diff --git a/.ci/build.sh b/.ci/build.sh
index d529a5353f..e9c5f801f8 100755
--- a/.ci/build.sh
+++ b/.ci/build.sh
@@ -6,9 +6,10 @@ trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
 trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
 
 VARIANT=$1
+PACKAGE_NAME=$2
 WORKSPACE=/tmp/workspace
 ARCH=$(uname -m)
-YAML_FILE=packages.yaml
+YAML_FILE=test.yaml
 ARTIFACTS_FOLDER=/tmp/artifacts
 
 ./.ci_scripts/package_build/install_ros.sh
@@ -24,10 +25,11 @@ sudo apt-get -y install ros-noetic-catkin python3-catkin-tools
 sudo apt-get -y install fakeroot dpkg-dev debhelper
 sudo pip3 install -U bloom
 
-REPOS=$(./.ci/parse_yaml.py $YAML_FILE $VARIANT $ARCH)
+REPOS=$(./.ci/get_repo_source.py $YAML_FILE $VARIANT $ARCH $PACKAGE_NAME)
+
+sudo apt install $ARTIFACTS_FOLDER/*.deb || echo "no artifacts to install"
 
 mkdir -p $WORKSPACE
-mkdir -p $ARTIFACTS_FOLDER
 
 cd $WORKSPACE
 mkdir src
@@ -78,7 +80,6 @@ for PACKAGE in $BUILD_ORDER; do
 
   fakeroot debian/rules "binary --parallel"
 
-  sudo apt-get -y install --allow-downgrades ../*.deb
   DEB_NAME=$(dpkg --field ../*.deb | grep Package | awk '{print $2}')
   mv ../*.deb $ARTIFACTS_FOLDER
 
@@ -86,10 +87,6 @@ for PACKAGE in $BUILD_ORDER; do
   ubuntu: [$DEB_NAME]
 " >> $ROSDEP_FILE
 
-  rosdep update
-
-  source /opt/ros/noetic/setup.bash
-
 done
 
 if [[ "$ARCH" != "x86_64" ]]; then
diff --git a/.ci/get_repo_source.py b/.ci/get_repo_source.py
new file mode 100755
index 0000000000..07a4b704af
--- /dev/null
+++ b/.ci/get_repo_source.py
@@ -0,0 +1,39 @@
+#!/usr/bin/python3
+
+import yaml
+import sys
+
+def main():
+
+    if len(sys.argv) == 5:
+        file_path = sys.argv[1]
+        variant = sys.argv[2]
+        build_for = sys.argv[3]
+        repo_name = sys.argv[4]
+    else:
+        return
+
+    with open(file_path, "r") as file:
+
+        try:
+            data = yaml.safe_load(file)
+        except yaml.YAMLError as exc:
+            print(exc)
+
+        properties = data[repo_name]
+
+        architecture = properties['architecture']
+
+        url = properties['source']
+
+        if build_for in architecture:
+
+            if variant == "stable":
+                ref = properties['stable_ref'] 
+            else:
+                ref = properties['unstable_ref'] 
+
+            print("{} {} {}".format(repo_name, url, ref))
+
+if __name__ == '__main__':
+    main()
diff --git a/.github/workflows/example.yml b/.github/workflows/example.yml
index 3815fd70d2..45e023ba80 100644
--- a/.github/workflows/example.yml
+++ b/.github/workflows/example.yml
@@ -55,19 +55,17 @@ jobs:
       - name: Load artifacts
         uses: actions/download-artifact@v3
         with:
-          name: debs
-          path: /tmp/debs/
+          name: artifacts
+          path: /tmp/artifacts/
       - id: execute
         run: |
-          echo "starting with:"
-          cat /tmp/debs/test.txt
-          echo ""
-          echo "This is job named ${{ matrix.job }}" >> /tmp/debs/test.txt
+          mkdir -p /tmp/artifacts
+          .ci/build.sh unstable ${{ matrix.job }}
       - name: Save artifacts
         uses: actions/upload-artifact@v3
         with:
-          name: debs
-          path: /tmp/debs/
+          name: artifacts
+          path: /tmp/artifacts/
 
   collect_artifacts:
     runs-on: ubuntu-20.04
@@ -76,8 +74,9 @@ jobs:
       - name: Load artifacts
         uses: actions/download-artifact@v3
         with:
-          name: debs
-          path: /tmp/debs/
+          name: artifacts
+          path: /tmp/artifacts/
       - id: execute
         run: |
-          cat /tmp/debs/test.txt
+          ls -la /tmp/artifacts
+          cat /tmp/artifacts/generated.yaml
diff --git a/test.yaml b/test.yaml
index c0a1724db2..7b951e3e0e 100644
--- a/test.yaml
+++ b/test.yaml
@@ -10,8 +10,8 @@ mrs_lib:
   unstable_ref: hw_api
   stable_ref: release
 
-mrs_uav_gazebo_simulation:
+mrs_uav_hw_api:
   architecture: [x86_64]
-  source: https://github.com/ctu-mrs/mrs_uav_gazebo_simulation
+  source: https://github.com/ctu-mrs/mrs_uav_hw_api
   unstable_ref: master
   stable_ref: release