diff --git a/.github/workflows/build-and-test.yml b/.github/workflows/build-and-test.yml
deleted file mode 100644
index 1f95ec3..0000000
--- a/.github/workflows/build-and-test.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Build and Test
-on:
-  workflow_dispatch:
-  pull_request:
-    branches: [master]
-  push:
-    branches: [master]
-jobs:
-  build-and-test:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: keisan
-
-      - name: Build and test workspace
-        uses: ichiro-its/ros2-build-and-test-action@main
-        with:
-          ros2-distro: rolling
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..7decdf6
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,24 @@
+name: CI
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: [master]
+jobs:
+  build-and-test:
+    name: Build and Test
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4.1.1
+        with:
+          path: keisan
+
+      - name: Setup workspace
+        uses: ichiro-its/ros2-ws-action/setup@v1.0.1
+
+      - name: Build workspace
+        uses: ichiro-its/ros2-ws-action/build@v1.0.1
+
+      - name: Test workspace
+        uses: ichiro-its/ros2-ws-action/test@v1.0.1
diff --git a/.github/workflows/deploy-debian-nightly.yml b/.github/workflows/deploy-debian-nightly.yml
deleted file mode 100644
index 8915fba..0000000
--- a/.github/workflows/deploy-debian-nightly.yml
+++ /dev/null
@@ -1,42 +0,0 @@
-name: Deploy Debian Nightly
-on:
-  workflow_dispatch:
-  push:
-    branches: [master]
-jobs:
-  deploy-debian-nightly:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: keisan
-
-      - name: Build nightly Debian package
-        uses: ichiro-its/ros2-build-debian-action@main
-        with:
-          ros2-distro: rolling
-          unique-version: true
-
-      - name: Deploy nightly Debian package to server
-        uses: appleboy/scp-action@master
-        with:
-          host: ${{ secrets.SSH_HOST }}
-          port: ${{ secrets.SSH_PORT }}
-          username: ${{ secrets.SSH_USER }}
-          password: ${{ secrets.SSH_PASS }}
-          source: "package/*.deb"
-          target: "~/temp/nightly/keisan/"
-          rm: true
-
-      - name: Prepare nightly Debian package in the server
-        uses: appleboy/ssh-action@master
-        with:
-          host: ${{ secrets.SSH_HOST }}
-          port: ${{ secrets.SSH_PORT }}
-          username: ${{ secrets.SSH_USER }}
-          password: ${{ secrets.SSH_PASS }}
-          script: |
-            cd ${{ secrets.SERVER_REPO_DIR }}/debian
-            reprepro includedeb nightly ~/temp/nightly/keisan/package/*.deb
-            rm -rf ~/temp/nightly/keisan/
diff --git a/.github/workflows/deploy-debian-stable.yml b/.github/workflows/deploy-debian-stable.yml
deleted file mode 100644
index af29b8a..0000000
--- a/.github/workflows/deploy-debian-stable.yml
+++ /dev/null
@@ -1,41 +0,0 @@
-name: Deploy Debian Stable
-on:
-  workflow_dispatch:
-  release:
-    types: [created]
-jobs:
-  deploy-debian-stable:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: keisan
-
-      - name: Build stable Debian package
-        uses: ichiro-its/ros2-build-debian-action@main
-        with:
-          ros2-distro: rolling
-
-      - name: Deploy stable Debian package to server
-        uses: appleboy/scp-action@master
-        with:
-          host: ${{ secrets.SSH_HOST }}
-          port: ${{ secrets.SSH_PORT }}
-          username: ${{ secrets.SSH_USER }}
-          password: ${{ secrets.SSH_PASS }}
-          source: "package/*.deb"
-          target: "~/temp/stable/keisan/"
-          rm: true
-
-      - name: Prepare stable Debian package in the server
-        uses: appleboy/ssh-action@master
-        with:
-          host: ${{ secrets.SSH_HOST }}
-          port: ${{ secrets.SSH_PORT }}
-          username: ${{ secrets.SSH_USER }}
-          password: ${{ secrets.SSH_PASS }}
-          script: |
-            cd ${{ secrets.SERVER_REPO_DIR }}/debian
-            reprepro includedeb stable ~/temp/stable/keisan/package/*.deb
-            rm -rf ~/temp/stable/keisan/
diff --git a/.github/workflows/deploy-documentation.yml b/.github/workflows/deploy-documentation.yml
deleted file mode 100644
index 5f4203e..0000000
--- a/.github/workflows/deploy-documentation.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Deploy Documentation
-on:
-  workflow_dispatch:
-  push:
-    branches: [master]
-jobs:
-  deploy-documentation:
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-
-      - name: Build documentation
-        uses: mattnotmitt/doxygen-action@v1.3.1
-
-      - name: Deploy documentation
-        uses: JamesIves/github-pages-deploy-action@4.1.0
-        with:
-          branch: gh-pages
-          folder: doc
diff --git a/.github/workflows/dispatch-discord-pr-bot.yml b/.github/workflows/dispatch-discord-pr-bot.yml
new file mode 100644
index 0000000..01201ce
--- /dev/null
+++ b/.github/workflows/dispatch-discord-pr-bot.yml
@@ -0,0 +1,20 @@
+name: Dispatch Discord PR Bot
+
+on:
+  pull_request:
+    types: [opened, closed, reopened]
+  workflow_dispatch:
+
+jobs:
+  dispatch-discord-pr-bot:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        with:
+          repository: ichiro-its/${{ vars.DISCORD_PR_BOT_REPO }}
+          event-type: pull_request
+          client-payload: |
+            {
+              "repository": "${{ github.event.repository.name }}",
+              "pr_type": "${{ github.event.action || 'opened' }}"
+            }