diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 87fba921e37ed73873f09fa896db3a3880d44cfa..c438d87a2d2a36c6385f22d47d05d338d4ba3244 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -4,6 +4,14 @@ stages:
 #  - demos
   
 ############ YAML ANCHORS ############
+.print_variables_template: &print_variables_definition
+  # Print variables
+  - echo $WOLF_CORE_BRANCH
+  - echo $WOLF_VISION_BRANCH
+  - echo $WOLF_ROS_NODE_BRANCH
+  - echo $CI_COMMIT_BRANCH
+  - echo $WOLF_ROS_VISION_BRANCH
+
 .preliminaries_template: &preliminaries_definition
   ## Install ssh-agent if not already installed, it is required by Docker.
   ## (change apt-get to yum if you use an RPM-based image)
@@ -123,17 +131,13 @@ stages:
 .clone_wolfrosnode_template: &clone_wolfrosnode_definition
   - roscd
   - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
-  - cd wolf_ros_node
-  - git checkout $WOLF_ROS_CORE_BRANCH
+  - git clone -b $WOLF_ROS_CORE_BRANCH ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
 
 .build_and_test_template: &build_and_test_definition
   - roscd
   - cd ../src
-  - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
-  - cd wolf_ros_vision
-  - git checkout $CI_COMMIT_BRANCH
-  - cd ../..
+  - git clone -b $CI_COMMIT_BRANCH ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd ..
   - catkin_make
 
 ############ LICENSE HEADERS ############
@@ -142,6 +146,7 @@ license_headers:
   image: labrobotica/wolf_vision_deps_ros:20.04
   cache: []
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
   script:
@@ -162,6 +167,7 @@ build_and_test:bionic:
       paths:
       - ci_deps/vision/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition
@@ -186,6 +192,7 @@ build_and_test:focal:
       paths:
       - ci_deps/vision/
   before_script:
+    - *print_variables_definition
     - *preliminaries_definition
     - *install_wolf_definition
     - *install_visionutils_definition
@@ -205,4 +212,4 @@ build_and_test:focal:
 #    WOLF_ROS_CORE_BRANCH: $WOLF_ROS_CORE_BRANCH
 #    WOLF_ROS_APRILTAG_BRANCH: $CI_COMMIT_BRANCH
 #  trigger: 
-#    project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_apriltag_imu
+#    project: mobile_robotics/wolf_projects/wolf_ros/demos/wolf_demo_vio