diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b97260f41..d332ba657 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -81,6 +81,8 @@ jobs:
         mamba install ace asio boost eigen gazebo glew glfw gsl ipopt irrlicht libjpeg-turbo libmatio libode libxml2 opencv pkg-config portaudio qt sdl sdl2 sqlite tinyxml spdlog
         # Python 
         mamba install numpy swig
+        # Ignition
+        mamba install libignition-gazebo4
 
     # Additional dependencies useful only on Linux
     - name: Dependencies [Conda/Linux]
@@ -97,7 +99,7 @@ jobs:
       run: |
         mkdir -p build
         cd build
-        cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+        cmake -GNinja -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON -DROBOTOLOGY_USE_IGNITION:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
         # Disable options not tested on Conda for now
         # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
         cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF .
@@ -112,7 +114,7 @@ jobs:
         mamba install freeglut
         mkdir -p build
         cd build
-        cmake -G"Visual Studio 16 2019" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
+        cmake -G"Visual Studio 16 2019" -C ${GITHUB_WORKSPACE}/.ci/initial-cache.gh.cmake -DYCM_EP_ADDITIONAL_CMAKE_ARGS:STRING="-DMatlab_ROOT_DIR:PATH=${GHA_Matlab_ROOT_DIR} -DMatlab_MEX_EXTENSION:STRING=${GHA_Matlab_MEX_EXTENSION}" -DROBOTOLOGY_USES_MATLAB:BOOL=ON  -DROBOTOLOGY_USE_IGNITION:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}  ${{ matrix.project_tags_cmake_options }}  ..
         # Disable options not tested on Conda for now
         # Reference issue: https://github.com/robotology/robotology-superbuild/issues/563
         cmake -DROBOTOLOGY_USES_OCTAVE:BOOL=OFF  -DROBOTOLOGY_USES_PYTHON:BOOL=ON .