diff --git a/.github/workflows/build-and-test-nightly.yml b/.github/workflows/build-and-test-nightly.yml
deleted file mode 100644
index 4f34a31..0000000
--- a/.github/workflows/build-and-test-nightly.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Build and Test Nightly
-on:
-  workflow_dispatch:
-  pull_request:
-    branches: [master]
-  push:
-    branches: [master]
-jobs:
-  build-and-test-nightly:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: shisen_cpp
-
-      - name: Add nightly Debian repository and rosdep sources list
-        run: |
-          sudo apt update && sudo apt install curl
-          curl -s ${{ secrets.SERVER_BASE_URL }}/debian/setup-nightly.bash | bash -s
-          curl -s ${{ secrets.SERVER_BASE_URL }}/rosdep/setup.bash | bash -s
-      - name: Build and test workspace
-        uses: ichiro-its/ros2-build-and-test-action@main
diff --git a/.github/workflows/build-and-test-stable.yml b/.github/workflows/build-and-test-stable.yml
deleted file mode 100644
index 4c64ceb..0000000
--- a/.github/workflows/build-and-test-stable.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Build and Test Stable
-on:
-  workflow_dispatch:
-  push:
-    branches: [master]
-jobs:
-  build-and-test-stable:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: shisen_cpp
-
-      - name: Add stable Debian repository and rosdep sources list
-        run: |
-          sudo apt update && sudo apt install curl
-          curl -s ${{ secrets.SERVER_BASE_URL }}/debian/setup.bash | bash -s
-          curl -s ${{ secrets.SERVER_BASE_URL }}/rosdep/setup.bash | bash -s
-      - name: Build and test workspace
-        uses: ichiro-its/ros2-build-and-test-action@main
diff --git a/.github/workflows/build-debian-nightly.yml b/.github/workflows/build-debian-nightly.yml
deleted file mode 100644
index afbe418..0000000
--- a/.github/workflows/build-debian-nightly.yml
+++ /dev/null
@@ -1,46 +0,0 @@
-name: Deploy Debian Nightly
-on:
-  workflow_dispatch:
-  push:
-    branches: [master]
-jobs:
-  deploy-debian-nightly:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: shisen_cpp
-
-      - name: Add nightly Debian repository and rosdep sources list
-        run: |
-          sudo apt update && sudo apt install curl
-          curl -s ${{ secrets.SERVER_BASE_URL }}/debian/setup-nightly.bash | bash -s
-          curl -s ${{ secrets.SERVER_BASE_URL }}/rosdep/setup.bash | bash -s
-      - name: Build nightly Debian package
-        uses: ichiro-its/ros2-build-debian-action@main
-        with:
-          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/shisen_cpp/"
-          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/shisen_cpp/package/*.deb
-            rm -rf ~/temp/nightly/shisen_cpp/
diff --git a/.github/workflows/build-debian-stable.yml b/.github/workflows/build-debian-stable.yml
deleted file mode 100644
index 540f30d..0000000
--- a/.github/workflows/build-debian-stable.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-name: Deploy Debian Stable
-on:
-  workflow_dispatch:
-  release:
-    types: [created]
-jobs:
-  deploy-debian-stable:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Checkout this repository
-        uses: actions/checkout@v2.3.4
-        with:
-          path: shisen_cpp
-
-      - name: Add stable Debian repository and rosdep sources list
-        run: |
-          sudo apt update && sudo apt install curl
-          curl -s ${{ secrets.SERVER_BASE_URL }}/debian/setup.bash | bash -s
-          curl -s ${{ secrets.SERVER_BASE_URL }}/rosdep/setup.bash | bash -s
-      - name: Build stable Debian package
-        uses: ichiro-its/ros2-build-debian-action@main
-
-      - 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/shisen_cpp/"
-          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/shisen_cpp/package/*.deb
-            rm -rf ~/temp/stable/shisen_cpp/
diff --git a/.github/workflows/build-ros2-ws-action.yml b/.github/workflows/build-ros2-ws-action.yml
new file mode 100644
index 0000000..84b5daf
--- /dev/null
+++ b/.github/workflows/build-ros2-ws-action.yml
@@ -0,0 +1,68 @@
+name: ros2-ws-action
+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: shisen_cpp
+
+      - name: Checkout Shisen Interface
+        uses: actions/checkout@v4.1.1
+        with:
+          repository: ichiro-its/shisen_interfaces
+          path: shisen_interfaces
+
+      - name: Checkout Kansei Interfaces
+        uses: actions/checkout@v4.1.1
+        with:
+          repository: ichiro-its/kansei_interfaces
+          path: kansei_interfaces
+
+      - name: install opencv contrib
+        run: |
+          sudo apt install libopencv-contrib-dev -y
+
+      - name: Checkout Keisan
+        uses: actions/checkout@v4.1.1
+        with:
+          repository: ichiro-its/keisan
+          path: keisan
+
+      - name: Checkout Jitsuyo
+        uses: actions/checkout@v4.1.1
+        with:
+          repository: ichiro-its/jitsuyo
+          path: jitsuyo
+          token: ${{ secrets.GH_TOKEN }}
+
+      - name: Setup abseil for grpc
+        run: |
+          git clone https://github.com/abseil/abseil-cpp.git
+          cmake -S abseil-cpp -B abseil-cpp/build 
+          cmake --build abseil-cpp/build
+          sudo cmake --install abseil-cpp/build
+
+      - name: Setup grpc        
+        run: |
+          git clone --recurse-submodules -b v1.61.0 --depth 1 --shallow-submodules https://github.com/grpc/grpc
+          cmake -S grpc -B grpc/build
+          cmake --build grpc/build
+          sudo cmake --install grpc/build
+          rm -rf grpc
+
+      - name: Setup workspace
+        uses: ichiro-its/ros2-ws-action/setup@v1.0.1
+
+      - name: Build workspace
+        uses: ichiro-its/ros2-ws-action/build@v1.0.1
+
+      - name: Test workspace
+        uses: ichiro-its/ros2-ws-action/test@v1.0.1
diff --git a/.github/workflows/dispatch-discord-pr-bot.yml b/.github/workflows/dispatch-discord-pr-bot.yml
new file mode 100644
index 0000000..01201ce
--- /dev/null
+++ b/.github/workflows/dispatch-discord-pr-bot.yml
@@ -0,0 +1,20 @@
+name: Dispatch Discord PR Bot
+
+on:
+  pull_request:
+    types: [opened, closed, reopened]
+  workflow_dispatch:
+
+jobs:
+  dispatch-discord-pr-bot:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        with:
+          repository: ichiro-its/${{ vars.DISCORD_PR_BOT_REPO }}
+          event-type: pull_request
+          client-payload: |
+            {
+              "repository": "${{ github.event.repository.name }}",
+              "pr_type": "${{ github.event.action || 'opened' }}"
+            }