diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 860b7193..27a72d12 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -55,6 +55,7 @@ jobs:
           # Workaround. Remove when https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521 solved
           apt install -y python3.9-dev
           apt install -y python3-colcon-metadata python3-pip
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
           rosdep update --os=ubuntu:jammy --rosdistro $ROS_DISTRO
           rosdep install --os=ubuntu:jammy -y --from-paths src --ignore-src -y
 
@@ -193,6 +194,7 @@ jobs:
       - name: Dependencies
         run: |
           apt update
+          apt upgrade -y
           # Workaround. Remove when https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521 solved
           apt install -y python3.9-dev
           # Install last version of CMake
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index ef368c7e..f7b2822c 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -389,7 +389,10 @@ jobs:
       - name: dependencies
         run: |
           apt update
+          # Workaround. Remove when https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521 solved
+          apt install -y python3.9-dev
           apt install -y python3-colcon-metadata python3-pip
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
           rosdep update --os=ubuntu:jammy --rosdistro $ROS_DISTRO
           rosdep install --os=ubuntu:jammy -y --from-paths src --ignore-src -y