diff --git a/.github/workflows/config/default_ci_2.10.x.repos b/.github/workflows/config/default_ci_2.10.x.repos
new file mode 100644
index 00000000000..e5a8ab31ec8
--- /dev/null
+++ b/.github/workflows/config/default_ci_2.10.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.0.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.3.0
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci_2.11.x.repos b/.github/workflows/config/default_ci_2.11.x.repos
new file mode 100644
index 00000000000..abef4e4e7b5
--- /dev/null
+++ b/.github/workflows/config/default_ci_2.11.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.1.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.3.1
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci_2.6.x.repos b/.github/workflows/config/default_ci_2.6.x.repos
new file mode 100644
index 00000000000..dafcf2fd3f7
--- /dev/null
+++ b/.github/workflows/config/default_ci_2.6.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.0.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.2.1
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/default_ci.repos b/.github/workflows/config/default_ci_master.repos
similarity index 100%
rename from .github/workflows/config/default_ci.repos
rename to .github/workflows/config/default_ci_master.repos
diff --git a/.github/workflows/config/nightly_2.10.x.repos b/.github/workflows/config/nightly_2.10.x.repos
new file mode 100644
index 00000000000..e5a8ab31ec8
--- /dev/null
+++ b/.github/workflows/config/nightly_2.10.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.0.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.3.0
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/nightly_2.11.x.repos b/.github/workflows/config/nightly_2.11.x.repos
new file mode 100644
index 00000000000..abef4e4e7b5
--- /dev/null
+++ b/.github/workflows/config/nightly_2.11.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.1.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.3.1
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/nightly_2.6.x.repos b/.github/workflows/config/nightly_2.6.x.repos
new file mode 100644
index 00000000000..dafcf2fd3f7
--- /dev/null
+++ b/.github/workflows/config/nightly_2.6.x.repos
@@ -0,0 +1,13 @@
+repositories:
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 1.0.x
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.2.1
+    googletest-distribution:
+        type: git
+        url: https://github.com/google/googletest.git
+        version: release-1.11.0
diff --git a/.github/workflows/config/nightly.repos b/.github/workflows/config/nightly_master.repos
similarity index 100%
rename from .github/workflows/config/nightly.repos
rename to .github/workflows/config/nightly_master.repos
diff --git a/.github/workflows/nightly-windows-ci.yml b/.github/workflows/nightly-windows-ci.yml
index 3d1555cc816..6f17afa6bd8 100644
--- a/.github/workflows/nightly-windows-ci.yml
+++ b/.github/workflows/nightly-windows-ci.yml
@@ -12,6 +12,7 @@ jobs:
       label: 'nightly-sec-windows-ci'
       cmake-args: "-DSECURITY=ON"
       ctest-args: "-LE xfail"
+      fastdds_branch: 'master'
 
   nightly-nosec-windows-ci:
     uses: ./.github/workflows/reusable-windows-ci.yml
@@ -19,3 +20,4 @@ jobs:
       label: 'nightly-nosec-windows-ci'
       cmake-args: "-DSECURITY=OFF"
       ctest-args: "-LE xfail"
+      fastdds_branch: 'master'
diff --git a/.github/workflows/reusable-windows-ci.yml b/.github/workflows/reusable-windows-ci.yml
index f063e9dd604..8df3231f08c 100644
--- a/.github/workflows/reusable-windows-ci.yml
+++ b/.github/workflows/reusable-windows-ci.yml
@@ -19,6 +19,10 @@ on:
         description: 'Extra arguments for ctest cli'
         required: false
         type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        required: true
+        type: string
 
 defaults:
   run:
@@ -135,6 +139,30 @@ jobs:
              # WER service is manual by default
              Start-Service WerSvc
 
+      - name: Install OpenSSL
+        uses: eProsima/eprosima-CI/windows/install_openssl@v0
+
+      - name: Update OpenSSL environment variables
+        run: |
+          # Update the environment
+          if (Test-Path -Path $Env:ProgramW6432\OpenSSL)
+          {
+            "OPENSSL64_ROOT=$Env:ProgramW6432\OpenSSL" | Out-File $Env:GITHUB_ENV -Append -Encoding OEM
+          }
+          elseif (Test-Path -Path $Env:ProgramW6432\OpenSSL-Win)
+          {
+            "OPENSSL64_ROOT=$Env:ProgramW6432\OpenSSL-Win" | Out-File $Env:GITHUB_ENV -Append -Encoding OEM
+          }
+          elseif (Test-Path -Path $Env:ProgramW6432\OpenSSL-Win64)
+          {
+            "OPENSSL64_ROOT=$Env:ProgramW6432\OpenSSL-Win64" | Out-File $Env:GITHUB_ENV -Append -Encoding OEM
+          }
+          else
+          {
+            Write-Error -Message "Cannot find OpenSSL installation."
+            exit 1
+          }
+
       - name: Install colcon and other python packages
         run: |
           pip3 install -U colcon-common-extensions vcstool colcon-mixin xmlschema
@@ -200,6 +228,7 @@ jobs:
           # clean up
           'build', 'googletest', 'gtest.log' | del -Recurse -Force
 
+<<<<<<< HEAD
       - name: Install OpenSSL
         uses: eProsima/eprosima-CI/windows/install_openssl@v0
 
@@ -208,6 +237,8 @@ jobs:
           # Update the environment
           "OPENSSL64_ROOT=$Env:ProgramW6432\OpenSSL" | Out-File $Env:GITHUB_ENV -Append -Encoding OEM
 
+=======
+>>>>>>> 7057142d6 (Fix Github windows CI (#3887))
       - name: Update known hosts file for DNS resolver testing
         if: ${{ !contains(github.event.pull_request.labels.*.name, 'no-test') }}
         run: |
@@ -348,13 +379,21 @@ jobs:
           # Nightly job
           if ("${{ inputs.label }}".Contains("nightly"))
           {
-              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly.repos"
+              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_${{ inputs.fastdds_branch }}.repos"
+              if (!(Test-Path -Path $depends_repos_path))
+              {
+                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\nightly_master.repos"
+              }
               $meta_path = ".\src\fastrtps\.github\workflows\config\nightly.meta"
           }
           # Either PR or manual
           else
           {
-              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci.repos"
+              $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci_${{ inputs.fastdds_branch }}.repos"
+              if (!(Test-Path -Path $depends_repos_path))
+              {
+                $depends_repos_path = ".\src\fastrtps\.github\workflows\config\default_ci_master.repos"
+              }
               $meta_path = ".\src\fastrtps\.github\workflows\config\default_ci.meta"
           }
           Write-Output "Selected repos files: $depends_repos_path"
diff --git a/.github/workflows/windows-ci.yml b/.github/workflows/windows-ci.yml
index c8a0c81cafe..4d7c1a3a056 100644
--- a/.github/workflows/windows-ci.yml
+++ b/.github/workflows/windows-ci.yml
@@ -19,6 +19,10 @@ on:
         description: 'Extra arguments for ctest cli'
         required: false
         type: string
+      fastdds_branch:
+        description: 'Branch or tag of Fast DDS repository (https://github.com/eProsima/Fast-DDS)'
+        type: string
+        required: true
 
   push:
     branches:
@@ -50,3 +54,4 @@ jobs:
       colcon-args: ${{ inputs.colcon-args }}
       cmake-args: ${{ inputs.cmake-args }}
       ctest-args: ${{ inputs.ctest-args }}
+      fastdds_branch: ${{ inputs.fastdds_branch || github.base_ref || github.ref || 'master' }}