diff --git a/.github/workflows/ubuntu_test.yml b/.github/workflows/ubuntu_test.yml
index cce73ff676b..85ace839ffa 100644
--- a/.github/workflows/ubuntu_test.yml
+++ b/.github/workflows/ubuntu_test.yml
@@ -28,16 +28,12 @@ jobs:
       image: ubuntu:${{ matrix.distro }}
       env:
         CCACHE_DIR: "${{ github.workspace }}/${{ matrix.distro }}/.ccache"
-        REGISTRY: ghcr.io
-        IMAGE_NAME: ${{ github.repository }}
-        PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-        BASEDIR: /opt
-        PREFIX: ${{ github.repository }}_
         DEBIAN_FRONTEND: noninteractive
         TZ: Etc/UTC
     steps:
       - name: Checkout repository
         uses: actions/checkout@v2
+        path: target_ws/src
 
       - name: Install Depends
         shell: bash
@@ -78,31 +74,25 @@ jobs:
         run: |
           ./.github/workflows/add_ros_apt_sources.sh
           apt install -y liboctomap-dev libfcl-dev libconsole-bridge-dev libbullet-dev libbullet-extras-dev libyaml-cpp-dev libtinyxml2-dev libassimp-dev liborocos-kdl-dev libpcl-dev liblapack-dev libboost-dev libboost-filesystem-dev libboost-serialization-dev libboost-program-options-dev libboost-graph-dev libbenchmark-dev libccd-dev libgtest-dev
-          mkdir -p ${BASEDIR}/${PREFIX}upstream_ws/src
-          vcs import --input "dependencies.repos" ${BASEDIR}/${PREFIX}upstream_ws/src/
-          cd ${BASEDIR}/${PREFIX}upstream_ws
+          mkdir -p ${{ github.workspace }}/upstream_ws/src
+          vcs import --input "dependencies.repos" ${{ github.workspace }}/upstream_ws/src/
+          cd ${{ github.workspace }}/upstream_ws
           colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
 
       - name: Build Target Workspace
         shell: bash
         run: |
-          mkdir -p ${BASEDIR}/${PREFIX}target_ws/src
-          cd ${{ github.workspace }}/${{ matrix.distro }}
+          cd ${{ github.workspace }}/target_ws/src
           ls
-          cd ${BASEDIR}/${PREFIX}target_ws/src
-          cp -r ${{ github.workspace }} ${BASEDIR}/${PREFIX}target_ws/src/
-          cd ${BASEDIR}/${PREFIX}target_ws/src/tesseract
-          ls
-          cd ${BASEDIR}/${PREFIX}target_ws
-          source ${BASEDIR}/${PREFIX}upstream_ws/install/setup.bash
+          source ${{ github.workspace }}/upstream_ws/install/setup.bash
           colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
           if [ $? -ge 1 ]; then return 1; fi
 
       - name: Run Tests
         shell: bash
         run: |
-          cd ${BASEDIR}/${PREFIX}target_ws
-          source ${BASEDIR}/${PREFIX}target_ws/install/setup.bash
+          cd ${{ github.workspace }}/target_ws
+          source ${{ github.workspace }}/target_ws/install/setup.bash
           colcon test --event-handlers console_direct+ --return-code-on-test-failure
           if [ $? -ge 1 ]; then return 1; fi
           colcon test-result --verbose