src --input ${DEPENDS_REPOS_PATH} --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Colcon build
         continue-on-error: false
         uses: eProsima/eProsima-CI/multiplatform/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/ci.meta
+          colcon_meta_file: ${{ github.workspace }}/src/fastrtps/.github/workflows/config/ci.meta
           colcon_build_args: ${{ inputs.colcon-args }}
           cmake_args: ${{ inputs.cmake-args }}
           cmake_args_default: -DCMAKE_CXX_FLAGS="-Werror -Wall"
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index 768a80071a0..b90931be0c4 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
@@ -115,51 +115,26 @@ jobs:
           # Show the result
           gc $hostfile
 
-      - name: Prepare colcon workspace
-        run: |
-          # Get some convenient tools
-          Install-Module -Name ConvertBase64Strings -Force -AllowClobber
-          Import-Module -name ConvertBase64Strings -Prefix CI
-          Install-Module powershell-yaml -Force
-
-          # Nightly job
-          if ("${{ inputs.label }}".Contains("nightly"))
-          {
-              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_${{ inputs.fastdds_branch }}.repos"
-              if (!(Test-Path -Path $depends_repos_path))
-              {
-                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_master.repos"
-              }
-              $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 (!(Test-Path -Path $depends_repos_path))
-              {
-                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci_master.repos"
-              }
-              $meta_path = ".\src\fastrtps\.github\workflows\config\default_ci.meta"
-          }
-          Write-Output "Selected repos files: $depends_repos_path"
-          Write-Output "Selected metas files: $meta_path"
-
-          # Generate the meta file
-          "::group::deployed colcon.meta file"
-          $meta = Get-Content $meta_path | ConvertFrom-Yaml
-          $meta | ConvertTo-Json -Depth 3 | Tee-Object -FilePath ci.meta -Encoding OEM
-          "::endgroup::"
+      - name: Fetch Fast DDS dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\fastrtps.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
-          # create source dir and download the sources
-          vcs import src --input $depends_repos_path --skip-existing
+      - name: Fetch Fast DDS CI dependencies
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@v0
+        with:
+          vcs_repos_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\ci.repos
+          destination_workspace: src
+          skip_existing: 'true'
 
       - name: Build
         id: build
         continue-on-error: false
         uses: eProsima/eProsima-CI/windows/colcon_build@v0
         with:
-          colcon_meta_file: ${{ github.workspace }}/ci.meta
+          colcon_meta_file: ${{ github.workspace }}\src\fastrtps\.github\workflows\config\ci.meta
           colcon_build_args: ${{ inputs.colcon-args }}
           # The following Fast DDS CMake options need to be specified here instead of in the ci.meta file
           # because they vary from platform to platform
@@ -189,13 +164,3 @@ jobs:
           show_failed: 'True'
           show_disabled: 'False'
           show_skipped: 'False'
-
-      - name: Test Report
-        uses: eProsima/eProsima-CI/external/test-reporter@main
-        if: ${{ !cancelled() && !contains(github.event.pull_request.labels.*.name, 'no-test') }}
-        with:
-          name: "Report: ${{ matrix.cmake-config }} | ${{ matrix.vs-toolset }} "
-          path: "${{ steps.test.outputs.ctest_results_path }}*.xml"
-          working-directory: 'src/fastrtps'
-          path-replace-backslashes: 'true'
-          list-tests: 'failed'
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 03839ed66b7..b7d915fdbd8 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -5,7 +5,7 @@ on:
       fastdds_branch:
         description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
         required: true
-        default: 'master'
+        default: '2.13.x'
       optional_cmake_args:
         description: 'Optional CMake Compilation Flags'
         required: false
@@ -15,17 +15,9 @@ on:
         required: false
         type: string
 
-  push:
-    branches:
-      - 'master'
-    paths-ignore:
-      - '**.md'
-      - '**.txt'
-      - '!**/CMakeLists.txt'
-
   pull_request:
     branches:
-      - 'master'
+      - '2.13.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -47,7 +39,7 @@ jobs:
     runs-on: ubuntu-22.04
 
     env:
-        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
+        FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || '2.13.x' }}
         TSAN_OPTIONS: second_deadlock_stack=1 history_size=7 memory_limit_mb=5000
         # GCC 11.3 (Ubuntu Jammy default) produces several false positives regarding timed synchronization protocols
         # These issues were fixed in GCC 12 so we upgrade to that version.
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
index 786cf2d22d1..65cef32076c 100644
--- a/.github/workflows/ubuntu-ci.yml
+++ b/.github/workflows/ubuntu-ci.yml
@@ -42,6 +42,6 @@ jobs:
       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" }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
+      ctest-args: ${{ inputs.ctest-args || '-LE xfail' }}
       fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.13.x' }}
diff --git a/.github/workflows/windows-ci.yml b/.github/workflows/windows-ci.yml
index f3518a75749..4d641c956dc 100644
--- a/.github/workflows/windows-ci.yml
+++ b/.github/workflows/windows-ci.yml
@@ -24,17 +24,9 @@ on:
         type: string
         required: true
 
-  push:
-    branches:
-      - 'master'
-      - '2.12.x'
-      - '2.10.x'
-      - '2.6.x'
-    paths-ignore:
-      - '**.md'
-      - '**.txt'
-      - '!**/CMakeLists.txt'
   pull_request:
+    branches:
+      - '2.13.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -52,6 +44,6 @@ jobs:
     with:
       label: ${{ inputs.label || 'windows-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: ${{ inputs.cmake-args }}
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
       ctest-args: ${{ inputs.ctest-args }}
-      fastdds_branch: ${{ inputs.fastdds_branch || github.ref || 'master' }}
+      fastdds_branch: ${{ inputs.fastdds_branch || github.ref || '2.13.x' }}