diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 161996b..e9eafea 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -17,8 +17,6 @@ env:
 jobs:
   install-mira:
     runs-on: ubuntu-22.04
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
     steps:
       - name: Cache APT Packages
         uses: awalsh128/cache-apt-pkgs-action@v1.4.2
@@ -36,55 +34,52 @@ jobs:
           curl -o mira-installer-binary.sh https://www.mira-project.org/downloads/mira-installer-binary.sh
           chmod +x mira-installer-binary.sh
           ./mira-installer-binary.sh -s ubuntu-2204lts-x64 -d ${{ env.MIRA_PATH }}
-
-
-      # - name: Make ccache directory
-      #   run: mkdir -p ${{ env.CCACHE_DIR }}
-      # - name: Cache ccache
-      #   uses: actions/cache@v4
-      #   with:
-      #     path: ${{ env.CCACHE_DIR }}
-      #     key: ccache-${{ runner.os }}-${{ github.sha }}-${{ github.run_id }}
-      #     restore-keys: |
-      #       ccache-${{ runner.os }}-${{ github.sha }}
-      #       ccache-${{ runner.os }}
-
-
-      # - name: Checkout Repository
-      #   uses: actions/checkout@v4
-      # - name: Setup ROS 2
-      #   uses: ros-tooling/setup-ros@0.7.5
-      #   with:
-      #     required-ros-distributions: humble
-      # - name: Install dependencies
-      #   uses: ros-tooling/action-ros-ci@0.3.13
-      #   with:
-      #     package-name: |
-      #       scitos2
-      #       scitos2_behavior_tree
-      #       scitos2_charging_dock
-      #       scitos2_common
-      #       scitos2_core
-      #       scitos2_mira
-      #       scitos2_modules
-      #       scitos2_msgs
-      #     target-ros2-distro: humble
-      #     vcs-repo-file-url: ./.github/repos.repos
-      #     colcon-defaults: |
-      #       {
-      #         "build": {
-      #           "mixin": ["coverage-gcc", "coverage-pytest"]
-      #         },
-      #         "test": {
-      #           "mixin": ["coverage-pytest"]
-      #         }
-      #       }
-      #     skip-tests: false
-      # - name: Upload coverage reports to Codecov
-      #   uses: codecov/codecov-action@v4.4.1
-      #   with:
-      #     token: ${{ secrets.CODECOV_TOKEN }}
-      #     files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
-      #     flags: unittests
-      #     name: codecov-umbrella
-      #     slug: grupo-avispa/scitos2
+  install-scitos2:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout Repository
+        uses: actions/checkout@v4
+      - name: Cache
+        uses: actions/cache@v4
+        with:
+          path: ${{ github.workspace }}
+          key: scitos2-${{ runner.os }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            scitos2-${{ runner.os }}-${{ github.sha }}
+            scitos2-${{ runner.os }}
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.5
+        with:
+          required-ros-distributions: humble
+      - name: Install dependencies
+        uses: ros-tooling/action-ros-ci@0.3.13
+        with:
+          package-name: |
+            scitos2
+            scitos2_behavior_tree
+            scitos2_charging_dock
+            scitos2_common
+            scitos2_core
+            scitos2_mira
+            scitos2_modules
+            scitos2_msgs
+          target-ros2-distro: humble
+          vcs-repo-file-url: ./.github/repos.repos
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+          skip-tests: false
+      - name: Upload coverage reports to Codecov
+        uses: codecov/codecov-action@v4.4.1
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          files: ros_ws/lcov/total_coverage.info,ros_ws/coveragepy/.coverage
+          flags: unittests
+          name: codecov-umbrella
+          slug: grupo-avispa/scitos2