diff --git a/.gitlab-industrial-ci-kinetic-no-rosinstall.yml b/.gitlab-industrial-ci-kinetic-no-rosinstall.yml
index 14ba3a963c4d169648ae2caf2accb1e2299d79da..c659a2f4aad830062ff7a7d6ab021c117e348079 100644
--- a/.gitlab-industrial-ci-kinetic-no-rosinstall.yml
+++ b/.gitlab-industrial-ci-kinetic-no-rosinstall.yml
@@ -25,14 +25,14 @@ before_script:
   stage: build
   before_script:
     - apk add --update bash coreutils tar
-    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b legacy
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
     - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
     - docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
   script: .ci_config/gitlab.sh
   variables:
     ADDITIONAL_DEBS: curl
-    ROS_PARALLEL_JOBS: -j2 # keep this for now, since there seems to be memory limit issues in the ci VM
-    BEFORE_SCRIPT: bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE
+    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
+    AFTER_SETUP_UPSTREAM_WORKSPACE: rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE
     CMAKE_ARGS: -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context
   tags:
     - docker
diff --git a/.gitlab-industrial-ci-kinetic-with-rosinstall.yml b/.gitlab-industrial-ci-kinetic-with-rosinstall.yml
index 490770cb2a9ec16482140c417dda4a0a70fe6c7e..dee46b939cb092c1d15afd5f189cfd1075edbda2 100644
--- a/.gitlab-industrial-ci-kinetic-with-rosinstall.yml
+++ b/.gitlab-industrial-ci-kinetic-with-rosinstall.yml
@@ -25,17 +25,16 @@ before_script:
   stage: build
   before_script:
     - apk add --update bash coreutils tar
-    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config -b legacy
+    - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .ci_config
     - docker login ${ARTIFACT_DOCKER_URL} -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
     - docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
   script: .ci_config/gitlab.sh
   variables:
     ADDITIONAL_DEBS: curl
-    ROS_PARALLEL_JOBS: "-j2" # keep this for now, since there seems to be memory limit issues in the ci VM
-    UPSTREAM_WORKSPACE: file
-    ROSINSTALL_FILENAME: ".rosinstall"
-    BEFORE_SCRIPT: "bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE"
-    CATKIN_CONFIG: '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context --'
+    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
+    UPSTREAM_WORKSPACE: .rosinstall
+    AFTER_SETUP_UPSTREAM_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$CATKIN_WORKSPACE"
+    CMAKE_ARGS: '-DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context'
   tags:
     - docker