diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..9655129
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,25 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - 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
+        with:
+          target-ros2-distro: humble
+          vsc-repo-file-url: .rosinstall
diff --git a/.rosinstall b/.rosinstall
new file mode 100644
index 0000000..64595a9
--- /dev/null
+++ b/.rosinstall
@@ -0,0 +1,5 @@
+repositories:
+  Roomba/:
+    type: git
+    url: https://github.com/amslabtech/Roomba.git
+    version: ros2
diff --git a/local_path_planner/package.xml b/local_path_planner/package.xml
index 80906c2..9610bc2 100644
--- a/local_path_planner/package.xml
+++ b/local_path_planner/package.xml
@@ -9,13 +9,13 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
-  <depend>roomba_500driver_meiji</depend>
+  <build_depend>roomba_500driver_meiji</build_depend>
   <depend>ament_cmake_auto</depend>
   <depend>nav_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>tf2_ros</depend>
-  <depend>tf2_geometry_msgs</depend> 
+  <depend>tf2_geometry_msgs</depend>
   <export>
     <build_type>ament_cmake</build_type>
   </export>