diff --git a/.github/workflows/build-humble.yml b/.github/workflows/build-humble.yml
index ee23ab78..0e1867e1 100644
--- a/.github/workflows/build-humble.yml
+++ b/.github/workflows/build-humble.yml
@@ -27,8 +27,17 @@ jobs:
       run: |
         export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
         cd cyclonedds_ws
-        colcon build
-        . install/setup.sh
+        git clone https://github.com/ros2/rmw_cyclonedds -b humble
+        git clone https://github.com/eclipse-cyclonedds/cyclonedds -b releases/0.10.x 
         cd ..
-        colcon build
+        export LD_LIBRARY_PATH=/opt/ros/humble/lib
+        colcon build --packages-select cyclonedds
+        . /opt/ros/humble/setup.sh
+        export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+        cd cyclonedds_ws
+        colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_go unitree_hg unitree_api
+        . ./install/setup.sh
+        cd ..
+        colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --packages-select unitree_ros2_example
+        . ./install/setup.sh
         echo "Build completed successfully."
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