diff --git a/.github/workflows/poetry-test.yml b/.github/workflows/poetry-test.yml
index 4709c51cd..8ed77d90e 100644
--- a/.github/workflows/poetry-test.yml
+++ b/.github/workflows/poetry-test.yml
@@ -9,8 +9,12 @@ jobs:
   build-and-test-ros2:
     strategy:
       matrix:
-        ros_distro: [jazzy]
-    runs-on: ubuntu-latest
+        include:
+          - ros_distro: jazzy
+            ubuntu_version: "24.04"
+          - ros_distro: humble
+            ubuntu_version: "22.04"
+    runs-on: ubuntu-${{ matrix.ubuntu_version }}
 
     container:
       image: osrf/ros:${{ matrix.ros_distro }}-desktop-full
@@ -24,12 +28,6 @@ jobs:
       - name: Install python dependencies
         run: poetry install --with gdino
 
-      - name: Install ROS 2 dependencies
-        shell: bash
-        run: |
-          apt-get update
-          apt-get install -y ros-${{ matrix.ros_distro }}-tf-transformations
-
       - name: Update rosdep
         shell: bash
         run: |