diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index 4a0a4608f2cebbb1ee2674e3cf5daa89ee5a3d9b..7ba747c6af84ebc66633b6fd6b7642ebcb11a0bb 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,16 +1,9 @@
 stages:          # List of stages for jobs, and their order of execution
-  - install
-  - test
+  - bionic
+  - focal
+  - jammy
 
 ############ YAML ANCHORS ############
-.script_gcc5_template: &script_gcc5_definition
-  - apt-get update -y
-  - apt-get install software-properties-common -y
-  - add-apt-repository ppa:ubuntu-toolchain-r/test -y
-  - apt-get update -y
-  - apt-get install gcc-snapshot -y
-  - apt-get install gcc-5 g++-5 -y
-
 .script_install_template: &script_install_definition
   - apt-get update -y && apt-get install -y expect
   - ./install_wolf.sh -a -f y -c y -d . -w .
@@ -33,7 +26,7 @@ stages:          # List of stages for jobs, and their order of execution
 
 ############ JOBS ############
 installation-test-bionic:
-  stage: install
+  stage: bionic
   cache: []
   image: ubuntu:18.04
   script:
@@ -41,18 +34,17 @@ installation-test-bionic:
     - *script_test_definition
 
 installation-test-focal:
-  stage: install
+  stage: focal
   cache: []
   image: ubuntu:20.04
   script:
     - *script_install_definition
     - *script_test_definition
 
-lint-test-job:
-  stage: test
+installation-test-jammy:
+  stage: jammy
   cache: []
-  image: ubuntu:20.04
+  image: ubuntu:22.04
   script:
-    - echo "Linting code... This will take about 10 seconds."
-    - sleep 10
-    - echo "No lint issues found."
\ No newline at end of file
+    - *script_install_definition
+    - *script_test_definition
\ No newline at end of file
diff --git a/install_wolf.sh b/install_wolf.sh
index 0c5325c0d4e7879ee4dd4e9afa9e4dc5db69673e..70ef1680da414b27a794d1cba41aa0ff1b4ec470 100755
--- a/install_wolf.sh
+++ b/install_wolf.sh
@@ -186,6 +186,8 @@ if [ $UBUNTU_DISTRO == "18.04" ]; then
    func_echo "Ubuntu 18.04 - OK"
 elif [ $UBUNTU_DISTRO == "20.04" ]; then
    func_echo "Ubuntu 20.04 - OK"
+elif [ $UBUNTU_DISTRO == "22.04" ]; then
+   func_echo "Ubuntu 22.04 - OK"
 else
    func_echo_error "Non-supported Ubuntu version: ${UBUNTU_DISTRO}"
    exit 1
@@ -209,12 +211,23 @@ func_echo "path dependencies: $DEPS_PATH"
 
 func_echo "Installing dependencies via apt install..."
 
-if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
-   #apt install -y git wget unzip dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
-   apt install -y git wget unzip cmake build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+# install packages (apt & pip)
+if [ $UBUNTU_DISTRO == "18.04" ]; then # Ensure required CMAKE version with pip in ubuntu 18.04
+   if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
+      apt install -y git wget unzip python-pip build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+      pip install --upgrade pip
+      pip install cmake==3.16.*
+   else
+      sudo apt install -y git wget unzip python-pip build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+      sudo pip install --upgrade pip
+      sudo pip install cmake==3.16.*
+   fi
 else
-   #sudo apt install -y git wget unzip dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
-   sudo apt install -y git wget unzip cmake build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+   if [ "$UID" -eq 0 -o "$EUID" -eq 0 ]; then
+      apt install -y git wget unzip cmake build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+   else
+      sudo apt install -y git wget unzip cmake build-essential libeigen3-dev libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+   fi
 fi
 
 # ceres