diff --git a/.github/actions/platformio-env/action.yml b/.github/actions/platformio-env/action.yml
new file mode 100644
index 00000000..2f9fff18
--- /dev/null
+++ b/.github/actions/platformio-env/action.yml
@@ -0,0 +1,15 @@
+name: 'platformio-env'
+description: 'Install Platform.IO environment'
+runs:
+  using: "composite"
+  steps:
+    - id: install-platformio-env
+      shell: bash
+      run: |
+        sudo apt-get update
+        export DEBIAN_FRONTEND=noninteractive
+        sudo apt-get install -y git curl python3 python3-pip python3-venv git cmake
+        curl -fsSL -o get-platformio.py https://raw.githubusercontent.com/platformio/platformio-core-installer/master/get-platformio.py
+        python3 get-platformio.py
+        echo 'export PATH=$PATH:~/.platformio/penv/bin' >> ~/.bashrc
+
diff --git a/.github/workflows/reusable-platformio-ci.yml b/.github/workflows/reusable-platformio-ci.yml
index 7a6ccc01..5bdc554b 100644
--- a/.github/workflows/reusable-platformio-ci.yml
+++ b/.github/workflows/reusable-platformio-ci.yml
@@ -27,6 +27,7 @@ jobs:
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.reference }}
+          path: repo
 
       # Cache dependencies to speed up workflows
       - uses: actions/cache@v3
@@ -36,16 +37,13 @@ jobs:
             ~/.platformio/.cache
           key: ${{ runner.os }}-pio
 
-      - uses: actions/setup-python@v4
-        with:
-          python-version: '3.9'
-
-      - name: Install PlatformIO Core
-        run: pip install --upgrade platformio
+      - name: Install environment
+        uses: ./repo/.github/actions/platformio-env
 
       - name: Build Calibration
         run: |
-          cd calibration
+          export PATH=$PATH:~/.platformio/penv/bin
+          cd repo/calibration
           pio run
 
 
@@ -93,38 +91,25 @@ jobs:
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.reference }}
+          path: repo
 
-      # speed up workflows by caching dependencies
+      # Cache dependencies to speed up workflows
       - uses: actions/cache@v3
         with:
           path: |
             ~/.cache/pip
             ~/.platformio/.cache
           key: ${{ runner.os }}-pio
-      
-      - uses: actions/setup-python@v4
-        with:
-          python-version: '3.10'
-
-      - name: Install PlatformIO Core
-        run: pip3 install --upgrade platformio
 
-      - name: Initialize Platformio, manually create .platformio and penv if needed
-        run: |
-          pio --version
-          if [ ! -d ~/.platformio ]; then
-            mkdir ~/.platformio
-          fi
-          
-          if [ ! -d ~/.platformio/penv ]; then
-            cd ~/.platformio
-            python3 -m venv penv
-          fi
+      - name: Install environment
+        uses: ./repo/.github/actions/platformio-env
           
       # Build the firmware for each environment in parallel
       - name: Build Firmware
         env:
           ROS_DISTRO: ${{ inputs.ros_distro }}
+        shell: bash
         run: |
-          cd firmware
+          export PATH=$PATH:~/.platformio/penv/bin
+          cd repo/firmware
           pio run -e ${{ matrix.env }}