diff --git a/multiplatform/colcon_build/action.yml b/multiplatform/colcon_build/action.yml
index 21e06023..cfdbc92c 100644
--- a/multiplatform/colcon_build/action.yml
+++ b/multiplatform/colcon_build/action.yml
@@ -18,13 +18,21 @@ inputs:
     required: false
     default: '--event-handlers=console_direct+'
 
-  cmake_args:
-    description: CMake arguments
+  set_eprosima_flags:
+    description: |
+      This flag sets the compilation flags (CMAKE_CXX_FLAGS) for eProsima product testing.
+      These are:
+        - Warnigs as errors
+          - Linux: -Werror -Wall
+          - Windows: /WX /W4
+        - Multithreaded compilation
+          - Windows: /MP
+    type: boolean
     required: false
-    default: ''
+    default: true
 
-  cmake_args_default:
-    description: Default CMake arguments
+  cmake_args:
+    description: CMake arguments
     required: false
     default: ''
 
@@ -55,7 +63,7 @@ runs:
         colcon_build_args: ${{ inputs.colcon_build_args }}
         colcon_build_args_default: ${{ inputs.colcon_build_args_default }}
         cmake_args: ${{ inputs.cmake_args }}
-        cmake_args_default: ${{ inputs.cmake_args_default }}
+        set_eprosima_flags: ${{ inputs.set_eprosima_flags }}
         workspace: ${{ inputs.workspace }}
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
         cmake_build_type: ${{ inputs.cmake_build_type }}
@@ -69,7 +77,7 @@ runs:
         colcon_build_args_default: ${{ inputs.colcon_build_args_default }}
         cmake_args: ${{ inputs.cmake_args }}
         # TODO (jparisu) find a way to use it for windows, as there is not a common Werror flag for both
-        cmake_args_default: ${{ inputs.cmake_args_default }}
+        set_eprosima_flags: ${{ inputs.set_eprosima_flags }}
         workspace: ${{ inputs.workspace }}
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
         cmake_build_type: ${{ inputs.cmake_build_type }}
diff --git a/multiplatform/colcon_build_test/action.yml b/multiplatform/colcon_build_test/action.yml
index 76cc5db3..6e227ecd 100644
--- a/multiplatform/colcon_build_test/action.yml
+++ b/multiplatform/colcon_build_test/action.yml
@@ -12,6 +12,19 @@ inputs:
     required: false
     default: ''
 
+  set_eprosima_flags:
+    description: |
+      This flag sets the compilation flags (CMAKE_CXX_FLAGS) for eProsima product testing.
+      These are:
+        - Warnigs as errors
+          - Linux: -Werror -Wall
+          - Windows: /WX /W4
+        - Multithreaded compilation
+          - Windows: /MP
+    type: boolean
+    required: false
+    default: true
+
   cmake_args:
     description: 'Cmake arguments'
     required: false
@@ -52,6 +65,7 @@ runs:
         colcon_meta_file: ${{ inputs.colcon_meta_file }}
         colcon_build_args: '--packages-up-to ${{ inputs.packages_names }}'
         cmake_args: ' ${{ inputs.cmake_args }}'
+        set_eprosima_flags: ' ${{ inputs.set_eprosima_flags }}'
         workspace: ${{ inputs.workspace }}
         workspace_dependencies: ${{ inputs.workspace_dependencies }}
         cmake_build_type: ${{ inputs.cmake_build_type }}
diff --git a/ubuntu/colcon_build/action.yml b/ubuntu/colcon_build/action.yml
index 2a0fc967..90be563d 100644
--- a/ubuntu/colcon_build/action.yml
+++ b/ubuntu/colcon_build/action.yml
@@ -18,16 +18,20 @@ inputs:
     required: false
     default: '--event-handlers=console_direct+'
 
+  set_eprosima_flags:
+    description: |
+      This flag sets the compilation flags (CMAKE_CXX_FLAGS) for eProsima product testing.
+      These are:
+        - Warnigs as errors (-Werror -Wall)
+    type: boolean
+    required: false
+    default: true
+
   cmake_args:
     description: 'CMake arguments'
     required: false
     default: ''
 
-  cmake_args_default:
-    description: Default CMake arguments
-    required: false
-    default: '-DCMAKE_CXX_FLAGS="-Werror -Wall"'
-
   cmake_build_type:
     description: Set the cmake build type
     required: false
@@ -43,6 +47,10 @@ inputs:
     required: false
     default: ''
 
+env:
+
+  EPROSIMA_CXX_FLAGS: "-DCMAKE_CXX_FLAGS='-Werror -Wall'"
+
 runs:
   using: composite
   steps:
@@ -58,6 +66,15 @@ runs:
 
         echo "::group::Compile using colcon ${{ inputs.workspace }}"
 
+        if [ "${{ inputs.set_eprosima_flags }}" = "true" ]; then
+          # EPROSIMA_CXX_FLAGS is set first so that it can be overridden by cmake_args
+          # in case the user wants to set its own flags. If that's the case and the user want's to use both flags,
+          # it should set EPROSIMA_CXX_FLAGS in cmake_args.
+          export CMAKE_ARGS="${EPROSIMA_CXX_FLAGS} ${{ inputs.cmake_args }}"
+        else
+          export CMAKE_ARGS="${{ inputs.cmake_args }}"
+        fi
+
         if [[ ! -z "${{ inputs.workspace_dependencies }}" ]]; then
           source ${{ inputs.workspace_dependencies }}/setup.bash
         fi
@@ -77,8 +94,7 @@ runs:
           ${{ inputs.colcon_build_args }} \
           --cmake-args \
             -DCMAKE_BUILD_TYPE=${{ inputs.cmake_build_type }} \
-            ${{ inputs.cmake_args_default }} \
-            ${{ inputs.cmake_args }}
+            ${CMAKE_ARGS}
 
         if [[ -z "${{ inputs.colcon_meta_file }}" ]]; then
           rm colcon.meta
diff --git a/windows/colcon_build/action.yml b/windows/colcon_build/action.yml
index 32bc9a44..9ba7c7e4 100644
--- a/windows/colcon_build/action.yml
+++ b/windows/colcon_build/action.yml
@@ -18,13 +18,17 @@ inputs:
     required: false
     default: '--event-handlers=console_direct+'
 
-  cmake_args:
-    description: CMake arguments
+  set_eprosima_flags:
+    description: |
+      This flag sets the compilation flags (CMAKE_CXX_FLAGS) for eProsima product testing.
+      These are:
+        - Warnigs as errors (/WX /W4)
+    type: boolean
     required: false
-    default: ''
+    default: true
 
-  cmake_args_default:
-    description: Default CMake arguments
+  cmake_args:
+    description: CMake arguments
     required: false
     default: ''
 
@@ -43,6 +47,10 @@ inputs:
     required: false
     default: ''
 
+env:
+
+    EPROSIMA_CXX_FLAGS: "-DCMAKE_CXX_FLAGS='/WX /W4'"
+
 runs:
   using: composite
   steps:
@@ -53,6 +61,15 @@ runs:
 
         "::group::Build using colcon"
 
+        if (${{ inputs.set_eprosima_flags }}) {
+          # EPROSIMA_CXX_FLAGS is set first so that it can be overridden by cmake_args
+          # in case the user wants to set its own flags. If that's the case and the user want's to use both flags,
+          # it should set EPROSIMA_CXX_FLAGS in cmake_args.
+          $env:CMAKE_ARGS = $env:EPROSIMA_CXX_FLAGS + " " + ${{ inputs.cmake_args }}
+        } else {
+          $env:CMAKE_ARGS = ${{ inputs.cmake_args }}
+        }
+
         if (! [string]::IsNullOrEmpty("${{ inputs.workspace_dependencies }}")) {
           ${{ inputs.workspace_dependencies }}/setup.ps1
         }
@@ -82,7 +99,7 @@ runs:
           ${{ inputs.colcon_build_args_default }} `
           ${{ inputs.colcon_build_args }} `
           --cmake-args `
-            -DCMAKE_BUILD_TYPE=${{ inputs.cmake_build_type }} ${{ inputs.cmake_args_default }} ${{ inputs.cmake_args }}
+            -DCMAKE_BUILD_TYPE=${{ inputs.cmake_build_type }} $env:CMAKE_ARGS
 
         cd -