diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 9af4c8d4..cfba67d1 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -23,9 +23,10 @@ jobs:
         ros_distro: [lyrical]
         include:
         - ros_distro: lyrical
-          skip_keys: 'nav2_bringup nav2_msgs velodyne grid_map_ros realsense2_camera libpointmatcher'
-          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, build other packages:
-          packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'
+          skip_keys: '' # skip keys shoudl be empty when release on ROSDISTRO_devel branch, comment these keys in the appriopriate package.
+          # rtabmap_costmap_plugins cannot be built, missing nav2 on lyrical, commented from rtabmap_ros package. 
+          # Make sure rosdistro doesn't declare rtabmap_costmap_plugins.
+          packages: 'rtabmap_ros'
       fail-fast: false
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
@@ -46,4 +47,5 @@ jobs:
         package-name: ${{ matrix.packages }}
         target-ros2-distro: ${{ matrix.ros_distro }}
         vcs-repo-file-url: /tmp/deps.repos
+        rosdep-check: true
         rosdep-skip-keys: "${{ matrix.skip_keys }}"
diff --git a/rtabmap_demos/package.xml b/rtabmap_demos/package.xml
index 08f2ad60..d3e398d9 100644
--- a/rtabmap_demos/package.xml
+++ b/rtabmap_demos/package.xml
@@ -17,7 +17,7 @@
   <exec_depend>rtabmap_util</exec_depend>
   <exec_depend>rtabmap_rviz_plugins</exec_depend>
   <exec_depend>rtabmap_viz</exec_depend>
-  <exec_depend>nav2_bringup</exec_depend>
+  <!-- <exec_depend>nav2_bringup</exec_depend> Not available on Lyrical -->
   
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rtabmap_examples/package.xml b/rtabmap_examples/package.xml
index f6d02b60..734284e1 100644
--- a/rtabmap_examples/package.xml
+++ b/rtabmap_examples/package.xml
@@ -21,8 +21,8 @@
   <exec_depend>rtabmap_viz</exec_depend>
   <exec_depend>imu_filter_madgwick</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>realsense2_camera</exec_depend>
-  <exec_depend>velodyne</exec_depend>
+  <!-- <exec_depend>realsense2_camera</exec_depend> Not available on Lyrical -->
+  <!-- <exec_depend>velodyne</exec_depend> Not available on Lyrical -->
   
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rtabmap_ros/package.xml b/rtabmap_ros/package.xml
index adf1953b..0af27a67 100644
--- a/rtabmap_ros/package.xml
+++ b/rtabmap_ros/package.xml
@@ -26,7 +26,7 @@
   <exec_depend>rtabmap_sync</exec_depend>
   <exec_depend>rtabmap_util</exec_depend>
   <exec_depend>rtabmap_viz</exec_depend>
-  <exec_depend>rtabmap_costmap_plugins</exec_depend>
+  <!-- <exec_depend>rtabmap_costmap_plugins</exec_depend> Not available on Lyrical -->
   
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rtabmap_util/package.xml b/rtabmap_util/package.xml
index 35bc2f09..2db0550d 100644
--- a/rtabmap_util/package.xml
+++ b/rtabmap_util/package.xml
@@ -34,7 +34,7 @@
   <depend>rtabmap_msgs</depend>
   <depend>rtabmap_conversions</depend>
   <depend>rtabmap_sync</depend>
-  <depend>grid_map_ros</depend>
+  <!-- <depend>grid_map_ros</depend> Not available on Lyrical -->
 
   <export>
 	<build_type>ament_cmake</build_type>