diff --git a/.github/workflows/basic-build-ci.yaml b/.github/workflows/basic-build-ci.yaml
new file mode 100644
index 0000000..1749acd
--- /dev/null
+++ b/.github/workflows/basic-build-ci.yaml
@@ -0,0 +1,25 @@
+name: Basic Build Workflow
+
+on:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  build-noetic:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-focal-ros-noetic-desktop-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: noetic
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package-name: rviz_aerial_map
+          target-ros1-distro: noetic
+          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/dependencies.repos"
\ No newline at end of file
diff --git a/.github/workflows/basic-build-ci.yml b/.github/workflows/basic-build-ci.yml
deleted file mode 100644
index b0a635f..0000000
--- a/.github/workflows/basic-build-ci.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-name: Basic Build CI
-
-on:
-  push:
-  pull_request:
-
-defaults:
-  run:
-    shell: bash
-
-jobs:
-  build-noetic:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-    container:
-      image: ros:noetic-perception
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v2
-        with:
-          path: rviz_aerial_image
-      - name: Checkout tas_proj repo
-        uses: actions/checkout@v2
-        with:
-          repository: UniBwTAS/tas_proj
-          path: tas_proj
-      - name: Checkout ogre_primitives repo
-        uses: actions/checkout@v2
-        with:
-          repository: UniBwTAS/ogre_primitives
-          path: ogre_primitives
-      - name: Prepare ROS
-        run: |
-          sudo apt-get update -qq
-          sudo apt-get install -y python3-osrf-pycommon
-          sudo apt-get install -y python3-catkin-pkg
-          sudo apt-get install -y python3-catkin-tools
-          source /opt/ros/$ROS_DISTRO/setup.bash
-      - name: Create catkin workspace
-        run: |
-          mkdir ~/catkin_ws
-          ln -s $GITHUB_WORKSPACE ~/catkin_ws/src
-      - name: Install ROS packages with rosdep
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          rosdep update
-          cd ~/catkin_ws
-          rosdep install --from-paths src --ignore-src -r -y
-      - name: catkin build
-        run: |
-          source /opt/ros/$ROS_DISTRO/setup.bash
-          cd ~/catkin_ws
-          catkin build --no-status
-          source devel/setup.bash
diff --git a/.github/workflows/dependencies.repos b/.github/workflows/dependencies.repos
new file mode 100644
index 0000000..05ea426
--- /dev/null
+++ b/.github/workflows/dependencies.repos
@@ -0,0 +1,9 @@
+repositories:
+  tas_proj:
+    type: git
+    url: https://github.com/UniBwTAS/tas_proj.git
+    version: master
+  ogre_primitives:
+    type: git
+    url: https://github.com/UniBwTAS/ogre_primitives.git
+    version: master
\ No newline at end of file