diff --git a/.github/workflows/conda-ci.yml b/.github/workflows/conda-ci.yml
index 4b0799d..729e25b 100644
--- a/.github/workflows/conda-ci.yml
+++ b/.github/workflows/conda-ci.yml
@@ -190,3 +190,88 @@ jobs:
         cd build
         ctest --output-on-failure -C ${{ matrix.build_type }}
 
+  build-valgrind:
+    name: 'valgrind [ubuntu-latest@Debug@humble@conda]'
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        build_type: [Debug]
+        ros_distro: [humble]
+        os: [ubuntu-latest]
+      fail-fast: false
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - uses: conda-incubator/setup-miniconda@v2
+      with:
+        miniforge-variant: Mambaforge
+        miniforge-version: latest
+
+    - name: Dependencies
+      shell: bash -l {0}
+      run: |
+        # Compilation related dependencies
+        mamba install cmake compilers make ninja pkg-config
+        # Actual dependencies
+        sudo apt-get install -qq -y libc6-dbg
+        mamba install -c conda-forge -c robostack-staging ycm-cmake-modules eigen valgrind ace ros-${{ matrix.ros_distro }}-ros-base ros-${{ matrix.ros_distro }}-test-msgs
+
+    - name: Download YARP [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/robotology/yarp
+
+    - name: Dependencies from source [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        cd yarp
+        mkdir build
+        cd build
+        cmake -GNinja -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON \
+                      -DYARP_COMPILE_ALL_FAKE_DEVICES:BOOL=ON \
+                      -DYARP_VALGRIND_TESTS:BOOL=ON
+        cmake --build . --config ${{ matrix.build_type }}
+        cmake --install . --config ${{ matrix.build_type }}
+        echo "YARP_DATA_DIRS=${CONDA_PREFIX}/share/yarp::${YARP_DATA_DIRS}" >> $GITHUB_ENV
+
+    - name: Configure [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        mkdir -p build
+        cd build
+        # Python3_EXECUTABLE is set as a workaround for https://github.com/ros2/python_cmake_module/issues/6
+        cmake -GNinja -DBUILD_TESTING:BOOL=ON \
+                      -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs:BOOL=OFF \
+                      -DPython3_EXECUTABLE:PATH=$CONDA_PREFIX/bin/python3 \
+                      -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                      -DYARP_VALGRIND_TESTS:BOOL=ON \
+                      -DCMAKE_INSTALL_PREFIX=${CONDA_PREFIX} .. \
+                      -DYARP_COMPILE_TESTS:BOOL=ON
+
+    - name: Build [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --build . --config ${{ matrix.build_type }}
+
+    - name: Install [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        cmake --install . --config ${{ matrix.build_type }}
+
+    - name: Test [Linux&macOS]
+      if: contains(matrix.os, 'macos') || contains(matrix.os, 'ubuntu')
+      shell: bash -l {0}
+      run: |
+        cd build
+        ctest --output-on-failure -C ${{ matrix.build_type }}