diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml
new file mode 100644
index 00000000..cc6fe514
--- /dev/null
+++ b/.github/workflows/humble.yaml
@@ -0,0 +1,15 @@
+name: Humble CI - Build and Test
+
+on:
+  push:
+    branches:
+      - 'humble'
+  pull_request:
+  workflow_dispatch:
+    branches:
+      - '*'
+
+jobs:
+  build_and_test:
+    uses: naturerobots/github_automation_public/.github/workflows/humble_ci.yaml@main
+    secrets: inherit
\ No newline at end of file
diff --git a/mesh_map/package.xml b/mesh_map/package.xml
index 9241a882..9e64edae 100644
--- a/mesh_map/package.xml
+++ b/mesh_map/package.xml
@@ -10,7 +10,7 @@
 
     <depend>geometry_msgs</depend>
     <depend>mesh_client</depend>
-    <depend>mesh_msgs_conversions</depend> <!-- TODO mesh_msgs_conversions from mesh_tools is not packages for humble, use it from source for now (mesh_tools repo) -->
+    <depend>mesh_msgs_conversions</depend> <!-- Note: mesh_msgs_conversions from mesh_tools is not packaged for humble, need to get it from source for now (mesh_tools repo) -->
     <depend>pluginlib</depend>
     <depend>rclcpp</depend>
     <depend>tf2_geometry_msgs</depend>
diff --git a/source_dependencies.yaml b/source_dependencies.yaml
new file mode 100644
index 00000000..f9a6977a
--- /dev/null
+++ b/source_dependencies.yaml
@@ -0,0 +1,15 @@
+# Every repository listed here will get cloned and built during CI runs.
+# Use this for repositories that cannot be installed via rosdep.
+repositories:
+  uos/lvr2:
+    type: git
+    url: https://github.com/uos/lvr2.git
+    version: humble
+  naturerobots/mesh_tools:
+    type: git
+    url: https://github.com/naturerobots/mesh_tools.git
+    version: humble
+  naturerobots/move_base_flex:
+    type: git
+    url: https://github.com/naturerobots/move_base_flex.git
+    version: humble