diff --git a/multiplatform/colcon_build_test/action.yml b/multiplatform/colcon_build_test/action.yml
index f0fca6e0..af5b10c6 100644
--- a/multiplatform/colcon_build_test/action.yml
+++ b/multiplatform/colcon_build_test/action.yml
@@ -22,6 +22,11 @@ inputs:
     required: false
     default: ''
 
+  ctest_extra_path:
+    description: 'Directories to be added to the system PATH when running tests'
+    required: false
+    default: ''
+
   cmake_build_type:
     description: 'Set the cmake build type'
     required: false
@@ -52,9 +57,10 @@ runs:
         cmake_build_type: ${{ inputs.cmake_build_type }}
 
     - name: Test
-      uses: eProsima/eProsima-CI/multiplatform/colcon_test@main
+      uses: eProsima/eProsima-CI/multiplatform/colcon_test@feature/extend-path
       with:
         workspace: ${{ inputs.workspace }}
         colcon_test_args: '--packages-select ${{ inputs.packages_names }} ${{ inputs.colcon_test_args }}'
         ctest_args: ' ${{ inputs.ctest_args }}'
+        extra_path: ${{ inputs.ctest_extra_path }}
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
diff --git a/multiplatform/colcon_test/action.yml b/multiplatform/colcon_test/action.yml
index f0309cf5..e2cab681 100644
--- a/multiplatform/colcon_test/action.yml
+++ b/multiplatform/colcon_test/action.yml
@@ -3,6 +3,11 @@ description: 'Execute colcon test command with arguments given'
 
 inputs:
 
+  extra_path:
+    description: 'Directories to be added to the system PATH when running tests'
+    required: false
+    default: ''
+
   colcon_test_args:
     description: 'args to pass to colcon test command (use ctest_args to set ctest arguments)'
     required: false
@@ -38,7 +43,7 @@ runs:
   steps:
 
     - name: Run in ubuntu
-      uses: eProsima/eProsima-CI/ubuntu/colcon_test@main
+      uses: eProsima/eProsima-CI/ubuntu/colcon_test@feature/extend-path
       if: runner.os == 'Linux'
       with:
         colcon_test_args: ${{ inputs.colcon_test_args }}
@@ -49,12 +54,13 @@ runs:
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
 
     - name: Run in windows
-      uses: eProsima/eProsima-CI/windows/colcon_test@main
+      uses: eProsima/eProsima-CI/windows/colcon_test@feature/extend-path
       if: runner.os == 'Windows'
       with:
         colcon_test_args: ${{ inputs.colcon_test_args }}
         colcon_test_args_default: ${{ inputs.colcon_test_args_default }}
         ctest_args: ${{ inputs.ctest_args }}
         ctest_args_default: ${{ inputs.ctest_args_default }}
+        extra_path: ${{ inputs.extra_path }}
         workspace: ${{ inputs.workspace }}
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
diff --git a/ubuntu/colcon_test/action.yml b/ubuntu/colcon_test/action.yml
index 0860fdc3..ebe8701b 100644
--- a/ubuntu/colcon_test/action.yml
+++ b/ubuntu/colcon_test/action.yml
@@ -3,6 +3,11 @@ description: 'Execute colcon test command with arguments given'
 
 inputs:
 
+  extra_path:
+    description: 'Directories to be added to the system PATH'
+    required: false
+    default: ''
+
   colcon_test_args:
     description: 'args to pass to colcon test command (use ctest_args to set ctest arguments)'
     required: false
@@ -46,6 +51,8 @@ runs:
           source ${{ inputs.workspace_dependencies }}/setup.bash
         fi
 
+        export PATH="$PATH:${{ inputs.extra_path }}"
+
         cd ${{ inputs.workspace }}
 
         colcon test \
diff --git a/windows/colcon_test/action.yml b/windows/colcon_test/action.yml
index 5f9ad12b..4977265f 100644
--- a/windows/colcon_test/action.yml
+++ b/windows/colcon_test/action.yml
@@ -3,6 +3,11 @@ description: 'Execute colcon test command with arguments given'
 
 inputs:
 
+  extra_path:
+    description: 'Directories to be added to the system PATH'
+    required: false
+    default: ''
+
   colcon_test_args:
     description: 'args to pass to colcon test command (use ctest_args to set ctest arguments)'
     required: false
@@ -47,6 +52,8 @@ runs:
           ${{ inputs.workspace_dependencies }}/setup.ps1
         }
 
+        $env:PATH+=";${{ inputs.extra_path }}"
+
         cd ${{ inputs.workspace }}
 
         colcon test `