diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index df16bfee..6668dddf 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -70,6 +70,11 @@ jobs:
     - name: Check install
       shell: bash -l {0}
       run: |
-        cd build
+        # Test CMake packages
+        cmake-package-check IWear --targets IWear::IWear
+        cmake-package-check WearableData --targets WearableData::WearableData
+        cmake-package-check WearableActuators --targets WearableActuators::WearableActuators
+        cmake-package-check HumanDynamicsEstimation --targets HumanDynamicsEstimation::HumanStateMsg
+        # Test python packages
         python -c "import wearables"
         python -c "import hde"
diff --git a/ci_env.yml b/ci_env.yml
index b11438a4..7dfd3a06 100644
--- a/ci_env.yml
+++ b/ci_env.yml
@@ -8,10 +8,12 @@ dependencies:
   - make
   - ninja
   - pkg-config
+  - python
   - pybind11
   - yarp
   - icub-main
   - idyntree
   - libmatio-cpp
-  - robometry
-  - osqp-eigen
+  - librobometry
+  - libosqp-eigen
+  - cmake-package-check