diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e0130524..263a7539 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -24,7 +24,7 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
-      - uses: ros-tooling/setup-ros@0.7.7
+      - uses: ros-tooling/setup-ros@0.7.9
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
@@ -63,7 +63,7 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
-      - uses: ros-tooling/setup-ros@0.7.7
+      - uses: ros-tooling/setup-ros@0.7.9
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
@@ -205,7 +205,7 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
-      - uses: ros-tooling/setup-ros@0.7.7
+      - uses: ros-tooling/setup-ros@0.7.9
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
diff --git a/config/freertos/esp32/build.sh b/config/freertos/esp32/build.sh
index bf6e0b1f..3325c457 100755
--- a/config/freertos/esp32/build.sh
+++ b/config/freertos/esp32/build.sh
@@ -1,5 +1,8 @@
 EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_esp32_extensions
 
+# Source virtualenv
+source $FW_TARGETDIR/venv/bin/activate
+
 . $PREFIX/config/utils.sh
 
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
diff --git a/config/freertos/esp32/create.sh b/config/freertos/esp32/create.sh
index 19c420c6..00796724 100755
--- a/config/freertos/esp32/create.sh
+++ b/config/freertos/esp32/create.sh
@@ -1,4 +1,13 @@
 pushd $FW_TARGETDIR >/dev/null
+    # Create a virtual environment
+    python3 -m venv $FW_TARGETDIR/venv
+    source $FW_TARGETDIR/venv/bin/activate
+
+    # Install deps
+    pip3 install catkin_pkg empy lark-parser colcon-common-extensions
+
+    pip3 install virtualenv
+
     # Install toolchain
     mkdir toolchain
 
@@ -19,14 +28,13 @@ pushd $FW_TARGETDIR >/dev/null
             echo "Error: python3-pip package must be installed before continuing..."
             exit 1
         fi
-        pip3 install virtualenv --break-system-packages
         python3 esp-idf/tools/idf_tools.py install-python-env
 
         eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
         . $IDF_PATH/export.sh
 
-        pip3 install catkin_pkg lark-parser colcon-common-extensions --break-system-packages
+        pip3 install catkin_pkg lark-parser colcon-common-extensions
 
     popd >/dev/null
 
diff --git a/config/freertos/esp32/flash.sh b/config/freertos/esp32/flash.sh
index 3322c221..64c05585 100755
--- a/config/freertos/esp32/flash.sh
+++ b/config/freertos/esp32/flash.sh
@@ -3,6 +3,9 @@ EXTENSIONS_DIR=$FW_TARGETDIR/freertos_apps/microros_esp32_extensions
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
 export IDF_PATH=$FW_TARGETDIR/toolchain/esp-idf
 
+# Source virtualenv
+source $FW_TARGETDIR/venv/bin/activate
+
 eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
 . $IDF_PATH/export.sh
diff --git a/config/zephyr/generic/build.sh b/config/zephyr/generic/build.sh
index dcda6ab9..41bc9d12 100755
--- a/config/zephyr/generic/build.sh
+++ b/config/zephyr/generic/build.sh
@@ -1,6 +1,8 @@
 . $PREFIX/config/utils.sh
 
 pushd $FW_TARGETDIR >/dev/null
+    source $FW_TARGETDIR/venv/bin/activate
+
     source $FW_TARGETDIR/zephyrproject/zephyr/zephyr-env.sh
 
     export ZEPHYR_TOOLCHAIN_VARIANT=zephyr
diff --git a/config/zephyr/generic/create.sh b/config/zephyr/generic/create.sh
index d7671035..a468d927 100755
--- a/config/zephyr/generic/create.sh
+++ b/config/zephyr/generic/create.sh
@@ -18,8 +18,15 @@ export PATH=~/.local/bin:"$PATH"
 export ZEPHYR_VERSION="v0.12.4"
 export ARCH=$(uname -m)
 
+# Create a virtual environment
+python3 -m venv $FW_TARGETDIR/venv
+source $FW_TARGETDIR/venv/bin/activate
+
 # Install west
-pip3 install --user -U west --break-system-packages
+pip3 install west
+
+# Install requirements
+pip3 install catkin_pkg empy
 
 pushd $FW_TARGETDIR >/dev/null
 
@@ -31,7 +38,7 @@ pushd $FW_TARGETDIR >/dev/null
         west update
     popd >/dev/null
 
-    pip3 install -r zephyrproject/zephyr/scripts/requirements.txt --ignore-installed --break-system-packages
+    pip3 install -r zephyrproject/zephyr/scripts/requirements.txt --ignore-installed
 
     if [ "$PLATFORM" = "host" ]; then
         if [ "$ARCH" = "aarch64" ]; then
@@ -72,6 +79,6 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
 
     # Upgrade sphinx
-    pip install --force-reinstall Sphinx==4.2.0 --break-system-packages
+    pip install --force-reinstall Sphinx==4.2.0
 
 popd >/dev/null
diff --git a/config/zephyr/generic/flash.sh b/config/zephyr/generic/flash.sh
index 13fb4bef..136ce1fa 100755
--- a/config/zephyr/generic/flash.sh
+++ b/config/zephyr/generic/flash.sh
@@ -1,5 +1,7 @@
 pushd $FW_TARGETDIR > /dev/null
 
+source $FW_TARGETDIR/venv/bin/activate
+
 ZEPHYR_BUILD_DIR="$FW_TARGETDIR/build/zephyr"
 
 # Host platform (=native_posix) is special, as flashing is actually just executing the binary
diff --git a/config/zephyr/generic/package.xml b/config/zephyr/generic/package.xml
index fa5c301c..54bdb2e3 100644
--- a/config/zephyr/generic/package.xml
+++ b/config/zephyr/generic/package.xml
@@ -15,5 +15,6 @@
   <build_depend>gcc-multilib</build_depend>
   <build_depend>g++-multilib</build_depend>
   <build_depend>openocd</build_depend>
+  <build_depend>python3-venv</build_depend>
 
 </package>