diff --git a/.github/workflows/build_ddspipe.yml b/.github/workflows/build_ddspipe.yml
index 54910637..dbb4ae01 100644
--- a/.github/workflows/build_ddspipe.yml
+++ b/.github/workflows/build_ddspipe.yml
@@ -24,11 +24,35 @@
 # MANUAL RUN:
 #  Running this workflow manually, the following arguments might be set:
 #
-#   built_configuration_branch: set a branch to download dependencies.repos and colcon.meta files from
-#                               this repository [Default: main]
+#   built_configuration_branch:       set a branch to download dependencies.repos and colcon.meta files from
+#                                     this repository [Default: main]
 #
-#   artifacts_name_postfix:     set the postfix name for the uploading artifact [Default: _manual]
-#                               Note: do not use "_nightly" in this argument, or other workflows may be affected
+#   artifacts_name_postfix:           set the postfix name for the uploading artifact [Default: _manual]
+#                                     Note: do not use "_nightly" in this argument, or other workflows may be affected
+#
+#   use_repos_file:                   flag to use .repos file instead of manually set repository branches.
+#                                     The .repos file will be downloaded from the eProsima-CI branch set in "built_configuration_branch".
+#
+#   ddspipe_branch:                   branch, tag or commit of eProsima/DDS-Pipe repository.
+#                                     Check available branches in https://github.com/eProsima/DDS-Pipe.
+#
+#   build_dev_utils:                  Flag to re-build eProsima/dev-utils.
+#                                     This will run build_dev_utils workflow and wait for the results.
+#
+#   dev_utils_branch:                 branch, tag or commit of eProsima/dev-utils repository.
+#                                     Check available branches in https://github.com/eProsima/dev-utils.
+#
+#   build_fastdds:                    Flag to re-build Fast DDS.
+#                                     This will run build_fastdds workflow and wait for the results.
+#
+#   foonathan_memory_vendor_branch:   branch, tag or commit of eProsima/foonathan_memory_vendor repository.
+#                                     Check available branches in https://github.com/eProsima/foonathan_memory_vendor.
+#
+#   fastcdr_branch:                   branch, tag or commit of eProsima/Fast-CDR repository.
+#                                     Check available branches in https://github.com/eProsima/Fast-CDR.
+#
+#   fastdds_branch:                   branch, tag or commit of eProsima/Fast-DDS repository.
+#                                     Check available branches in https://github.com/eProsima/Fast-DDS.
 #
 
 name: build_ddspipe
@@ -40,15 +64,78 @@ on:
     inputs:
 
       built_configuration_branch:
-        description: Branch or tag of eProsima-CI repository to get .repos and colcon.meta with which the workflow will be executed
+        description: Branch or tag of eProsima-CI repository to get .repos and colcon.meta with which the workflow will be executed.
         required: false
         default: main
 
+      use_repos_file:
+        description: >
+          Flag to use .repos file instead of manually set repository branches.
+          The .repos file will be downloaded from the eProsima-CI branch set in "built_configuration_branch".
+        required: false
+        type: boolean
+        default: true
+
       artifacts_name_postfix:
         description: Addition to artifacts name creation (do not use _nightly postfix when creating artifacts with specific arguments).
         required: false
         default: _manual
 
+      ddspipe_branch:
+        description: >
+          Branch, tag or commit of eProsima/DDS-Pipe repository.
+          Check available branches in https://github.com/eProsima/DDS-Pipe.
+        required: false
+        default: main
+
+      build_dev_utils:
+        description: >
+          Flag to re-build eProsima/dev-utils.
+          This will run build_dev_utils workflow and wait for the results.
+        required: false
+        type: boolean
+        default: false
+
+      dev_utils_branch:
+        description: >
+          Branch, tag or commit of eProsima/dev-utils repository.
+          Check available branches in https://github.com/eProsima/dev-utils.
+        required: false
+        type: string
+        default: main
+
+      build_fastdds:
+        description: >
+          Flag to re-build Fast DDS.
+          This will run build_fastdds workflow and wait for the results.
+        required: false
+        type: boolean
+        default: false
+
+      foonathan_memory_vendor_branch:
+        description: >
+          Branch, tag or commit of eProsima/foonathan_memory_vendor repository.
+          Check available branches in https://github.com/eProsima/foonathan_memory_vendor.
+        required: false
+        type: string
+        default: master
+
+      fastcdr_branch:
+        description: >
+          Branch, tag or commit of eProsima/Fast-CDR repository.
+          Check available branches in https://github.com/eProsima/Fast-CDR.
+        required: false
+        type: string
+        default: master
+
+      fastdds_branch:
+        description: >
+          Branch, tag or commit of eProsima/Fast-DDS repository.
+          Check available branches in https://github.com/eProsima/Fast-DDS.
+        required: false
+        type: string
+        default: master
+
   schedule:
 
     # Every night at 00:00
@@ -59,12 +146,30 @@ env:
   default_configuration_branch: main
   default_artifact_postfix: _nightly
   artifact_prefix: built_ddspipe
+  default_ddspipe_branch: main
 
 jobs:
 
+  build_dev_utils:
+
+    name: build_dev_utils
+    uses: eProsima/eProsima-CI/.github/workflows/build_dev_utils.yml@feature/manual-ddspipe-build
+    if: inputs.build_dev_utils
+    with:
+      built_configuration_branch: ${{ inputs.built_configuration_branch }}
+      use_repos_file: ${{ inputs.use_repos_file }}
+      artifacts_name_postfix: ${{ inputs.artifacts_name_postfix }}
+      dev_utils_branch: ${{ inputs.dev_utils_branch }}
+      build_fastdds: ${{ inputs.build_fastdds }}
+      foonathan_memory_vendor_branch: ${{ inputs.foonathan_memory_vendor_branch }}
+      fastcdr_branch: ${{ inputs.fastcdr_branch }}
+      fastdds_branch: ${{ inputs.fastdds_branch }}
+
   build_ddspipe:
 
     name: build_ddspipe
+    if: ${{ always() }}
+    needs: build_dev_utils
     runs-on: ${{ matrix.os }}
     strategy:
       fail-fast: false
@@ -85,17 +190,6 @@ jobs:
 
     steps:
 
-      # TODO fix it
-      # - name: Wait for dev-utils workflow run to finish
-      #   uses: eProsima/eProsima-CI/external/wait-on-check-action@main
-      #   with:
-      #     check-name: build_dev_utils
-      #     ref: main
-      #     repo-token: ${{ secrets.GITHUB_TOKEN }}
-      #     allowed-conclusions: success,skipped,cancelled,failure
-      #     # each 30 seconds check if finished
-      #     wait-interval: 30
-
       - name: Sync this repository
         uses: eProsima/eProsima-CI/external/checkout@main
         with:
@@ -111,8 +205,16 @@ jobs:
         with:
           cmake_build_type: ${{ matrix.cmake_build_type }}
 
-      - name: Get dev_utils artifact
+      - name: Get dev-utils artifact
+        uses: eProsima/eProsima-CI/external/download-artifact@main
+        if: inputs.build_dev_utils
+        with:
+          name: built_dev_utils_${{ matrix.os }}_${{ matrix.cmake_build_type }}${{ inputs.artifacts_name_postfix || env.default_artifact_postfix }}
+          path: install
+
+      - name: Get dev-utils artifact
         uses: eProsima/eProsima-CI/multiplatform/download_dependency@main
+        if: (!inputs.build_dev_utils)
         with:
           artifact_name: built_dev_utils_${{ matrix.os }}_${{ matrix.cmake_build_type }}${{ inputs.artifacts_name_postfix || env.default_artifact_postfix }}
           workflow_source: build_dev_utils.yml
@@ -127,13 +229,33 @@ jobs:
           source_repository_branch: ${{ inputs.built_configuration_branch || env.default_configuration_branch }}
           colcon_meta_file_path: .github/workflows/configurations/metas/${{ matrix.os }}/colcon.meta
           repos_file_path: .github/workflows/configurations/ddspipe/dependencies.repos
+          colcon_meta_file_result: ${{ github.workspace }}/colcon.meta
+          repos_file_result: ${{ github.workspace }}/dependencies.repos
 
-      - name: Build and generate artifact
-        uses: eProsima/eProsima-CI/multiplatform/generate_dependency_artifact@main
+      - name: Fetch DDS Pipe repositories with vcs-tool
+        uses: eProsima/eProsima-CI/multiplatform/vcs_import@main
+        if: inputs.use_repos_file
         with:
           vcs_repos_file: ${{ github.workspace }}/dependencies.repos
-          artifact_name: ${{ env.artifact_prefix }}_${{ matrix.os }}_${{ matrix.cmake_build_type }}${{ inputs.artifacts_name_postfix || env.default_artifact_postfix }}
+          destination_workspace: ${{ github.workspace }}/src
+
+      - name: Fetch DDS Pipe repositories
+        uses: eProsima/eProsima-CI/multiplatform/fetch_ddspipe_manual@feature/manual-ddspipe-build
+        if: (!inputs.use_repos_file)
+        with:
+          ddspipe_branch: ${{ inputs.ddspipe_branch || env.default_ddspipe_branch }}
+          destination_workspace: ${{ github.workspace }}/src
+
+      - name: Build workspace
+        uses: eProsima/eProsima-CI/multiplatform/colcon_build@main
+        with:
           colcon_meta_file: ${{ github.workspace }}/colcon.meta
           workspace: ${{ github.workspace }}
           workspace_dependencies: install
           cmake_build_type: ${{ matrix.cmake_build_type }}
+
+      - name: Upload binaries
+        uses: eProsima/eProsima-CI/external/upload-artifact@main
+        with:
+          name: ${{ env.artifact_prefix }}_${{ matrix.os }}_${{ matrix.cmake_build_type }}${{ inputs.artifacts_name_postfix || env.default_artifact_postfix }}
+          path: ${{ github.workspace }}/install
diff --git a/.github/workflows/build_dev_utils.yml b/.github/workflows/build_dev_utils.yml
index b06e3ff7..b44f1887 100644
--- a/.github/workflows/build_dev_utils.yml
+++ b/.github/workflows/build_dev_utils.yml
@@ -21,8 +21,8 @@
 #  This workflow runs every night at 00:00 using latest version of dev-utils (main).
 #  It waits till Fast DDS workflow has finished.
 #
-# MANUAL RUN:
-#  Running this workflow manually, the following arguments might be set:
+# MANUAL RUN & WORKFLOW CALL:
+#  Running this workflow manually or from another workflow, the following arguments might be set:
 #
 #   built_configuration_branch:       set a branch to download dependencies.repos and colcon.meta files from
 #                                     this repository [Default: main]
@@ -53,6 +53,72 @@ name: build_dev_utils
 
 on:
 
+  workflow_call:
+
+    inputs:
+
+      built_configuration_branch:
+        description: >
+          Branch or tag of eProsima-CI repository to get .repos and colcon.meta with which the workflow will be executed.
+        required: false
+        type: string
+        default: main
+
+      use_repos_file:
+        description: >
+          Flag to use .repos file instead of manually set repository branches.
+          The .repos file will be downloaded from the eProsima-CI branch set in "built_configuration_branch".
+        required: false
+        type: boolean
+        default: true
+
+      artifacts_name_postfix:
+        description: >
+          Addition to artifacts name creation (do not use _nightly postfix when creating artifacts with specific arguments).
+        required: false
+        type: string
+        default: _manual
+
+      dev_utils_branch:
+        description: >
+          Branch, tag or commit of eProsima/dev-utils repository.
+          Check available branches in https://github.com/eProsima/dev-utils.
+        required: false
+        type: string
+        default: main
+
+      build_fastdds:
+        description: >
+          Flag to re-build Fast DDS.
+          This will run build_fastdds workflow and wait for the results.
+        required: false
+        type: boolean
+        default: false
+
+      foonathan_memory_vendor_branch:
+        description: >
+          Branch, tag or commit of eProsima/foonathan_memory_vendor repository.
+          Check available branches in https://github.com/eProsima/foonathan_memory_vendor.
+        required: false
+        type: string
+        default: master
+
+      fastcdr_branch:
+        description: >
+          Branch, tag or commit of eProsima/Fast-CDR repository.
+          Check available branches in https://github.com/eProsima/Fast-CDR.
+        required: false
+        type: string
+        default: master
+
+      fastdds_branch:
+        description: >
+          Branch, tag or commit of eProsima/Fast-DDS repository.
+          Check available branches in https://github.com/eProsima/Fast-DDS.
+        required: false
+        type: string
+        default: master
+
   workflow_dispatch:
 
     inputs:
diff --git a/.github/workflows/build_fastdds.yml b/.github/workflows/build_fastdds.yml
index 2d0182ac..7581387e 100644
--- a/.github/workflows/build_fastdds.yml
+++ b/.github/workflows/build_fastdds.yml
@@ -18,8 +18,8 @@
 # SCHEDULE:
 #  This workflow runs every night at 00:00 using latest version of Fast DDS (master).
 #
-# MANUAL RUN:
-#  Running this workflow manually, the following arguments might be set:
+# MANUAL RUN & WORKFLOW CALL:
+#  Running this workflow manually or from another workflow, the following arguments might be set:
 #
 #   built_configuration_branch:       set a branch to download colcon.meta file from this repository [Default: main]
 #
diff --git a/README.md b/README.md
index db7fc8f9..106ae294 100644
--- a/README.md
+++ b/README.md
@@ -79,12 +79,15 @@ For more information about versioning handle of this project, check following [f
 - [download_dependency](multiplatform/download_dependency/action.yml)
   - Download an artifact previously generated from a workflow run.
 
-- [fetch_fastdds_manual](multiplatform/fetch_fastdds_manual/action.yml)
-  - Download Fast DDS and its eProsima dependencies setting the specific version of each repository.
-
 - [fetch_dev_utils_manual](multiplatform/fetch_dev_utils_manual/action.yml)
   - Download eProsima/dev-utils setting the specific version of each repository.
 
+- [fetch_ddspipe_manual](multiplatform/fetch_ddspipe_manual/action.yml)
+  - Download eProsima/dev-utils setting the specific version of each repository.
+
+- [fetch_fastdds_manual](multiplatform/fetch_fastdds_manual/action.yml)
+  - Download Fast DDS and its eProsima dependencies setting the specific version of each repository.
+
 - [generate_dependency_artifact](multiplatform/generate_dependency_artifact/action.yml)
   - Build a project and upload the installed objects as an artifact.
 
diff --git a/multiplatform/fetch_ddspipe_manual/action.yml b/multiplatform/fetch_ddspipe_manual/action.yml
new file mode 100644
index 00000000..306ece9a
--- /dev/null
+++ b/multiplatform/fetch_ddspipe_manual/action.yml
@@ -0,0 +1,34 @@
+name: fetch_ddspipe_manual
+description: Download eProsima/DDS-Pipe setting the specific version of each repository
+
+inputs:
+
+  ddspipe_branch:
+    description: >
+      Branch, tag or commit of eProsima/DDS-Pipe repository.
+      Check available branches in https://github.com/eProsima/DDS-Pipe.
+    required: false
+    default: master
+
+  destination_workspace:
+    description: 'Workspace where the repositories are downloaded'
+    required: false
+    default: '${{ github.workspace }}'
+
+runs:
+  using: composite
+  steps:
+
+    - name: Run in ubuntu
+      uses: eProsima/eProsima-CI/ubuntu/fetch_ddspipe_manual@feature/manual-ddspipe-build
+      if: runner.os == 'Linux'
+      with:
+        ddspipe_branch: ${{ inputs.ddspipe_branch }}
+        destination_workspace: ${{ inputs.destination_workspace }}
+
+    - name: Run in windows
+      uses: eProsima/eProsima-CI/windows/fetch_ddspipe_manual@feature/manual-ddspipe-build
+      if: runner.os == 'Windows'
+      with:
+        ddspipe_branch: ${{ inputs.ddspipe_branch }}
+        destination_workspace: ${{ inputs.destination_workspace }}
diff --git a/ubuntu/fetch_ddspipe_manual/action.yml b/ubuntu/fetch_ddspipe_manual/action.yml
new file mode 100644
index 00000000..a9907a8b
--- /dev/null
+++ b/ubuntu/fetch_ddspipe_manual/action.yml
@@ -0,0 +1,36 @@
+name: fetch_ddspipe_manual
+description: Download eProsima/DDS-Pipe setting the specific version of each repository
+
+inputs:
+
+  ddspipe_branch:
+    description: >
+      Branch, tag or commit of eProsima/DDS-Pipe repository.
+      Check available branches in https://github.com/eProsima/DDS-Pipe.
+    required: false
+    default: master
+
+  destination_workspace:
+    description: 'Workspace where the repositories are downloaded'
+    required: false
+    default: '${{ github.workspace }}'
+
+runs:
+  using: composite
+  steps:
+
+    - name: fetch_ddspipe_manual
+      run: |
+
+        echo "::group::Manually clone DDS Pipe repository"
+
+        echo "Downloading following dependencies:"
+        echo "  - DDS Pipe: ${{ inputs.ddspipe_branch }}"
+
+        mkdir -p ${{ inputs.destination_workspace }}
+        cd ${{ inputs.destination_workspace }}
+        git clone --branch ${{ inputs.ddspipe_branch }} https://github.com/eProsima/DDS-Pipe.git
+
+        echo "::endgroup::"
+
+      shell: bash
diff --git a/windows/fetch_ddspipe_manual/action.yml b/windows/fetch_ddspipe_manual/action.yml
new file mode 100644
index 00000000..54c09add
--- /dev/null
+++ b/windows/fetch_ddspipe_manual/action.yml
@@ -0,0 +1,36 @@
+name: fetch_ddspipe_manual
+description: Download eProsima/DDS-Pipe setting the specific version of each repository
+
+inputs:
+
+  ddspipe_branch:
+    description: >
+      Branch, tag or commit of eProsima/DDS-Pipe repository.
+      Check available branches in https://github.com/eProsima/DDS-Pipe.
+    required: false
+    default: master
+
+  destination_workspace:
+    description: 'Workspace where the repositories are downloaded'
+    required: false
+    default: '${{ github.workspace }}'
+
+runs:
+  using: composite
+  steps:
+
+    - name: fetch_ddspipe_manual
+      shell: pwsh
+      run: |
+
+        "::group::Manually clone DDS Pipe repository"
+
+        Write-Host 'Downloading following dependencies:'
+        Write-Host '  - DDS Pipe: ${{ inputs.ddspipe_branch }}'
+
+        New-Item -ItemType Directory -Force -Path ${{ inputs.destination_workspace }}
+        Set-Location -Path ${{ inputs.destination_workspace }}
+
+        git clone --branch ${{ inputs.ddspipe_branch }} https://github.com/eProsima/DDS-Pipe.git
+
+        "::endgroup::"