diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index a99b6c14..1b832ce1 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -50,6 +50,8 @@ jobs:
       - name: dependencies
         run: |
           apt update
+          # Workaround. Remove when https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521 solved
+          apt install -y python3.9-dev
           apt install -y python3-colcon-metadata python3-pip
           rosdep update --rosdistro $ROS_DISTRO
           rosdep install -y --from-paths src --ignore-src -y
@@ -192,9 +194,16 @@ jobs:
       - name: Dependencies
         run: |
           apt update
-          apt install -y python3-colcon-metadata python3-pip
-          rosdep update --rosdistro $ROS_DISTRO
-          rosdep install -y --from-paths src --ignore-src -y
+          # Workaround. Remove when https://discourse.ros.org/t/preparing-for-rolling-sync-delayed-by-python-3-10-transition/24521 solved
+          apt install -y python3.9-dev
+          # Install last version of CMake
+          apt install -y apt-transport-https ca-certificates gnupg software-properties-common wget
+          wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | sudo tee /etc/apt/trusted.gpg.d/kitware.gpg >/dev/null
+          apt-add-repository 'deb https://apt.kitware.com/ubuntu/ focal main'
+          apt-get update
+          apt install -y python3-colcon-metadata python3-pip cmake
+          rosdep update --os=ubuntu:jammy --rosdistro $ROS_DISTRO
+          rosdep install --os=ubuntu:jammy -y --from-paths src --ignore-src -y
 
       - uses: actions/download-artifact@v1
         with:
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index a9b1dda2..620e9680 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -362,8 +362,10 @@ jobs:
         include:
           - distro: foxy
             branch: foxy
-          # - distro: rolling
-          #  branch: main
+          - distro: rolling
+           branch: main
+          - distro: galactic
+            branch: galactic
 
     needs: micro_ros_build
     container: ros:${{ matrix.distro }}