diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml
new file mode 100644
index 0000000..2361af3
--- /dev/null
+++ b/.github/workflows/humble.yaml
@@ -0,0 +1,24 @@
+name: Humble CI
+on:
+  push:
+    branches:
+      - 'humble'
+  pull_request:
+    branches:
+      - 'humble'
+  workflow_dispatch:
+    branches:
+      - '*'
+jobs:
+  build_and_test:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@0.7.4
+        with:
+          required-ros-distributions: humble
+      - uses: ros-tooling/action-ros-ci@0.3.12
+        with:
+          target-ros2-distro: humble
+          vcs-repo-file-url: $GITHUB_WORKSPACE/source_dependencies.yaml
+          rosdep-check: true
\ No newline at end of file
diff --git a/.github/workflows/noetic.yml b/.github/workflows/noetic.yml
deleted file mode 100644
index 37859f5..0000000
--- a/.github/workflows/noetic.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Noetic CI
-on:
-  push:
-    branches:
-      - 'noetic'
-  pull_request:
-    branches:
-      - 'noetic'
-  workflow_dispatch:
-    branches:
-      - '*'
-jobs:
-  industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: noetic, ROS_REPO: testing}
-          - {ROS_DISTRO: noetic, ROS_REPO: main}
-    runs-on: ubuntu-20.04
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: recursive
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
diff --git a/README.md b/README.md
index 80105df..6b03f52 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,6 @@
-This is the active ROS2 branch of this repository.
+This is the active ROS2 branch of this repository, which targets [ROS2 humble](https://docs.ros.org/en/humble/index.html).
+Our CI runs on Ubuntu Jammy (22.04), but other distros might work as well.
+
 If your are looking for the old ROS1 version, checkout the [noetic branch](https://github.com/naturerobots/mesh_tools/tree/noetic).
 
 # Mesh Tools
@@ -87,4 +89,5 @@ This video shows the labeling tool, which is used to cluster faces to an object
 
 | ROS Distro  | GitHub CI | Develop | Documentation | Source Deb | Binary Deb |
 |-------------|-----------|---------|---------------|------------|------------|
-| **Noetic**  | [![Noetic CI](https://github.com/uos/mesh_tools/workflows/Noetic%20CI/badge.svg)](https://github.com/uos/mesh_tools/actions?query=workflow%3A%22Noetic+CI%22) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__mesh_tools__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__mesh_tools__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__mesh_tools__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__mesh_tools__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__mesh_tools__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__mesh_tools__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__mesh_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__mesh_tools__ubuntu_focal_amd64__binary) | 
+| **Humble**  | [![Humble CI](https://github.com/naturerobots/mesh_tools/actions/workflows/humble.yaml/badge.svg)](https://github.com/naturerobots/mesh_tools/actions/workflows/humble.yaml) | N/A | N/A | N/A | N/A |
+| **Noetic**  | [![Noetic CI](https://github.com/naturerobots/mesh_tools/actions/workflows/noetic.yml/badge.svg)](https://github.com/naturerobots/mesh_tools/actions/workflows/noetic.yml) | [![Build Dev Status](http://build.ros.org/buildStatus/icon?job=Ndev__mesh_tools__ubuntu_focal_amd64)](http://build.ros.org/job/Ndev__mesh_tools__ubuntu_focal_amd64) | [![Build Doc Status](http://build.ros.org/buildStatus/icon?job=Ndoc__mesh_tools__ubuntu_focal_amd64)](http://build.ros.org/job/Ndoc__mesh_tools__ubuntu_focal_amd64) | [![Build Src Status](http://build.ros.org/buildStatus/icon?job=Nsrc_uF__mesh_tools__ubuntu_focal__source)](http://build.ros.org/job/Nsrc_uF__mesh_tools__ubuntu_focal__source) | [![Build Bin Status](http://build.ros.org/buildStatus/icon?job=Nbin_uF64__mesh_tools__ubuntu_focal_amd64__binary)](http://build.ros.org/job/Nbin_uF64__mesh_tools__ubuntu_focal_amd64__binary) | 
\ No newline at end of file
diff --git a/source_dependencies.yaml b/source_dependencies.yaml
new file mode 100644
index 0000000..d1f1df2
--- /dev/null
+++ b/source_dependencies.yaml
@@ -0,0 +1,7 @@
+# Repositories in here contain dependencies of mesh_tools that are currently not avaiable via apt.
+# Every repository listed here will get cloned and built during CI runs.
+repositories:
+  uos/lvr2:
+    type: git
+    url: https://github.com/uos/lvr2.git
+    version: humble
\ No newline at end of file