diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index a5b5211d..00a48494 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -12,20 +12,18 @@ jobs:
             matrix:
                 include:
                   - ros-distro: jazzy
-                    os: ubuntu-24.04
+                    pip-break-system-packages: true
                   - ros-distro: humble
-                    os: ubuntu-22.04
             fail-fast: false
-        runs-on: ${{ matrix.os }}
+        runs-on: ubuntu-latest
+        container: ros:${{ matrix.ros-distro }}-ros-core
         steps:
             # Checkout the repository
             - name: Checkout repository
               uses: actions/checkout@v2
-            # Set up ROS
-            - name: Set up ROS
-              uses: ros-tooling/setup-ros@v0.7
-              with:
-                required-ros-distributions: ${{ matrix.ros-distro }}
+            # Set up wget
+            - name: Set up wget, pip
+              run: apt update && apt install -y wget python3-pip
             # Get smc_storm for testing
             - name: Get smc_storm
               id: get_smc_storm
@@ -37,32 +35,34 @@ jobs:
                 echo SMC_STORM_PATH=$PWD/bin/ >> $GITHUB_OUTPUT
             # Update pip
             - name: Update pip
-              run: python -m pip install ${{ matrix.os == 'ubuntu-24.04' && '--break-system-packages' || '' }} --upgrade pip
-            # workaround python 3.12 issue
-            - name: Install special fork of js2py
-              run: |
-                pip install --break-system-packages git+https://github.com/felixonmars/Js2Py.git@py3.12
-              if: ${{ matrix.os == 'ubuntu-24.04' }}
+              run: python3 -m pip install ${{ matrix.pip-break-system-packages && '--break-system-packages' || '' }} --upgrade pip
+            # # workaround python 3.12 issue
+            # - name: Install special fork of js2py
+            #   run: |
+            #     pip install --break-system-packages git+https://github.com/felixonmars/Js2Py.git@py3.12
+            #   if: ${{ matrix.os == 'ubuntu-24.04' }}
             # install the packages
             - name: Install packages
               run: |
-                pip install ${{ matrix.os == 'ubuntu-24.04' && '--break-system-packages' || '' }} .
+                pip install ${{ matrix.pip-break-system-packages && '--break-system-packages' || '' }} .
             # this solves
             # E   ValueError: numpy.dtype size changed, may indicate binary incompatibility. Expected 96 from C header, got 88 from PyObject
-            - name: Downgrade numpy
-              run: |
-                pip install numpy==1.26.4
-              if: ${{ matrix.os == 'ubuntu-22.04' }}
+            # - name: Downgrade numpy
+            #   run: |
+            #     pip install numpy==1.26.4
+            #   if: ${{ matrix.os == 'ubuntu-22.04' }}
             # lint packages
             # TODO: add linting
             # Prepare ROS WS for the tests
             - name: Install ROS support pkgs
               run: |
-                source /opt/ros/${{ matrix.ros-distro }}/setup.bash
-                mkdir ros_interfaces_ws
-                cd ros_interfaces_ws
-                ln -s ../ros_support_interfaces src
-                colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+                bash -c "
+                  source /opt/ros/${{ matrix.ros-distro }}/setup.bash
+                  mkdir ros_interfaces_ws
+                  cd ros_interfaces_ws
+                  ln -s ../ros_support_interfaces src
+                  colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+                "
             # run the tests
             - name: Run tests
               run: |