diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 289a9e56..c64901f6 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -55,6 +55,7 @@ jobs:
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
 
       - uses: actions/download-artifact@v1
         with:
@@ -194,6 +195,7 @@ jobs:
       - name: Dependencies
         run: |
           apt update
+          apt upgrade -y
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index ffde638f..a7f94ab5 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -379,9 +379,12 @@ 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
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
+          apt install -y ros-${ROS_DISTRO}-rmw-fastrtps-cpp
 
       - uses: actions/download-artifact@v1
         with: