diff --git a/.github/workflows/ci_ubuntu18_04_ros1.yml b/.github/workflows/ci_ubuntu18_04_ros1.yml
index 94aaaf2d006fcba231ba1f811b9f94e0aa3ba68d..f451c18af5273ac62ef722a1bf6a18a18598ce3d 100644
--- a/.github/workflows/ci_ubuntu18_04_ros1.yml
+++ b/.github/workflows/ci_ubuntu18_04_ros1.yml
@@ -19,6 +19,7 @@ jobs:
       # Setup the machines and build environment
       #
       - name: Install ROS.
+        id: ros_install
         uses: ros-tooling/setup-ros@v0.2
         with:
           required-ros-distributions: melodic
@@ -27,6 +28,15 @@ jobs:
       # Checkout the current branch
       #
       - uses: actions/checkout@v2
+      
+      #
+      # Clone the dependencies in the ROS workspace
+      #
+      - name: Clone dependencies in the current workspace.
+        shell: bash
+        run: |
+          cd ${{ steps.ros_install.outputs.ros-workspace-directory-name }}/src
+          git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
 
       #
       # Build and test the repo
diff --git a/.github/workflows/ci_ubuntu20_04_ros1.yml b/.github/workflows/ci_ubuntu20_04_ros1.yml
index 949f364539680896bb878ee215912d29bcf270e6..b93562d88a3f3862ee9793ff9a557b9cf0a5f2ff 100644
--- a/.github/workflows/ci_ubuntu20_04_ros1.yml
+++ b/.github/workflows/ci_ubuntu20_04_ros1.yml
@@ -28,6 +28,15 @@ jobs:
       #
       - uses: actions/checkout@v2
 
+      #
+      # Clone the dependencies in the ROS workspace
+      #
+      - name: Clone dependencies in the current workspace.
+        shell: bash
+        run: |
+          cd ${{ steps.ros_install.outputs.ros-workspace-directory-name }}/src
+          git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
+
       #
       # Build and test the repo
       #
diff --git a/.github/workflows/ci_ubuntu20_04_ros2.yml b/.github/workflows/ci_ubuntu20_04_ros2.yml
index 7ed47018cfafe6aa3163cb6e1b657d88aae0676b..51b8628e19934fe24f283f3bbc7928832c1bedbc 100644
--- a/.github/workflows/ci_ubuntu20_04_ros2.yml
+++ b/.github/workflows/ci_ubuntu20_04_ros2.yml
@@ -28,6 +28,15 @@ jobs:
       #
       - uses: actions/checkout@v2
 
+      #
+      # Clone the dependencies in the ROS workspace
+      #
+      - name: Clone dependencies in the current workspace.
+        shell: bash
+        run: |
+          cd ${{ steps.ros_install.outputs.ros-workspace-directory-name }}/src
+          git clone --recursive https://github.com/stack-of-tasks/dynamic_graph_bridge_msgs.git
+
       #
       # Build and test the repo
       #