diff --git a/.github/workflows/ci_humble.yml b/.github/workflows/ci_humble.yml
new file mode 100644
index 0000000..d44480f
--- /dev/null
+++ b/.github/workflows/ci_humble.yml
@@ -0,0 +1,39 @@
+name: ci_humble
+
+on:
+  push:
+    branches:
+      - "humble"
+  pull_request:
+    types: [opened, synchronize, labeled]
+
+jobs:
+  ci:
+    runs-on: ${{ matrix.os }}
+    if: |
+      ((github.event.action == 'labeled') && (github.event.label.name == 'TESTING') && (github.base_ref == 'humble' )) ||
+      ((github.event.action == 'synchronize') && (github.base_ref == 'humble') && contains(github.event.pull_request.labels.*.name, 'TESTING')) ||
+      (github.ref_name == 'humble')
+    container:
+      image: osrf/ros:${{ matrix.ros_distribution }}-desktop
+    timeout-minutes: 20
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-22.04]
+        ros_distribution: [humble]
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@0.6.1
+      - name: Build and Test
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: ${{ matrix.ros_distribution }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          package-name: |
+            support_shooting_base
+            support_shooting_node
+            support_shooting_param
+            support_shooting_plugins
+            support_shooting
+          vcs-repo-file-url: build_depends.repos
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