diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
index e99a761..6d20f11 100644
--- a/.github/workflows/build-and-test.yml
+++ b/.github/workflows/build-and-test.yml
@@ -14,4 +14,5 @@ jobs:
         uses: ichiro-its/ros2-ci@v1.0.0
         with:
           ros2-distro: foxy
-          external-repos: ichiro-its/keisan#v0.2.0
+          pre-install: sudo apt update && sudo apt install -y curl && curl -s http://repository.ichiro-its.org/debian/setup.bash | bash -s
+          apt-packages: ros-foxy-keisan
diff --git a/.gitignore b/.gitignore
index 8882e62..624f78a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,3 +5,9 @@
 build
 install
 log
+
+debian
+obj-x86_64-linux-gnu
+
+*.deb
+*.ddeb
diff --git a/tosshin_cpp/package.xml b/tosshin_cpp/package.xml
index 5e070ef..d7ace37 100644
--- a/tosshin_cpp/package.xml
+++ b/tosshin_cpp/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tosshin_cpp</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>C++ implementation of Tosshin mobile robot navigation project</description>
   <maintainer email="alfi.maulana.f@gmail.com">Alfi Maulana</maintainer>
   <license>MIT License</license>
diff --git a/tosshin_interfaces/package.xml b/tosshin_interfaces/package.xml
index 04bc99a..f833aa5 100644
--- a/tosshin_interfaces/package.xml
+++ b/tosshin_interfaces/package.xml
@@ -2,12 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tosshin_interfaces</name>
-  <version>0.2.0</version>
+  <version>0.3.0</version>
   <description>ROS 2 interfaces for Tosshin mobile robot navigation project</description>
   <maintainer email="alfi.maulana.f@gmail.com">Alfi Maulana</maintainer>
   <license>MIT License</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generator</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>