diff --git a/.gitlab-industrial-ci-kinetic-no-rosinstall.yml b/.gitlab-industrial-ci-kinetic-no-rosinstall.yml
index 52f541f25b05d134bafedb7ef777605819a6cff0..43aeb720e91f7686ae7dec4d26a0743f0b4fe445 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) $$CATKIN_WORKSPACE
+    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
+    AFTER_SETUP_TARGET_WORKSPACE: rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$current_ws
     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 80afb7ab7dc3d03496aa08d2f7b5e8e3a60e212b..a34d900235ca6736b98e1c3643049b928bd32798 100644
--- a/.gitlab-industrial-ci-kinetic-with-rosinstall.yml
+++ b/.gitlab-industrial-ci-kinetic-with-rosinstall.yml
@@ -25,17 +25,17 @@ 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) $$CATKIN_WORKSPACE"
-    CATKIN_CONFIG: '--cmake-args -DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context --'
+    PARALLEL_BUILDS: 2 # keep this for now, since there seems to be memory limit issues in the ci VM
+    UPSTREAM_WORKSPACE: .rosinstall
+    AFTER_SETUP_UPSTREAM_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$current_ws"
+    AFTER_SETUP_TARGET_WORKSPACE: "rosenv && bash <(curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/ci_run_entry_points.sh) $$current_ws"
+    CMAKE_ARGS: '-DCMAKE_CXX_FLAGS=-Wno-ignored-attributes -Wno-int-in-bool-context'
   tags:
     - docker
 
diff --git a/deploy/base/ros_entrypoint.bash b/deploy/base/ros_entrypoint.bash
index 0f3ec1f707f5bc2aa116e3ba44e464f20e0b06cd..a203d40d375b618aeb87b5e004fde27625a07ab3 100755
--- a/deploy/base/ros_entrypoint.bash
+++ b/deploy/base/ros_entrypoint.bash
@@ -3,5 +3,5 @@ set -e
 
 # setup application environment
 # shellcheck disable=SC1091
-source "/root/catkin_ws/install/setup.bash"
+source "/root/target_ws/install/setup.bash"
 exec "$@"