diff --git a/.github/workflows/test_packages.yml b/.github/workflows/test_packages.yml
new file mode 100644
index 0000000000..e7a3b718ea
--- /dev/null
+++ b/.github/workflows/test_packages.yml
@@ -0,0 +1,103 @@
+name: Test Packages
+# This workflow tests the latest (third-party hosted) available builds
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize, labeled, unlabeled]
+  schedule:
+    - cron:  '0 23 * * *'
+
+defaults:
+  run:
+    shell: bash
+
+
+jobs:
+  cleanup-runs:
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    runs-on: ubuntu-latest
+    steps:
+    - uses: rokroskar/workflow-run-cleanup-action@master
+      env:
+        GITHUB_TOKEN: "${{ secrets.GITHUB_TOKEN }}"
+  test-wheel:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          # - perception/object_detection_3d
+          # - control/mobile_manipulation
+          # - simulation/human_model_generation
+          # - control/single_demo_grasp
+          # - perception/object_tracking_3d
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Wheel
+      run: |
+        export DISABLE_BCOLZ_AVX2=true
+        sudo apt -y install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev python3-dev
+        python3 -m venv venv
+        source venv/bin/activate
+        wget https://raw.githubusercontent.com/opendr-eu/opendr/master/dependencies/pip_requirements.txt
+        cat pip_requirements.txt | xargs -n 1 -L 1 pip install
+        # Test new package
+        pip install opendr-toolkit
+        python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
+  test-docker:
+    needs: cleanup-runs
+    if: ${{ contains(github.event.pull_request.labels.*.name, 'test packages') || github.event_name == 'schedule' }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04]
+        package:
+          - engine
+          - utils
+          - perception/activity_recognition
+          - perception/compressive_learning
+          - perception/face_recognition
+          - perception/heart_anomaly_detection
+          - perception/multimodal_human_centric
+          - perception/object_tracking_2d
+          - perception/pose_estimation
+          - perception/speech_recognition
+          - perception/skeleton_based_action_recognition
+          - perception/semantic_segmentation
+          - perception/object_detection_2d
+          - perception/facial_expression_recognition
+          - perception/object_detection_3d
+          - control/mobile_manipulation
+          - simulation/human_model_generation
+          - control/single_demo_grasp
+          #- perception/object_tracking_3d
+    runs-on: ${{ matrix.os }}
+    steps:
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v2
+      with:
+        python-version: 3.8
+    - name: Test Docker
+      run: |
+        docker run --name toolkit -i opendr/opendr-toolkit:cpu_latest bash
+        docker start toolkit
+        docker exec -i toolkit bash -c "source bin/activate.sh && source tests/sources/tools/control/mobile_manipulation/run_ros.sh && python -m unittest discover -s tests/sources/tools/${{ matrix.package }}"
diff --git a/.github/workflows/tests_suite.yml b/.github/workflows/tests_suite.yml
index 7d0503a429..82b80e7e96 100644
--- a/.github/workflows/tests_suite.yml
+++ b/.github/workflows/tests_suite.yml
@@ -106,3 +106,4 @@ jobs:
             source tests/sources/tools/control/mobile_manipulation/run_ros.sh
             python -m unittest discover -s tests/sources/tools/${{ matrix.package }}
         fi
+
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 2de83a228b..7e0bec9ded 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -8,9 +8,10 @@ Released on XX, XXth, 2022.
   - Enhancements:
     - None.
   - Bug Fixes:
-    - None.
+    - Updated wheel building pipeline to include missing files and removed unnecessary dependencies ([#200](https://github.com/opendr-eu/opendr/pull/200)).
   - Dependency Updates:
     - `heart anomaly detection`: upgraded scikit-learn runtime dependency from 0.21.3 to 0.22 ([#198](https://github.com/opendr-eu/opendr/pull/198)).
 
+
 ## Version 1.0
 Released on December 31th, 2021.
\ No newline at end of file
diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 0000000000..2c2972093c
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1,2 @@
+recursive-include src/opendr *
+include requirements.txt
diff --git a/README.md b/README.md
index e91b500193..b3102f0580 100644
--- a/README.md
+++ b/README.md
@@ -18,6 +18,7 @@ ______________________________________________________________________
 
 [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![Test Suite (master)](https://github.com/opendr-eu/opendr/actions/workflows/tests_suite.yml/badge.svg)](https://github.com/opendr-eu/opendr/actions/workflows/tests_suite.yml)
+[![Test Packages](https://github.com/opendr-eu/opendr/actions/workflows/test_packages.yml/badge.svg)](https://github.com/opendr-eu/opendr/actions/workflows/test_packages.yml)
 </div>
 
 ## About
diff --git a/bin/build_wheel.sh b/bin/build_wheel.sh
new file mode 100755
index 0000000000..c0564a5d0c
--- /dev/null
+++ b/bin/build_wheel.sh
@@ -0,0 +1,19 @@
+#!/bin/bash
+
+# Build all OpenDR dependecies
+./bin/install.sh
+
+# Activate OpenDR
+source ./bin/activate.sh
+
+# Prepare requirements.txt for wheel distributions
+pip3 freeze > requirements.txt
+
+# Remove detectron and git repositories (installation not supported through PyPI)
+sed -i '/detectron2/d' requirements.txt
+sed -i '/git/d' requirements.txt
+sed -i '/pkg_resources/d' requirements.txt
+sed -i '/auditwheel/d' requirements.txt
+
+# Build binary wheel and repair it
+python3 setup.py sdist
diff --git a/bin/install.sh b/bin/install.sh
index d0f3b6c269..e819c7a100 100755
--- a/bin/install.sh
+++ b/bin/install.sh
@@ -40,13 +40,5 @@ make install_compilation_dependencies
 make install_runtime_dependencies
 make libopendr
 
-# Prepare requirements.txt for wheel distributions
-pip3 freeze > requirements.txt
-
-# Remove detectron, since it was installed from git repo
-sed -i '/detectron2/d' requirements.txt
-sed -i '/git/d' requirements.txt
-python3 setup.py bdist_wheel
-
 deactivate
 
diff --git a/docs/reference/installation.md b/docs/reference/installation.md
index 1b36477f82..8ede23d12e 100644
--- a/docs/reference/installation.md
+++ b/docs/reference/installation.md
@@ -74,7 +74,7 @@ You can directly install OpenDR toolkit for CPU-only inference using pip.
 First, install the required dependencies:
 ```bash
 export DISABLE_BCOLZ_AVX2=true
-sudo apt install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget
+sudo apt install python3.8-venv libfreetype6-dev git build-essential cmake python3-dev wget libopenblas-dev libsndfile1 libboost-dev
 python3 -m venv venv
 source venv/bin/activate
 wget https://raw.githubusercontent.com/opendr-eu/opendr/master/dependencies/pip_requirements.txt
diff --git a/setup.py b/setup.py
index 5eff9c2b0c..c2d988b385 100644
--- a/setup.py
+++ b/setup.py
@@ -1,19 +1,33 @@
+import os
+from os.path import join
 from setuptools import setup
 from setuptools import find_packages
 from Cython.Build import cythonize
+import numpy
+
 
 packages = find_packages(where="./src")
 
+# Get the requirements
 with open('requirements.txt') as fp:
     install_requires = fp.read().splitlines()
 
+# Retrieve version
 exec(open('src/opendr/_version.py').read())
-
 try:
     __version__
 except NameError:
     __version__ = '0.0'
 
+# Gather all files
+data_files = []
+for root, dirs, files in os.walk("src/opendr"):
+    for file in files:
+        file_extension = file.split(".")[-1]
+        # Add all files except from shared libraries
+        if file_extension != "so" and file_extension != "py":
+            data_files.append(join(root.replace("src/opendr/", ""), file))
+
 setup(
     name='opendr-toolkit',
     version=__version__,
@@ -49,5 +63,7 @@
     license='LICENSE',
     package_dir={"": "src"},
     install_requires=install_requires,
-    ext_modules=cythonize(["src/opendr/perception/object_detection_2d/retinaface/algorithm/cython/*.pyx"])
+    package_data={'': data_files},
+    ext_modules=cythonize(["src/opendr/perception/object_detection_2d/retinaface/algorithm/cython/*.pyx"]),
+    include_dirs=[numpy.get_include()]
 )