diff --git a/.gitlab-ci/docker-ros.yml b/.gitlab-ci/docker-ros.yml
index 6d2a99b..d41f7db 100644
--- a/.gitlab-ci/docker-ros.yml
+++ b/.gitlab-ci/docker-ros.yml
@@ -169,7 +169,7 @@ run-arm64:
 
 .test:
   variables:
-    RMW_IMPLEMENTATION: rmw_cyclonedds_cpp # avoid missing rmw_zenoh_cpp errors, if used
+    UNDERLAY: /opt/ws_rmw_zenoh/install
     UPSTREAM_WORKSPACE: ${BUILD_CONTEXT}/.repos
     TARGET_WORKSPACE: ${BUILD_CONTEXT}
     ADDITIONAL_DEBS: git
diff --git a/action.yml b/action.yml
index 6ec7556..3b01dd6 100644
--- a/action.yml
+++ b/action.yml
@@ -226,7 +226,7 @@ runs:
       if: ${{ inputs.enable-industrial-ci == 'true' }}
       uses: ros-industrial/industrial_ci@master
       env:
-        RMW_IMPLEMENTATION: rmw_cyclonedds_cpp # avoid missing rmw_zenoh_cpp errors, if used
+        UNDERLAY: /opt/ws_rmw_zenoh/install
         UPSTREAM_WORKSPACE: ${{ inputs.build-context }}/.repos
         TARGET_WORKSPACE: ${{ inputs.build-context }}
         ADDITIONAL_DEBS: git