diff --git a/.github/workflows/functional.yml b/.github/workflows/functional.yml
index 179a15a5aa..54e23a39f3 100644
--- a/.github/workflows/functional.yml
+++ b/.github/workflows/functional.yml
@@ -32,7 +32,7 @@ jobs:
           outputs: type=docker,dest=/tmp/test-image.tar
 
       - name: Upload artifact
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         with:
           name: test-image
           path: /tmp/test-image.tar
@@ -78,7 +78,7 @@ jobs:
         uses: docker/setup-qemu-action@v1
 
       - name: Download artifact
-        uses: actions/download-artifact@v2
+        uses: actions/download-artifact@v4
         with:
           name: test-image
           path: /tmp
diff --git a/docker/build-ubi/04.install-fastdds.sh b/docker/build-ubi/04.install-fastdds.sh
index 4f733dff14..896bfdbbec 100755
--- a/docker/build-ubi/04.install-fastdds.sh
+++ b/docker/build-ubi/04.install-fastdds.sh
@@ -22,50 +22,103 @@
 
 dnf config-manager --set-enabled powertools
 
-yum -y install tinyxml2-devel boost-devel
+yum -y install tinyxml2-devel boost-devel yaml-cpp yaml-cpp-devel
 yum -y --nogpgcheck install https://dl.fedoraproject.org/pub/fedora/linux/releases/39/Everything/x86_64/os/Packages/a/asio-devel-1.28.1-2.fc39.x86_64.rpm
 
+
+# Fast-DDS
 mkdir /opt/Fast-DDS
-cd /opt/Fast-DDS
+
 
 #
 # foonathan_memory_vendor
 #
+cd /opt/Fast-DDS
 git clone https://github.com/eProsima/foonathan_memory_vendor.git
-mkdir foonathan_memory_vendor/build
 cd foonathan_memory_vendor
-git checkout v1.3.1 
+git checkout master
+mkdir build
 cd build
-
-cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON
+cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_SHARED_LIBS=ON
 cmake --build . --target install
 
+
 #
-# CDR
+# Fast-CDR
 #
 cd /opt/Fast-DDS
 git clone https://github.com/eProsima/Fast-CDR.git
-mkdir Fast-CDR/build
 cd Fast-CDR
-git checkout v2.1.3
+git checkout master
+mkdir build
 cd build
-cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON
+cmake ..
 cmake --build . --target install
 
+
 #
-# RTPS
+# Fast-DDS
 #
 cd /opt/Fast-DDS
 git clone https://github.com/eProsima/Fast-DDS.git
 cd Fast-DDS
-git checkout v2.13.3
+git checkout master
 mkdir build
+cd build
 
 ## Prevent glibc bug: https://stackoverflow.com/questions/30680550/c-gettid-was-not-declared-in-this-scope
-file_bug="/opt/Fast-DDS/Fast-DDS/src/cpp/utils/threading/threading_pthread.ipp"
-nl=$(grep -n "namespace eprosima" $file_bug | awk -F':' '{print $1 ; exit 0}')
-sed -i "${nl}i #include <unistd.h>\n#include <sys/syscall.h>\n#define gettid() syscall(SYS_gettid)\n" $file_bug
+#  Seems to be fixed already manually by eProsima
+# file_bug="/opt/Fast-DDS/Fast-DDS/src/cpp/utils/threading/threading_pthread.ipp"
+# nl=$(grep -n "namespace eprosima" $file_bug | awk -F':' '{print $1 ; exit 0}')
+# sed -i "${nl}i #include <unistd.h>\n#include <sys/syscall.h>\n#define gettid() syscall(SYS_gettid)\n" $file_bug
+
+cmake ..
+cmake --build . --target install
+
+
+#
+# DDS Dev Utils (2 packages in one)
+#
+cd /opt/Fast-DDS
+git clone https://github.com/eProsima/dev-utils.git
+cd dev-utils
+git checkout main
+
+mkdir -p build/cmake_utils
+cd build/cmake_utils
+cmake ../../cmake_utils
+cmake --build . --target install
+
+cd -
+mkdir -p build/cpp_utils
+cd build/cpp_utils
+cmake ../../cpp_utils
+cmake --build . --target install
+
+
+#
+# DDS Pipe (3 packages in one)
+#
+cd /opt/Fast-DDS
+git clone https://github.com/eProsima/DDS-Pipe.git
+cd DDS-Pipe
+git checkout main
+
 
+cd ddspipe_core
+mkdir build
+cd build
+cmake ..
+cmake --build . --target install
+
+cd ../../ddspipe_participants
+mkdir build
+cd build
+cmake ..
+cmake --build . --target install
+
+cd ../../ddspipe_yaml
+mkdir build
 cd build
-cmake ..  -DCMAKE_INSTALL_PREFIX=/usr/local/ -DBUILD_SHARED_LIBS=ON
+cmake ..
 cmake --build . --target install