diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 9d12272..d7c985b 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -8,20 +8,6 @@ variables:
 services:
   - docker:dind
 
-# build:
-#   script:
-#     - colcon build --symlink-install --packages-up-to $PACKAGES_LIST
-#     - colcon test --packages-select $PACKAGES_LIST
-#   artifacts:
-#     paths:
-#       - install
-#       - build/*/test_results/*/*.xunit.xml
-#       - build/*/pytest.xml
-#     reports:
-#       junit:
-#         - build/*/test_results/*/*.xunit.xml
-#         - build/*/pytest.xml
-
 build_enabled:
   script:
     - vcs import < instrumentation.repos
@@ -29,6 +15,7 @@ build_enabled:
     - apt-get update
     - rosdep update
     - rosdep install --from-paths . --ignore-src --rosdistro dashing -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 libopensplice69 rti-connext-dds-5.3.1 urdfdom_headers"
+    - apt-get purge -y ros-dashing-fastrtps
     - lttng-sessiond --daemonize
     - colcon build --symlink-install --cmake-args " -DWITH_LTTNG=ON" --packages-up-to $PACKAGES_LIST
     - colcon test --packages-select $PACKAGES_LIST
diff --git a/ci_source_deps.repos b/ci_source_deps.repos
index a50b5f6..c6e4150 100644
--- a/ci_source_deps.repos
+++ b/ci_source_deps.repos
@@ -1,4 +1,12 @@
 repositories:
+  eProsima/Fast-RTPS:
+    type: git
+    url: https://github.com/eProsima/Fast-RTPS.git
+    version: master
+  ros2/rcpputils:
+    type: git
+    url: https://github.com/ros2/rcpputils.git
+    version: master
   ros2/rmw:
     type: git
     url: https://github.com/ros2/rmw.git
@@ -10,7 +18,7 @@ repositories:
   ros2/rmw_implementation:
     type: git
     url: https://github.com/ros2/rmw_implementation.git
-  ros2/rcpputils:
+  ros2/rosidl_typesupport_fastrtps:
     type: git
-    url: https://github.com/ros2/rcpputils.git
+    url: https://github.com/ros2/rosidl_typesupport_fastrtps.git
     version: master