diff --git a/.github/ignition_packages_installation.sh b/.github/ignition_packages_installation.sh
new file mode 100755
index 0000000..84ac7dc
--- /dev/null
+++ b/.github/ignition_packages_installation.sh
@@ -0,0 +1,72 @@
+#! /bin/bash
+
+#######################################
+# Pulls apt keys from a few well known keyservers.
+#
+# We've seen the "default" keyserver (p80.pool.sks-keyservers.net) fail somewhat
+# often.  This function will try the default, followed by some alternates to
+# reduce the number of times builds fail because of key problems.
+#
+# Arguments
+#    $1 -> apt key
+# Asserts
+#    That apt key pulling was successful.
+#######################################
+pull_apt_keys() {
+    success=0
+    for keyserver in hkp://p80.pool.sks-keyservers.net:80 hkp://pgp.mit.edu:80 hkp://keyserver.ubuntu.com:80 ; do
+        apt-key adv --keyserver $keyserver --recv-keys $1 || continue
+        success=1
+        return 0
+    done
+    return 1
+}
+
+#######################################
+# Installs apt repository into system wide sources list.
+#
+# Arguments
+#   $1 -> name of the repository, to be used as sources list prefix.
+#   $2 -> url of the repository.
+#   $3 -> apt key for the repository.
+#######################################
+install_apt_repo() {
+    REPO_NAME=$1
+    REPO_URL=$2
+    REPO_KEY=$3
+
+    if ! grep -q "^deb .*$REPO_URL" /etc/apt/sources.list /etc/apt/sources.list.d/*; then
+        echo "deb $REPO_URL $(lsb_release -cs) main" | \
+        tee --append /etc/apt/sources.list.d/$REPO_NAME.list > /dev/null
+        pull_apt_keys $REPO_KEY
+        echo "Apt Repo '$REPO_NAME'..........................installed"
+    else
+        echo "Apt Repo '$REPO_NAME'..........................found"
+    fi
+}
+
+#######################################
+# Install ignition packages.
+# Returns:
+#   0 if no error was detected, non-zero otherwise.
+#######################################
+function install_ignition_packages() {
+
+  install_apt_repo gazebo-stable \
+        http://packages.osrfoundation.org/gazebo/ubuntu-stable \
+        D2486D2DD83DB69272AFE98867170598AF249743
+
+  apt update
+  apt install -y \
+    libignition-cmake1-dev \
+    libignition-cmake2-dev \
+    libignition-common3-dev \
+    libignition-math6-dev \
+    libignition-msgs5-dev \
+    libignition-gui3-dev \
+    libignition-rendering3-dev \
+    libignition-tools-dev \
+    libignition-transport8-dev
+}
+
+install_ignition_packages
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 8030d1f..afb1ce7 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -85,26 +85,10 @@ jobs:
         fetch-depth: 0
         path: ${{ env.ROS_WS }}/src/drake_vendor
         token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_infrastructure
-        fetch-depth: 0
-        path: maliput_infrastructure
-        token: ${{ secrets.MALIPUT_TOKEN }}
     - name: check if dependencies have a matching branch
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src
       run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    # install delphyne prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
-    # install delphyne_gui prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne_gui prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne_gui
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
     # clone public dependencies
     - name: vcs import
       shell: bash
@@ -125,6 +109,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src/drake_vendor
       run: ./drake_installer
+    - name: install ignition packages
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/ignition_packages_installation.sh
     - name: colcon build libraries
       shell: bash
       working-directory: ${{ env.ROS_WS }}
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
index 4ccb865..5a38cf8 100644
--- a/.github/workflows/sanitizers.yml
+++ b/.github/workflows/sanitizers.yml
@@ -103,26 +103,10 @@ jobs:
         fetch-depth: 0
         path: ${{ env.ROS_WS }}/src/drake_vendor
         token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_infrastructure
-        fetch-depth: 0
-        path: maliput_infrastructure
-        token: ${{ secrets.MALIPUT_TOKEN }}
     - name: check if dependencies have a matching branch
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src
       run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    # install delphyne prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
-    # install delphyne_gui prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne_gui prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne_gui
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${PACKAGE_NAME}/.github/clang_suite_installation.sh
@@ -146,6 +130,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src/drake_vendor
       run: ./drake_installer
+    - name: install ignition packages
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/ignition_packages_installation.sh
     - name: colcon build libraries
       shell: bash
       working-directory: ${{ env.ROS_WS }}
diff --git a/.github/workflows/scan_build.yml b/.github/workflows/scan_build.yml
index 4c9edda..b2b1beb 100644
--- a/.github/workflows/scan_build.yml
+++ b/.github/workflows/scan_build.yml
@@ -90,26 +90,10 @@ jobs:
         fetch-depth: 0
         path: ${{ env.ROS_WS }}/src/drake_vendor
         token: ${{ secrets.MALIPUT_TOKEN }}
-    - uses: actions/checkout@v2
-      with:
-        repository: ToyotaResearchInstitute/maliput_infrastructure
-        fetch-depth: 0
-        path: maliput_infrastructure
-        token: ${{ secrets.MALIPUT_TOKEN }}
     - name: check if dependencies have a matching branch
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src
       run: ./${PACKAGE_NAME}/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
-    # install delphyne prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
-    # install delphyne_gui prereqs using maliput_infrastructure/tools/prereqs.lib
-    - name: install delphyne_gui prereqs
-      shell: bash
-      working-directory: ${{ env.ROS_WS }}/src/delphyne_gui
-      run: ${GITHUB_WORKSPACE}/maliput_infrastructure/tools/prereqs-install -t ignition .
     - name: clang 8 install
       shell: bash
       run: ${{ env.ROS_WS }}/src/${PACKAGE_NAME}/.github/clang_suite_installation.sh
@@ -133,6 +117,10 @@ jobs:
       shell: bash
       working-directory: ${{ env.ROS_WS }}/src/drake_vendor
       run: ./drake_installer
+    - name: install ignition packages
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ./${PACKAGE_NAME}/.github/ignition_packages_installation.sh
     - name: colcon build up-to
       shell: bash
       working-directory: ${{ env.ROS_WS }}