diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 625b62bdb..d2c9d92f9 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -30,6 +30,7 @@ jobs:
         uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
       - name: Build
+        id: build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
         uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
@@ -39,7 +40,7 @@ jobs:
 
       - name: Test
         id: test
-        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        if: ${{ steps.build.outcome == 'success' }}
         uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: ${{ matrix.rosdistro }}
@@ -55,3 +56,83 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
+
+  fb-infer-differential:
+    runs-on: ubuntu-latest
+    container: ${{ matrix.container }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro:
+          - humble
+        include:
+          - rosdistro: humble
+            container: ros:humble
+            build-depends-repos: build_depends.repos
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Install Clang-15
+        run: |
+          sudo apt-get -yqq update
+          sudo apt-get -yqq install --install-recommends clang-15 clang-tidy-15 clangd-15
+          sudo apt-get -yqq install clang-15-doc wasi-libc llvm-15-doc
+          sudo apt-get -yqq install libomp-15-dev libomp-15-doc # For OpenMP support in Clang
+          sudo apt-get -yqq install libstdc++-12-dev
+          echo "CC=/usr/bin/clang-15" >> $GITHUB_ENV
+          echo "CXX=/usr/bin/clang++-15" >> $GITHUB_ENV
+
+
+      - name: Install FB Infer
+        id: fb-infer-install
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        env:
+          VERSION: 1.2.0
+        run: |
+          export BASENAME="infer-linux-x86_64-v${VERSION}"
+          export FILENAME="${BASENAME}.tar.xz"
+          sudo apt-get -yqq install curl tar
+          curl -sSLO "https://github.com/facebook/infer/releases/download/v${VERSION}/${FILENAME}"
+          tar -xf "$FILENAME"
+          rm "$FILENAME"
+          sudo mv "$BASENAME" /usr/local/infer
+          echo "PATH=/usr/local/infer/bin:$PATH" >> $GITHUB_ENV
+
+      - name: Build
+        id: build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Debug log
+        run: |
+          pwd
+          ls -R
+
+      - name: Run FB Infer
+        id: fb-infer-run
+        if: ${{ steps.build.outcome == 'success' }}
+        run: |
+          infer run --compilation-database build/compile_commands.json
+
+      - name: Upload FB Infer Report
+        id: fb-infer-upload
+        if: ${{ steps.fb-infer-run.outcome == 'success' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: infer-report-diff-${{ github.sha }}
+          path: infer-out/report.*
+          if-no-files-found: error
diff --git a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
index 387d6c4c7..893403d32 100644
--- a/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
+++ b/nebula_ros/src/hesai/hesai_ros_wrapper.cpp
@@ -7,6 +7,7 @@
 #include <nebula_common/hesai/hesai_common.hpp>
 #include <nebula_common/nebula_common.hpp>
 #include <nebula_decoders/nebula_decoders_common/angles.hpp>
+#include <rclcpp/logging.hpp>
 
 #include <cstdint>
 #include <filesystem>
@@ -268,6 +269,7 @@ Status HesaiRosWrapper::validate_and_set_config(
     decoder_wrapper_->on_config_change(new_config);
   }
 
+  RCLCPP_DEBUG(get_logger(), "hi");
   sensor_cfg_ptr_ = new_config;
   return Status::OK;
 }