diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index d4807d5f..f0be82e9 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -37,7 +37,9 @@ jobs:
           # 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'
         - ros_distro: rolling
-          skip_keys: 'nav2_bringup nav2_msgs velodyne'
+          # libpointmatcher and gtsam are rtabmap deps not yet available on rolling
+          # (same skip keys as introlab/rtabmap's cmake-ros workflow)
+          skip_keys: 'nav2_bringup nav2_msgs velodyne libpointmatcher gtsam'
           use_ros2_testing: true # Rolling is using ros2-testing (nightly)
           # rtabmap_costmap_plugins cannot be built, missing nav2 on rolling, build other packages:
           packages: 'rtabmap_launch rtabmap_demos rtabmap_python rtabmap_examples rtabmap_rviz_plugins'