diff --git a/.circleci/config.yml b/.circleci/config.yml
index c55813a9f..fe462c4c6 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -16,25 +16,29 @@ jobs:
             apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep libeigen3-dev
             apt upgrade -y
             source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
-            mkdir -p $UNDERLAY_WS/src
-            cp $OVERLAY_WS/src/grid_map/tools/ros2_dependencies.repos \
+            rosdep update
+            mkdir -p $OVERLAY_WS/src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` $OVERLAY_WS/src/grid_map/
+            mkdir -p $UNDERLAY_WS/src && cp $OVERLAY_WS/src/grid_map/tools/ros2_dependencies.repos \
               $UNDERLAY_WS/ros2_dependencies.repos
             cd $UNDERLAY_WS && vcs import src < ros2_dependencies.repos
-            colcon build --symlink-install --packages-up-to nav2_costmap_2d
-            source $UNDERLAY_WS/install/setup.bash
-            cd $OVERLAY_WS
-            mkdir -p $OVERLAY_WS/src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` $OVERLAY_WS/src/grid_map/
-            rosdep update
+            cp $UNDERLAY_WS/src/ros-planning/navigation2/tools/ros2_dependencies.repos \
+              $UNDERLAY_WS/ros2_dependencies.repos
+            vcs import src < ros2_dependencies.repos
             rosdep install -y --ignore-src --from-paths src
+            colcon build --symlink-install --packages-up-to nav2_costmap_2d
+            cd $OVERLAY_WS && rosdep install -y --ignore-src --from-paths src
       - run:
           name: Debug Build
           command: |
             source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
-            colcon build --parallel-workers 1
+            source $UNDERLAY_WS/install/local_setup.bash
+            cd $OVERLAY_WS && colcon build --parallel-workers 1
       - run:
           name: Run Tests
           command: |
             source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
+            source $UNDERLAY_WS/install/local_setup.bash
+            cd $OVERLAY_WS
             colcon test --parallel-workers 1
             colcon test-result --verbose
 workflows: