diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b7bea37b..11f5d2fe 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@0.7.0
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
@@ -51,53 +51,54 @@ jobs:
           name: micro_ros_build_${{ inputs.ci_target_ref }}
           path: install
 
-  micro_ros_agent:
-    runs-on: ubuntu-latest
-    container:
-      image: ubuntu:jammy
-    strategy:
-      fail-fast: false
-    needs: micro_ros_build
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/micro_ros_setup
-          ref: ${{ inputs.ci_target_ref }}
-
-      - uses: ros-tooling/setup-ros@0.7.0
-        with:
-          use-ros2-testing: false
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-
-      - name: dependencies
-        run: |
-          apt update
-          apt install -y python3-pip
-          pip3 install colcon-common-extensions
-          apt install -y ros-${{ env.ROS_DISTRO }}-rmw-fastrtps-cpp
-          rosdep update --rosdistro ${{ env.ROS_DISTRO }}
-          rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y
-
-      - uses: actions/download-artifact@v1
-        with:
-          name: micro_ros_build_${{ inputs.ci_target_ref }}
-          path: install
-
-      # Workaround https://github.com/actions/upload-artifact/issues/38
-      - run: |
-          chmod +x -R install
-
-      - name: build
-        run: |
-          . /opt/ros/${{ env.ROS_DISTRO }}/setup.sh
-          . install/local_setup.sh
-          ros2 run micro_ros_setup create_agent_ws.sh
-          ros2 run micro_ros_setup build_agent.sh
-
-      - name: installation
-        run: |
-            (test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
+  # Skiped due to libfastcdr version 1 distributed en ROS 2 Rolling
+  # micro_ros_agent:
+  #   runs-on: ubuntu-latest
+  #   container:
+  #     image: ubuntu:jammy
+  #   strategy:
+  #     fail-fast: false
+  #   needs: micro_ros_build
+
+  #   steps:
+  #     - uses: actions/checkout@v4
+  #       with:
+  #         path: src/micro_ros_setup
+  #         ref: ${{ inputs.ci_target_ref }}
+
+  #     - uses: ros-tooling/setup-ros@0.7.7
+  #       with:
+  #         use-ros2-testing: false
+  #         required-ros-distributions: ${{ env.ROS_DISTRO }}
+
+  #     - name: dependencies
+  #       run: |
+  #         apt update
+  #         apt install -y python3-pip
+  #         pip3 install colcon-common-extensions
+  #         apt install -y ros-${{ env.ROS_DISTRO }}-rmw-fastrtps-cpp
+  #         rosdep update --rosdistro ${{ env.ROS_DISTRO }}
+  #         rosdep install --rosdistro ${{ env.ROS_DISTRO }} -y --from-paths src --ignore-src -y
+
+  #     - uses: actions/download-artifact@v1
+  #       with:
+  #         name: micro_ros_build_${{ inputs.ci_target_ref }}
+  #         path: install
+
+  #     # Workaround https://github.com/actions/upload-artifact/issues/38
+  #     - run: |
+  #         chmod +x -R install
+
+  #     - name: build
+  #       run: |
+  #         . /opt/ros/${{ env.ROS_DISTRO }}/setup.sh
+  #         . install/local_setup.sh
+  #         ros2 run micro_ros_setup create_agent_ws.sh
+  #         ros2 run micro_ros_setup build_agent.sh
+
+  #     - name: installation
+  #       run: |
+  #           (test -f install/micro_ros_agent/lib/micro_ros_agent/micro_ros_agent) && true || false
 
   micro_ros_client:
     runs-on: ubuntu-latest
@@ -213,7 +214,7 @@ jobs:
           path: src/micro_ros_setup
           ref: ${{ inputs.ci_target_ref }}
 
-      - uses: ros-tooling/setup-ros@0.7.0
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}