diff --git a/.github/workflows/reusable_build.yaml b/.github/workflows/reusable_build.yaml
index e4a4bb5..7261894 100644
--- a/.github/workflows/reusable_build.yaml
+++ b/.github/workflows/reusable_build.yaml
@@ -33,25 +33,16 @@ jobs:
       fail-fast: false
       matrix:
         include: ${{ fromJson(inputs.dist-matrix) }}
-
     name: Build and test
     runs-on: ubuntu-latest
     container:
       # TODO: check if "desktop" is really needed for the builds or tests
-      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-${{ matrix.ubuntu_distribution }}
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop-full-${{ matrix.ubuntu_distribution }}
     steps:
-      - name: install_clang_and_tools
-        run: sudo apt update && sudo apt install -y clang clang-tools lld wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
-      # TODO: Remove this step when the incompatibility between libunwind14 and libundind dissapears https://github.com/open-rmf/rmf_traffic_editor/issues/439
-      - name: Horrible hack for libceres
-        run: |
-          apt-get remove -y --purge libc++-dev || true
-          apt-get remove -y --purge libc++abi-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-14-dev || true
-          apt-get remove -y --purge libunwind-dev || true
-          apt -y autoremove
-        if: ${{ matrix.ubuntu_distribution == 'jammy'}}
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.7
+      - name: instal_tools
+        run: sudo apt update && sudo apt install -y wget python3-pip python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
       - name: create_blacklist
         run: |
           mkdir -p ${{ github.workspace }}/
@@ -64,21 +55,21 @@ jobs:
         run: |
           case ${{ inputs.mixin }} in
             asan)
-                echo 'colcon_defaults={"build":{"mixin":["asan-gcc","lld"],"cmake-args":["-DCMAKE_BUILD_TYPE=Debug"],"executor":"sequential"}}' >> $GITHUB_OUTPUT
+                echo 'colcon_defaults={"build":{"mixin":["asan-gcc"],"cmake-args":["-DCMAKE_BUILD_TYPE=Debug"],"executor":"sequential"}}' >> $GITHUB_OUTPUT
                 ;;
             tsan)
                 echo 'colcon_defaults={"build":{"mixin":["tsan"],"cmake-args":["-DCMAKE_BUILD_TYPE=Debug"]}}' >> $GITHUB_OUTPUT
                 ;;
             *)
-                echo 'colcon_defaults={"build": {"mixin": ["coverage-gcc", "lld" ]}}' >> $GITHUB_OUTPUT
+                echo 'colcon_defaults={"build": {"mixin": ["coverage-gcc"]}}' >> $GITHUB_OUTPUT
                 ;;
           esac
       - name: build_and_test
         uses: ros-tooling/action-ros-ci@v0.3
         env:
           LANG: en_US.UTF-8
-          CC: clang -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
-          CXX: clang++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
+          CC: gcc -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
+          CXX: g++ -fsanitize-blacklist=${{ github.workspace }}/blacklist.txt
           QT_QPA_PLATFORM: offscreen
           # We have some new_delete_type_mismatch errors that looks like to come from rclcpp
           ASAN_OPTIONS: detect_leaks=0:new_delete_type_mismatch=0