diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 9f0548a..3e2753c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -10,15 +10,15 @@ on:
 
 jobs:
   build:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble-ros-core
     steps:
       - name: Checkout
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Setup ROS
         uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: humble
       - name: Build
-        uses: ros-tooling/action-ros-ci@v0.3
+        uses: ros-tooling/action-ros-ci@v0.4
         with:
           target-ros2-distro: humble
diff --git a/roomba_500driver_meiji/CMakeLists.txt b/roomba_500driver_meiji/CMakeLists.txt
index 50e731e..509906e 100755
--- a/roomba_500driver_meiji/CMakeLists.txt
+++ b/roomba_500driver_meiji/CMakeLists.txt
@@ -56,6 +56,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-  CONFIG_EXTRAS "roomba_500driver_meiji-extras.cmake"
-)
+ament_auto_package()
diff --git a/roomba_500driver_meiji/package.xml b/roomba_500driver_meiji/package.xml
index 11de5aa..005770c 100755
--- a/roomba_500driver_meiji/package.xml
+++ b/roomba_500driver_meiji/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="amsl@todo.todo">amsl</maintainer>
   <license>TODO</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <build_depend>rosidl_default_generators</build_depend>
   <depend>rclcpp</depend>
   <depend>geometry_msgs</depend>
diff --git a/roomba_description/CMakeLists.txt b/roomba_description/CMakeLists.txt
index 4cda2fd..e7926cb 100644
--- a/roomba_description/CMakeLists.txt
+++ b/roomba_description/CMakeLists.txt
@@ -25,6 +25,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-  CONFIG_EXTRAS "roomba_description-extras.cmake"
-)
+ament_auto_package()
diff --git a/roomba_description/package.xml b/roomba_description/package.xml
index 753cd56..f2753fd 100644
--- a/roomba_description/package.xml
+++ b/roomba_description/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="amslab@meiji.ac.jp">amsl</maintainer>
   <license>BSD</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <depend>xacro</depend>
   <depend>robot_state_publisher</depend>
   <depend>joint_state_publisher</depend>
diff --git a/roomba_teleop_meiji/CMakeLists.txt b/roomba_teleop_meiji/CMakeLists.txt
index 70a8f0f..94f61e5 100755
--- a/roomba_teleop_meiji/CMakeLists.txt
+++ b/roomba_teleop_meiji/CMakeLists.txt
@@ -21,6 +21,4 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-  CONFIG_EXTRAS "roomba_teleop_meiji-extras.cmake"
-)
+ament_auto_package()
diff --git a/roomba_teleop_meiji/package.xml b/roomba_teleop_meiji/package.xml
index f886919..5f72616 100755
--- a/roomba_teleop_meiji/package.xml
+++ b/roomba_teleop_meiji/package.xml
@@ -7,7 +7,7 @@
   <maintainer email="amsl@todo.todo">amsl</maintainer>
   <license>TODO</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <depend>rclcpp</depend>
   <depend>joy</depend>
   <depend>std_msgs</depend>