diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 6df86ac36f6..c23771735e8 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -65,7 +65,7 @@ jobs:
     - name: Dependencies [macOS]
       if: matrix.os == 'macOS-latest'
       run: |
-        brew install ace assimp boost eigen swig qt5 orocos-kdl
+        brew install ace assimp boost eigen ipopt swig qt5 orocos-kdl
     
     - name: Dependencies [Ubuntu]
       if: contains(matrix.os, 'ubuntu')
@@ -171,7 +171,7 @@ jobs:
         cd build
         cmake -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_USES_YARP:BOOL=ON \
               -DIDYNTREE_USES_ICUB_MAIN:BOOL=ON -DIDYNTREE_USES_Qt5:BOOL=ON  -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} -DIDYNTREE_USES_ASSIMP:BOOL=ON \
-              -DIDYNTREE_USES_OCTAVE:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
+              -DIDYNTREE_USES_IPOPT:BOOL=ON -DIDYNTREE_USES_OCTAVE:BOOL=ON -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install ..
 
     - name: Enable additional Ubuntu options (Valgrind, Python, legacy KDL) [Ubuntu] 
       if: contains(matrix.os, 'ubuntu')
diff --git a/src/optimalcontrol/tests/IpoptInterfaceTest.cpp b/src/optimalcontrol/tests/IpoptInterfaceTest.cpp
index e34b02926fa..37e1515897a 100644
--- a/src/optimalcontrol/tests/IpoptInterfaceTest.cpp
+++ b/src/optimalcontrol/tests/IpoptInterfaceTest.cpp
@@ -210,14 +210,15 @@ int main(){
     ASSERT_IS_TRUE(problem->setMinusInfinity(ipoptSolver.minusInfinity()));
     ASSERT_IS_TRUE(problem->setPlusInfinity(ipoptSolver.plusInfinity()));
     ASSERT_IS_TRUE(ipoptSolver.setProblem(problem));
+    double testTolerance = 5e-5;
     for (int i = 0; i < 5; ++i){
         ASSERT_IS_TRUE(ipoptSolver.solve());
         double optimalCost;
         ASSERT_IS_TRUE(ipoptSolver.getOptimalCost(optimalCost));
-        ASSERT_EQUAL_DOUBLE_TOL(optimalCost, problem->expectedMinimum(), 1e-5);
+        ASSERT_EQUAL_DOUBLE_TOL(optimalCost, problem->expectedMinimum(), testTolerance);
         iDynTree::VectorDynSize solution;
         ASSERT_IS_TRUE(ipoptSolver.getPrimalVariables(solution));
-        ASSERT_EQUAL_VECTOR_TOL(solution, problem->expectedVariables(), 1e-5);
+        ASSERT_EQUAL_VECTOR_TOL(solution, problem->expectedVariables(), testTolerance);
         ASSERT_IS_TRUE(ipoptSolver.getDualVariables(dummy1, dummy2, dummy3));
     }
     return EXIT_SUCCESS;