diff --git a/.github/dependencies.repos b/.github/dependencies.repos
index 632083d..5eff6f7 100644
--- a/.github/dependencies.repos
+++ b/.github/dependencies.repos
@@ -3,7 +3,7 @@ repositories:
     type: git
     url: https://github.com/ToyotaResearchInstitute/ament_cmake_doxygen
     version: main
-  pybind11:
+  maliput:
     type: git
-    url: https://github.com/RobotLocomotion/pybind11.git
-    version: c39ede1eedd4f39aa167d7b30b53ae45967c39b7
+    url: https://github.com/maliput/maliput
+    version: main
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index b483e77..1797a1d 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -1,6 +1,7 @@
 name: gcc
 
 on:
+  push:
   pull_request:
     branches:
       - main
@@ -9,7 +10,6 @@ on:
 env:
   PACKAGE_NAME: maliput_object
   ROS_DISTRO: foxy
-  ROS_WS: maliput_ws
 
 jobs:
   compile_and_test:
@@ -18,46 +18,11 @@ jobs:
     container:
       image: ubuntu:20.04
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
+    - uses: ros-tooling/setup-ros@v0.3
+    - uses: ros-tooling/action-ros-ci@v0.2
+      id: action_ros_ci_step
       with:
-        path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
-    # use setup-ros action to get vcs, rosdep, and colcon
-    - uses: ros-tooling/setup-ros@0.2.1
-    - name: vcs import
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
-    - name: check if dependencies have a matching branch
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src
-      run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    - run: colcon graph
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-    - name: rosdep install
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        rosdep update
-        rosdep install  -i -y --rosdistro ${ROS_DISTRO} --skip-keys "pybind11" --from-paths src
-    - name: colcon build
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon build --packages-up-to ${PACKAGE_NAME} \
-          --event-handlers=console_direct+
-    - name: colcon test
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}
-      run: |
-        . /opt/ros/${ROS_DISTRO}/setup.bash;
-        colcon test --packages-select ${PACKAGE_NAME} --event-handlers=console_direct+;
-        colcon test-result --verbose;
+        package-name: ${{ env.PACKAGE_NAME }}
+        target-ros2-distro: ${{ env.ROS_DISTRO }}
+        vcs-repo-file-url: ${GITHUB_WORKSPACE}/.github/dependencies.repos
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
index b61487f..e29b10f 100644
--- a/.github/workflows/sanitizers.yml
+++ b/.github/workflows/sanitizers.yml
@@ -35,11 +35,11 @@ jobs:
       CXX: clang++-8
       LDFLAGS: -fuse-ld=lld-8
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
     # use setup-ros action to get vcs, rosdep, and colcon
-    - uses: ros-tooling/setup-ros@0.2.1
+    - uses: ros-tooling/setup-ros@v0.3
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: true
     - name: clang 8 install
@@ -49,13 +49,6 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
     - name: check if dependencies have a matching branch
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src
diff --git a/.github/workflows/scan_build.yml b/.github/workflows/scan_build.yml
index fab9eaf..5630a6b 100644
--- a/.github/workflows/scan_build.yml
+++ b/.github/workflows/scan_build.yml
@@ -22,11 +22,11 @@ jobs:
       CXX: clang++-8
       LDFLAGS: -fuse-ld=lld-8
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v3
       with:
         path: ${{ env.ROS_WS }}/src/${{ env.PACKAGE_NAME }}
     # use setup-ros action to get vcs, rosdep, and colcon
-    - uses: ros-tooling/setup-ros@0.2.1
+    - uses: ros-tooling/setup-ros@v0.3
       env:
         ACTIONS_ALLOW_UNSECURE_COMMANDS: true
     - name: clang 8 install
@@ -36,13 +36,6 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}
       run: vcs import src < src/${PACKAGE_NAME}/.github/dependencies.repos
-    # clone private dependencies
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput
-        fetch-depth: 0
-        path: ${{ env.ROS_WS }}/src/maliput
-        token: ${{ secrets.MALIPUT_TOKEN }}
     - name: check if dependencies have a matching branch
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src