diff --git a/.github/actions/install-python-packages/action.yml b/.github/actions/install-python-packages/action.yml
deleted file mode 100644
index 4db9cbb814a..00000000000
--- a/.github/actions/install-python-packages/action.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-name: 'install-python-packages'
-description: 'Install necessary python packages'
-runs:
-  using: "composite"
-  steps:
-    - id: install-python-packages
-      run: |
-        sudo pip3 install -U \
-          empy==3.3.4 \
-          colcon-common-extensions \
-          colcon-mixin \
-          vcstool \
-          setuptools \
-          gcovr \
-          tomark \
-          xmltodict \
-          jsondiff \
-          pandas
-      shell: bash
diff --git a/.github/workflows/documentation-tests.yaml b/.github/workflows/documentation-tests.yaml
index 18a48cd3e60..eafe51beadc 100644
--- a/.github/workflows/documentation-tests.yaml
+++ b/.github/workflows/documentation-tests.yaml
@@ -9,7 +9,7 @@ on:
 
   push:
     branches:
-      - 'master'
+      - '2.6.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -17,7 +17,7 @@ on:
 
   pull_request:
     branches:
-      - 'master'
+      - '2.6.x'
     paths-ignore:
       - '**.md'
       - '**.txt'
@@ -93,9 +93,14 @@ jobs:
           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
-        run: |
-          pip3 install -r src/fastdds-docs/docs/requirements.txt
+        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: |
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index dadae5ac701..9dcfe7433d0 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -163,10 +163,16 @@ jobs:
             exit 1
           }
 
-      - name: Install colcon and other python packages
-        run: |
-          pip3 install -U colcon-common-extensions vcstool colcon-mixin xmlschema
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/windows/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/windows/install_python_packages@v0
+        with:
+          packages: vcstool xmlschema
 
+      - name: Patch colcon for issue with VS2022
+        run: |
           # patch colcon issue with visual studio 2022
           $patch = gci -Include build.py -Recurse `
                       -Path ((gcm colcon).source | Split-Path | Join-Path -ChildPath "..\Lib\site-packages\colcon_cmake\*")
diff --git a/.github/workflows/sanitizer-tests.yaml b/.github/workflows/sanitizer-tests.yaml
index 786c748d0a7..201f63c4ac6 100644
--- a/.github/workflows/sanitizer-tests.yaml
+++ b/.github/workflows/sanitizer-tests.yaml
@@ -31,15 +31,21 @@ jobs:
         FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || 'master' }}
 
     steps:
-      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+      - name: Install wget
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: wget
 
-      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
         with:
-          packages: vcstool
+          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
 
-      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
+      - name: Get fastrtps.repos file
+        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
         with:
           source_repository: eProsima/Fast-DDS
           source_repository_branch: ${{ env.FASTDDS_BRANCH }}
@@ -60,9 +66,6 @@ jobs:
       - name: Install apt packages
         uses: ./src/fastrtps/.github/actions/install-apt-packages
 
-      - name: Install Python packages
-        uses: ./src/fastrtps/.github/actions/install-python-packages
-
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with:
@@ -113,15 +116,21 @@ jobs:
       DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'v1.2.1' }}
 
     steps:
-      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+      - name: Install wget
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: wget
 
-      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
         with:
-          packages: vcstool
+          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
 
-      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
+      - name: Get fastrtps.repos file
+        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
         with:
           source_repository: eProsima/Fast-DDS
           source_repository_branch: ${{ env.FASTDDS_BRANCH }}
@@ -149,9 +158,6 @@ jobs:
       - name: Install apt packages
         uses: ./src/fastrtps/.github/actions/install-apt-packages
 
-      - name: Install Python packages
-        uses: ./src/fastrtps/.github/actions/install-python-packages
-
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with:
diff --git a/.github/workflows/thread-sanitizer.yaml b/.github/workflows/thread-sanitizer.yaml
index 712e001d4dc..10db4044a5d 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -54,15 +54,21 @@ jobs:
         CXX: g++-12
 
     steps:
-      - uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
+      - name: Install wget
+        uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
           packages: wget
 
-      - uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
+      - name: Install colcon
+        uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
+
+      - name: Install Python dependencies
+        uses: eProsima/eProsima-CI/ubuntu/install_python_packages@v0
         with:
-          packages: vcstool
+          packages: vcstool setuptools gcovr tomark xmltodict jsondiff pandas
 
-      - uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
+      - name: Get fastrtps.repos file
+        uses: eProsima/eProsima-CI/ubuntu/get_file_from_repo@v0
         with:
           source_repository: eProsima/Fast-DDS
           source_repository_branch: ${{ env.FASTDDS_BRANCH }}
@@ -83,9 +89,6 @@ jobs:
       - name: Install apt packages
         uses: ./src/fastrtps/.github/actions/install-apt-packages
 
-      - name: Install Python packages
-        uses: ./src/fastrtps/.github/actions/install-python-packages
-
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with: