diff --git a/.github/actions/install-apt-packages/action.yml b/.github/actions/install-apt-packages/action.yml
deleted file mode 100644
index fb8cdf89c6d..00000000000
--- a/.github/actions/install-apt-packages/action.yml
+++ /dev/null
@@ -1,18 +0,0 @@
-name: 'install-apt-packages'
-description: 'Install necessary apt packages'
-runs:
-  using: "composite"
-  steps:
-    - id: install-apt-packages
-      run: |
-        sudo apt-get update
-        sudo apt-get -y install \
-          curl \
-          grep \
-          libasio-dev \
-          libtinyxml2-dev \
-          python3 \
-          python3-pip \
-          software-properties-common \
-          wget
-      shell: bash
diff --git a/.github/workflows/sanitizer-tests.yaml b/.github/workflows/sanitizer-tests.yaml
index 92b28f86282..3f3481aeec3 100644
--- a/.github/workflows/sanitizer-tests.yaml
+++ b/.github/workflows/sanitizer-tests.yaml
@@ -35,10 +35,10 @@ jobs:
         FASTDDS_BRANCH: ${{ github.head_ref || github.event.inputs.fastdds_branch || '2.6.x' }}
 
     steps:
-      - name: Install wget
+      - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
-          packages: wget
+          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
@@ -70,9 +70,6 @@ jobs:
           cd ./src/fastrtps
           git checkout ${{ env.FASTDDS_BRANCH }}
 
-      - name: Install apt packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages
-
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with:
@@ -124,10 +121,10 @@ jobs:
       DEFAULT_DISCOVERY_SERVER_BRANCH: ${{ github.event.inputs.discovery_server_branch || 'v1.2.1' }}
 
     steps:
-      - name: Install wget
+      - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
-          packages: wget
+          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
       - name: Install colcon
         uses: eProsima/eProsima-CI/ubuntu/install_colcon@v0
@@ -163,9 +160,6 @@ jobs:
           repository: eProsima/Discovery-Server
           ref: ${{ env.DEFAULT_DISCOVERY_SERVER_BRANCH }}
 
-      - name: Install apt packages
-        uses: ./src/fastrtps/.github/actions/install-apt-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 f0f46351390..0104ca58baf 100644
--- a/.github/workflows/thread-sanitizer.yaml
+++ b/.github/workflows/thread-sanitizer.yaml
@@ -55,10 +55,10 @@ jobs:
         CXX: g++-12
 
     steps:
-      - name: Install wget
+      - name: Install apt packages
         uses: eProsima/eProsima-CI/ubuntu/install_apt_packages@v0
         with:
-          packages: wget
+          packages: curl grep libasio-dev libtinyxml2-dev python3 python3-pip software-properties-common wget
 
       - name: Setup CCache
         uses: eProsima/eProsima-CI/external/setup-ccache-action@v0
@@ -90,9 +90,6 @@ jobs:
           cd ./src/fastrtps
           git checkout ${{ env.FASTDDS_BRANCH }}
 
-      - name: Install apt packages
-        uses: ./src/fastrtps/.github/actions/install-apt-packages
-
       - name: Install GTest
         uses: eProsima/eProsima-CI/ubuntu/install_gtest@v0
         with: