diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 134a12d..43ce9d7 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -57,6 +57,7 @@ jobs:
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Test
         id: test
@@ -65,6 +66,7 @@ jobs:
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index 2778480..3acbf61 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -45,6 +45,7 @@ jobs:
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
@@ -53,6 +54,7 @@ jobs:
         with:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: build_depends.repos
 
       - name: Upload coverage to CodeCov
         if: ${{ steps.test.outputs.coverage-report-files != '' }}
diff --git a/build_depends.repos b/build_depends.repos
new file mode 100644
index 0000000..b9134cf
--- /dev/null
+++ b/build_depends.repos
@@ -0,0 +1,9 @@
+repositories:
+  autoware_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_msgs.git
+    version: main
+  autoware_internal_msgs:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_internal_msgs.git
+    version: main
\ No newline at end of file