diff --git a/.github/workflows/mac-ci.yml b/.github/workflows/mac-ci.yml
index db1ae41c21b..56f263873f2 100644
--- a/.github/workflows/mac-ci.yml
+++ b/.github/workflows/mac-ci.yml
@@ -51,7 +51,7 @@ jobs:
     with:
       label: ${{ inputs.label || 'mac-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
-      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }}'
+      cmake-args: '-DSECURITY=ON ${{ inputs.cmake-args }} -DTHIRDPARTY_Asio=FORCE'
       ctest-args: ${{ inputs.ctest-args }}
       fastdds-branch: ${{ inputs.fastdds_branch || github.ref || '2.6.x' }}
       use-ccache: ${{ ((inputs.use-ccache == true) && true) || false }}
diff --git a/.github/workflows/reusable-mac-ci.yml b/.github/workflows/reusable-mac-ci.yml
index c29a3a28626..9aa58344f51 100644
--- a/.github/workflows/reusable-mac-ci.yml
+++ b/.github/workflows/reusable-mac-ci.yml
@@ -52,6 +52,7 @@ jobs:
         uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
+          submodules: true
           ref: ${{ inputs.fastdds-branch }}
 
       - uses: eProsima/eProsima-CI/external/setup-python@v0
diff --git a/.github/workflows/reusable-sanitizers-ci.yml b/.github/workflows/reusable-sanitizers-ci.yml
index 3e35d06629c..1f2df8eb553 100644
--- a/.github/workflows/reusable-sanitizers-ci.yml
+++ b/.github/workflows/reusable-sanitizers-ci.yml
@@ -59,6 +59,7 @@ jobs:
         uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
+          submodules: true
           ref: ${{ inputs.fastdds_ref }}
 
       - name: Install Fix Python version
@@ -338,6 +339,7 @@ jobs:
         uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
+          submodules: true
           ref: ${{ inputs.fastdds_ref }}
 
       - name: Install Fix Python version
diff --git a/.github/workflows/reusable-ubuntu-ci.yml b/.github/workflows/reusable-ubuntu-ci.yml
index 46603b86ef8..0d0125b9340 100644
--- a/.github/workflows/reusable-ubuntu-ci.yml
+++ b/.github/workflows/reusable-ubuntu-ci.yml
@@ -87,6 +87,7 @@ jobs:
         uses: eProsima/eProsima-CI/external/checkout@v0
         with:
           path: src/fastrtps
+          submodules: true
           ref: ${{ inputs.fastdds-branch }}
 
       - name: Install Fix Python version
diff --git a/.github/workflows/ubuntu-ci.yml b/.github/workflows/ubuntu-ci.yml
index 09e74abfd30..24d5370dc33 100644
--- a/.github/workflows/ubuntu-ci.yml
+++ b/.github/workflows/ubuntu-ci.yml
@@ -64,7 +64,7 @@ jobs:
     with:
       # It would be desirable to have a matrix of ubuntu OS for this job, but due to the issue opened in this ticket:
       # https://github.com/orgs/community/discussions/128118 , it has been set as a single OS job.
-      os-image: 'ubuntu-20.04'
+      os-image: 'ubuntu-22.04'
       label: ${{ inputs.label || 'ubuntu-ci' }}
       colcon-args: ${{ inputs.colcon-args }}
       cmake-args: ${{ inputs.cmake-args }}