diff --git a/.github/workflows/ci_cd.yml b/.github/workflows/ci_cd.yml
index afc8684..d9ec256 100644
--- a/.github/workflows/ci_cd.yml
+++ b/.github/workflows/ci_cd.yml
@@ -16,11 +16,6 @@ jobs:
   build_sdist:
     name: Build source distribution
     runs-on: ubuntu-20.04
-    strategy:
-      fail-fast: false
-      matrix:
-        python-version:
-          - 3.8
 
     steps:
 
@@ -30,35 +25,33 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v2
         with:
-          python-version: ${{ matrix.python-version }}
+          python-version: 3.8
 
       - name: Install sdist dependencies
-        run: pip install wheel setuptools_scm cmake_build_extension
+        run: pip install build
 
       - name: Create sdist
-        run: python setup.py sdist
+        run: python -m build --sdist .
 
       - uses: actions/upload-artifact@v2
         with:
           path: dist/*.tar.gz
+          name: dist
 
   test_sdist:
     name: Test source distribution
-    needs: [ build_sdist ]
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
         python-version:
           - 3.8
+          - 3.9
 
     steps:
 
       - uses: actions/checkout@master
-      - uses: actions/download-artifact@v2
-        with:
-          name: artifact
-          path: dist
+      - run: git fetch --prune --unshallow
 
       - name: Set up Python
         uses: actions/setup-python@v2
@@ -71,42 +64,49 @@ jobs:
           sudo apt-add-repository "deb http://packages.osrfoundation.org/gazebo/ubuntu-$CHANNEL `lsb_release -cs` main"
           sudo apt-get update
           sudo apt-get install ignition-$IGNITION_DISTRIBUTION libprotobuf17
+          pip install wheel
         env:
           CHANNEL: stable
-          IGNITION_DISTRIBUTION: dome
+          IGNITION_DISTRIBUTION: edifice
 
-      - name: Install sdist
-        run: pip -v install dist/*.tar.gz
+      - name: Install Python package
+        run: pip install .[all]
 
       - name: Run tests
-        run: pip install pytest && pytest tests
+        run: pytest .
+        env:
+          IGN_GAZEBO_PHYSICS_ENGINE_PATH: /usr/lib/x86_64-linux-gnu
 
       - name: Valgrind
         if: failure()
         run: |
           sudo apt install valgrind
           pip install colour-valgrind
-          colour-valgrind pytest tests
+          colour-valgrind pytest .
+        env:
+          IGN_GAZEBO_PHYSICS_ENGINE_PATH: /usr/lib/x86_64-linux-gnu
 
   upload_pypi:
     name: Publish to PyPI
-    needs: [ test_sdist ]
+    needs:
+      - build_sdist
+      - test_sdist
     runs-on: ubuntu-20.04
     # Master branch produces pre-releases.
     # Tagged versions produce stable releases linked to GitHub releases.
-    if: |
-      github.repository == 'dic-iit/gazebo-scenario-plugins' &&
-      ((github.event_name == 'release' && github.event.action == 'published') ||
-       (github.event_name == 'push' && github.ref == 'refs/heads/master'))
 
     steps:
 
       - uses: actions/download-artifact@v2
         with:
-          name: artifact
+          name: dist
           path: dist
 
       - name: Publish to PyPI
+        if: |
+          github.repository == 'dic-iit/gazebo-scenario-plugins' &&
+          ((github.event_name == 'release' && github.event.action == 'published') ||
+           (github.event_name == 'push' && github.ref == 'refs/heads/master'))
         uses: pypa/gh-action-pypi-publish@master
         with:
           password: ${{ secrets.pypi_password }}