diff --git a/.github/workflows/build-and-test-differential-self-hosted.yaml b/.github/workflows/build-and-test-differential-self-hosted.yaml
index 3ae9581dcb24a..b8ce6bd47be15 100644
--- a/.github/workflows/build-and-test-differential-self-hosted.yaml
+++ b/.github/workflows/build-and-test-differential-self-hosted.yaml
@@ -18,7 +18,20 @@ jobs:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -36,14 +49,14 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index b3e6cdabcb22b..b0ec463e1d9ee 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -6,7 +6,20 @@ on:
 jobs:
   build-and-test-differential:
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Cancel previous runs
         uses: styfle/cancel-workflow-action@0.9.1
@@ -27,18 +40,18 @@ jobs:
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test-self-hosted.yaml b/.github/workflows/build-and-test-self-hosted.yaml
index 8b3a039e9d3b6..bf6dcbc606b0b 100644
--- a/.github/workflows/build-and-test-self-hosted.yaml
+++ b/.github/workflows/build-and-test-self-hosted.yaml
@@ -8,7 +8,20 @@ on:
 jobs:
   build-and-test-self-hosted:
     runs-on: [self-hosted, linux, ARM64]
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -24,14 +37,14 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 6541af9c05b34..911e05ba1c23a 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -10,7 +10,20 @@ jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
     runs-on: ubuntu-latest
-    container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - galactic
+          - humble
+        include:
+          - rosdistro: galactic
+            container: ghcr.io/autowarefoundation/autoware-universe:galactic-latest-cuda
+            build-depends-repos: build_depends.repos
+          - rosdistro: humble
+            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
+            build-depends-repos: build_depends.humble.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
@@ -26,18 +39,18 @@ jobs:
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
-          rosdistro: galactic
+          rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
-          build-depends-repos: build_depends.repos
+          build-depends-repos: ${{ matrix.build-depends-repos }}
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/build_depends.humble.repos b/build_depends.humble.repos
new file mode 100644
index 0000000000000..2aacc0390a97f
--- /dev/null
+++ b/build_depends.humble.repos
@@ -0,0 +1,35 @@
+repositories:
+  # core
+  core/autoware_msgs:
+    type: git
+    url: https://github.com/tier4/autoware_auto_msgs.git # TODO(Tier IV): Move to autowarefoundation/autoware_msgs
+    version: tier4/main
+  core/common:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_common.git
+    version: main
+  core/autoware:
+    type: git
+    url: https://github.com/autowarefoundation/autoware.core.git
+    version: main
+  # universe
+  universe/tier4_autoware_msgs:
+    type: git
+    url: https://github.com/tier4/AutowareArchitectureProposal_msgs.git # TODO(Tier IV): Rename to tier4/tier4_autoware_msgs
+    version: tier4/universe
+  universe/vendor/grid_map:
+    type: git
+    url: https://github.com/tier4/grid_map.git
+    version: prepare/humble
+  universe/vendor/navigation2:
+    type: git
+    url: https://github.com/tier4/navigation2.git
+    version: prepare/humble
+  universe/vendor/mussp:
+    type: git
+    url: https://github.com/tier4/muSSP.git
+    version: tier4/main
+  universe/vendor/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main