diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 810ba5c..f144810 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -1,43 +1,20 @@
 name: build
 on:
-  push:
   pull_request:
+  push:
+    branches:
+      - main
   schedule:
     - cron: '35 0 * * *'
+  workflow_dispatch:
 
 jobs:
   build_and_test:
-    name: Build and test
-    runs-on: ubuntu-latest
-    container:
-      image: ubuntu:latest
-    steps:
-      - name: pwd
-        run: pwd
-      - name: deps
-        uses: ros-tooling/setup-ros@v0.2
-        with:
-          required-ros-distributions: rolling 
-      - name: build
-        uses: ros-tooling/action-ros-ci@v0.2
-        with:
-          target-ros2-distro: rolling
-          # build all packages listed in the meta package
-          package-name: |
-            rmf_utils
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/open-rmf/rmf/main/rmf.repos
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - name: Upload coverage to Codecov
-        uses: codecov/codecov-action@v1
-        with:
-          files: ros_ws/lcov/total_coverage.info
-          flags: tests
-          name: lean_and_mean_codecov_bot
-
+    name: rmf_utils
+    uses: open-rmf/rmf_ci_templates/.github/workflows/reusable_build.yaml@main
+    with:
+      # Avoid execution on [foxy|galactic] focal (
+      dist-matrix: '[{"ros_distribution": "humble", "ubuntu_distribution": "jammy"}, {"ros_distribution": "rolling", "ubuntu_distribution": "jammy"}]'
+      # NOTE: Avoid adding comments in the packages lines, this can break some of the called scripts in github actions
+      packages: |
+        rmf_utils
\ No newline at end of file
diff --git a/rmf_utils/include/rmf_utils/clone_ptr.hpp b/rmf_utils/include/rmf_utils/clone_ptr.hpp
index beaf46e..a1d23bc 100644
--- a/rmf_utils/include/rmf_utils/clone_ptr.hpp
+++ b/rmf_utils/include/rmf_utils/clone_ptr.hpp
@@ -39,7 +39,7 @@ class clone_ptr;
 
 //==============================================================================
 template<typename T, typename... Args>
-clone_ptr<T> make_clone(Args&&... args);
+clone_ptr<T> make_clone(Args&& ... args);
 
 //==============================================================================
 template<typename T>
@@ -194,7 +194,7 @@ class clone_ptr
 
 //==============================================================================
 template<typename T, typename... Args>
-clone_ptr<T> make_clone(Args&&... args)
+clone_ptr<T> make_clone(Args&& ... args)
 {
   return clone_ptr<T>(new T(std::forward<Args>(args)...));
 }
diff --git a/rmf_utils/include/rmf_utils/impl_ptr.hpp b/rmf_utils/include/rmf_utils/impl_ptr.hpp
index 52e9c2b..ec678db 100644
--- a/rmf_utils/include/rmf_utils/impl_ptr.hpp
+++ b/rmf_utils/include/rmf_utils/impl_ptr.hpp
@@ -320,7 +320,7 @@ inline bool operator>=(std::nullptr_t, const unique_impl_ptr<T, D>& p)
 
 
 template<class T, class... Args>
-inline unique_impl_ptr<T> make_unique_impl(Args&&... args)
+inline unique_impl_ptr<T> make_unique_impl(Args&& ... args)
 {
   return unique_impl_ptr<T>(new T(std::forward<Args>(
         args)...), &details::default_delete<T>);
@@ -474,14 +474,14 @@ class impl_ptr : public unique_impl_ptr<T, Deleter>
 };
 
 template<class T, class... Args>
-inline impl_ptr<T> make_impl(Args&&... args)
+inline impl_ptr<T> make_impl(Args&& ... args)
 {
   return impl_ptr<T>(new T(std::forward<Args>(
         args)...), &details::default_delete<T>, &details::default_copy<T>);
 }
 
 template<class U, class D, class... Args>
-impl_ptr<U> make_derived_impl(Args&&... args)
+impl_ptr<U> make_derived_impl(Args&& ... args)
 {
   return impl_ptr<U>(
     new D(std::forward<Args>(args)...),