diff --git a/README.md b/README.md
index ccf33b5d..ab479e7f 100644
--- a/README.md
+++ b/README.md
@@ -152,6 +152,15 @@ For more information about versioning handle of this project, check following [f
   - Set a specific CMake version
 ---
 
+### macOS
+
+- [install_brew_packages](macos/install_brew_packages/action.yml)
+  - Install brew packages.
+- [install_python_packages](macos/install_python_packages/action.yml)
+  - Install python packages.
+- [install_colcon](macos/install_colcon/action.yml)
+  - Install colcon and its dependencies.
+
 ## Workflows
 
 There are several workflows implemented that build projects and upload them as artifacts.
diff --git a/VERSION b/VERSION
index cd9878b8..8b64394e 100644
--- a/VERSION
+++ b/VERSION
@@ -1,3 +1,3 @@
 VERSION_MAJOR 0
-VERSION_MINOR 8
-VERSION_PATCH 1
+VERSION_MINOR 9
+VERSION_PATCH 0
diff --git a/external/setup-python/action.yml b/external/setup-python/action.yml
index 6c46cdca..0897a9ef 100644
--- a/external/setup-python/action.yml
+++ b/external/setup-python/action.yml
@@ -31,7 +31,7 @@ runs:
   steps:
 
     - name: Setup python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: ${{ inputs.python-version }}
         python-version-file: ${{ inputs.python-version-file }}
diff --git a/macos/install_brew_packages/action.yml b/macos/install_brew_packages/action.yml
new file mode 100644
index 00000000..0ab677bc
--- /dev/null
+++ b/macos/install_brew_packages/action.yml
@@ -0,0 +1,45 @@
+name: 'install_brew_packages'
+description: 'Install brew packages'
+
+inputs:
+
+  packages:
+    description: 'Custom packages to install using brew'
+    required: true
+
+  update:
+    description: 'Update brew'
+    required: false
+    default: true
+
+  upgrade:
+    description: 'Upgrade already installed brew packages'
+    required: false
+    default: false
+
+runs:
+  using: composite
+  steps:
+
+    - name: install_brew_packages
+      run: |
+
+        echo "::group::Install brew packages ${{ inputs.packages }}"
+
+        # Update brew repos
+        if [ "${{ inputs.update }}" = "true" ]; then
+          brew update
+        fi
+
+        # Install custom packages
+        brew install \
+          ${{ inputs.packages }}
+
+        # Upgrade brew repos
+        if [ "${{ inputs.upgrade }}" = "true" ]; then
+          brew upgrade
+        fi
+
+        echo "::endgroup::"
+
+      shell: bash
diff --git a/macos/install_colcon/action.yml b/macos/install_colcon/action.yml
new file mode 100644
index 00000000..d85db658
--- /dev/null
+++ b/macos/install_colcon/action.yml
@@ -0,0 +1,18 @@
+name: 'install_colcon'
+description: 'Install colcon'
+
+runs:
+  using: composite
+  steps:
+
+    - name: Install colcon
+      uses: eProsima/eProsima-CI/macos/install_python_packages@main
+      with:
+        packages: 'setuptools==58.3.0 colcon-common-extensions colcon-mixin'
+        upgrade: false
+
+    - name: Download default colcon mixin
+      shell: bash
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+        colcon mixin update default
diff --git a/macos/install_python_packages/action.yml b/macos/install_python_packages/action.yml
new file mode 100644
index 00000000..7ff71e24
--- /dev/null
+++ b/macos/install_python_packages/action.yml
@@ -0,0 +1,54 @@
+name: 'install_python_packages'
+description: 'Install generic and required python packages with pip'
+
+inputs:
+
+  packages:
+    description: 'Custom packages to install using pip'
+    required: false
+    default: ''
+
+  upgrade:
+    description: 'Upgrade already installed packages'
+    required: false
+    default: false
+
+  requirements_file_name:
+    description: 'If set, the file name of a requirements.txt file'
+    required: false
+    default: ''
+
+runs:
+  using: composite
+  steps:
+
+    - name: install_python_packages
+      run: |
+
+        echo "::group::Install Python packages"
+
+        # Set upgrade flag
+        if [[ "${{ inputs.upgrade }}" == "true" ]]
+        then
+          export UPGRADE_FLAG="--upgrade"
+        else
+          export UPGRADE_FLAG=""
+        fi
+
+        # Install python packages if any
+        if [[ ! -z "${{ inputs.packages }}" ]]
+        then
+          pip3 install ${UPGRADE_FLAG} -U \
+            ${{ inputs.packages }}
+        fi
+
+        # Install requirements file if any
+        if [[ ! -z "${{ inputs.requirements_file_name }}" ]]
+        then
+          pip3 install ${UPGRADE_FLAG} -U \
+            -r ${{ inputs.requirements_file_name }}
+        fi
+
+        echo "::endgroup::"
+
+      shell: bash
diff --git a/multiplatform/colcon_build/action.yml b/multiplatform/colcon_build/action.yml
index 0013a142..c38d8a5d 100644
--- a/multiplatform/colcon_build/action.yml
+++ b/multiplatform/colcon_build/action.yml
@@ -47,9 +47,9 @@ runs:
   using: composite
   steps:
 
-    - name: Run in ubuntu
+    - name: Run in ubuntu or macOS
       uses: eProsima/eProsima-CI/ubuntu/colcon_build@main
-      if: runner.os == 'Linux'
+      if: runner.os == 'Linux' || runner.os == 'macOS'
       with:
         colcon_meta_file: ${{ inputs.colcon_meta_file }}
         colcon_build_args: ${{ inputs.colcon_build_args }}
diff --git a/multiplatform/colcon_test/action.yml b/multiplatform/colcon_test/action.yml
index b9eab9aa..568c2887 100644
--- a/multiplatform/colcon_test/action.yml
+++ b/multiplatform/colcon_test/action.yml
@@ -30,7 +30,7 @@ inputs:
   workspace:
     description: 'Workspace where built has been done'
     required: false
-    default: ''
+    default: '${{ github.workspace }}'
 
   workspace_dependencies:
     description: 'Workspace to source where dependencies are'
@@ -47,16 +47,16 @@ inputs:
 outputs:
   ctest_results_path:
     description: "Path to test results"
-    value: ${{ steps.test_ubuntu.outputs.ctest_results_path || steps.test_windows.outputs.ctest_results_path }}
+    value: ${{ steps.test_ubuntu_mac.outputs.ctest_results_path || steps.test_windows.outputs.ctest_results_path }}
 
 runs:
   using: composite
   steps:
 
-    - name: Run in ubuntu
-      id: test_ubuntu
+    - name: Run in ubuntu or macOS
+      id: test_ubuntu_mac
       uses: eProsima/eProsima-CI/ubuntu/colcon_test@main
-      if: runner.os == 'Linux'
+      if: runner.os == 'Linux' || runner.os == 'macOS'
       with:
         colcon_test_args: ${{ inputs.colcon_test_args }}
         colcon_test_args_default: ${{ inputs.colcon_test_args_default }}
diff --git a/multiplatform/install_colcon/action.yml b/multiplatform/install_colcon/action.yml
index 91a95318..0b9d2ebf 100644
--- a/multiplatform/install_colcon/action.yml
+++ b/multiplatform/install_colcon/action.yml
@@ -9,6 +9,10 @@ runs:
       uses: eProsima/eProsima-CI/ubuntu/install_colcon@main
       if: runner.os == 'Linux'
 
+    - name: Run in macOS
+      uses: eProsima/eProsima-CI/macos/install_colcon@main
+      if: runner.os == 'macOS'
+
     - name: Run in windows
       uses: eProsima/eProsima-CI/windows/install_colcon@main
       if: runner.os == 'Windows'
diff --git a/multiplatform/install_gtest/action.yml b/multiplatform/install_gtest/action.yml
index 4df01785..a04ce86f 100644
--- a/multiplatform/install_gtest/action.yml
+++ b/multiplatform/install_gtest/action.yml
@@ -17,9 +17,9 @@ runs:
   using: composite
   steps:
 
-    - name: Run in ubuntu
+    - name: Run in ubuntu or macOS
       uses: eProsima/eProsima-CI/ubuntu/install_gtest@main
-      if: runner.os == 'Linux'
+      if: runner.os == 'Linux' || runner.os == 'macOS'
       with:
         cmake_build_type: ${{ inputs.cmake_build_type }}
         version: ${{ inputs.version }}
diff --git a/multiplatform/install_python_packages/action.yml b/multiplatform/install_python_packages/action.yml
index a42ad4a0..7a0896e8 100644
--- a/multiplatform/install_python_packages/action.yml
+++ b/multiplatform/install_python_packages/action.yml
@@ -30,6 +30,14 @@ runs:
         upgrade: ${{ inputs.upgrade }}
         requirements_file_name: ${{ inputs.requirements_file_name }}
 
+    - name: Run in macOS
+      uses: eProsima/eProsima-CI/macos/install_python_packages@main
+      if: runner.os == 'macOS'
+      with:
+        packages: ${{ inputs.packages }}
+        upgrade: ${{ inputs.upgrade }}
+        requirements_file_name: ${{ inputs.requirements_file_name }}
+
     - name: Run in windows
       uses: eProsima/eProsima-CI/windows/install_python_packages@main
       if: runner.os == 'Windows'
diff --git a/multiplatform/junit_summary/action.yaml b/multiplatform/junit_summary/action.yaml
index fe70a770..da15977c 100644
--- a/multiplatform/junit_summary/action.yaml
+++ b/multiplatform/junit_summary/action.yaml
@@ -30,8 +30,8 @@ runs:
   using: composite
   steps:
 
-    - name: Run in ubuntu
-      if: runner.os == 'Linux'
+    - name: Run in ubuntu or macOS
+      if: runner.os == 'Linux' || runner.os == 'macOS'
       uses: eProsima/eProsima-CI/ubuntu/junit_summary@main
       with:
         junit_reports_dir: ${{ inputs.junit_reports_dir }}
diff --git a/ubuntu/install_python_packages/action.yml b/ubuntu/install_python_packages/action.yml
index 25a466d5..2c7b6ce9 100644
--- a/ubuntu/install_python_packages/action.yml
+++ b/ubuntu/install_python_packages/action.yml
@@ -36,13 +36,13 @@ runs:
 
         # Install python packages if any
         if [[ ! -z "${{ inputs.packages }}" ]] ; then
-          sudo pip3 install ${UPGRADE_FLAG} -U \
+          pip3 install ${UPGRADE_FLAG} -U \
             ${{ inputs.packages }}
         fi
 
         # Install requirements file if any
         if [[ ! -z "${{ inputs.requirements_file_name }}" ]] ; then
-          sudo pip3 install ${UPGRADE_FLAG} -U \
+          pip3 install ${UPGRADE_FLAG} -U \
             -r ${{ inputs.requirements_file_name }}
         fi
 
diff --git a/versions.md b/versions.md
index 5b22c9f5..a66b5f35 100644
--- a/versions.md
+++ b/versions.md
@@ -4,6 +4,7 @@ This file includes the released versions of **eProsima-CI** along with their con
 The [Forthcoming](#forthcoming) section includes those features added in `main` branch that are not yet in a stable release.
 
 - [Forthcoming](#forthcoming)
+- [v0.9.0](#v0.9.0)
 - [v0.8.0](#v0.8.0)
 - [v0.7.0](#v0.7.0)
 - [v0.6.0](#v0.6.0)
@@ -17,6 +18,21 @@ The [Forthcoming](#forthcoming) section includes those features added in `main`
 
 The upcoming release will include the following **features**:
 
+## v0.9.0
+
+This release includes the following **features**:
+
+- An action to install brew packages on macOS.
+- An action to install python packages on macOS.
+- An action to install colcon on macOS.
+- macOS support through the following multiplatform actions:
+  - `colcon_build`
+  - `colcon_test`
+  - `install_colcon`
+  - `install_gtest`
+  - `install_python_packages`
+  - `junit_summary`
+
 ## v0.8.0
 
 This release includes the following **features**: