diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml
index df7a868..0fa28b5 100644
--- a/.github/workflows/reusable_ici.yml
+++ b/.github/workflows/reusable_ici.yml
@@ -90,6 +90,9 @@ jobs:
           UPSTREAM_WORKSPACE: ${{ steps.detect.outputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
           ROS_REPO: ${{ inputs.ros_repo }}
+          # Install CycloneDDS as the RMW implementation
+          ADDITIONAL_DEBS: ros-${{ inputs.ros_distro }}-rmw-cyclonedds-cpp
+          DOCKER_RUN_OPTS: -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
           BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ steps.detect.outputs.before_install }}
           AFTER_INSTALL_TARGET_DEPENDENCIES: ${{ steps.detect.outputs.pip_install }}
           BEFORE_INIT: ${{ secrets.CI_PAT != '' && format('apt-get update -qq && apt-get install -y -qq git && git config --global url."https://{0}@github.com/".insteadOf "https://github.com/"', secrets.CI_PAT) || '' }}