diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index e8d4ee7..d3e1c7e 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -3,29 +3,29 @@ name: main
 on:
   pull_request:
     branches:
-      - main
+      - foxy-devel
   push:
     branches:
-      - main
+      - foxy-devel
       
 jobs:
   build-and-test:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [ubuntu-22.04]
+        os: [ubuntu-20.04]
       fail-fast: false
     steps:
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.3.4
         with:
-          required-ros-distributions: humble
+          required-ros-distributions: foxy
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.2.6
         with:
           package-name: mocap_control mocap_control_msgs rqt_mocap_control mocap_marker_publisher mocap_marker_viz mocap_marker_viz_srvs
-          target-ros2-distro: humble
-          vcs-repo-file-url: https://raw.githubusercontent.com/MOCAP4ROS2-Project/mocap/main/dependency_repos.repos
+          target-ros2-distro: foxy
+          vcs-repo-file-url: https://raw.githubusercontent.com/MOCAP4ROS2-Project/mocap/foxy-devel/dependency_repos.repos
       - name: Codecov
         uses: codecov/codecov-action@v1.1.0
         with:
diff --git a/README.md b/README.md
index bd71f11..2e6d5c8 100644
--- a/README.md
+++ b/README.md
@@ -1,8 +1,8 @@
 # MOCAP4ROS2 
 
 [![GitHub Action
-Status](https://github.com/MOCAP4ROS2-Project/mocap/workflows/main/badge.svg)](https://github.com/MOCAP4ROS2-Project/mocap)
-[![codecov](https://codecov.io/gh/MOCAP4ROS2-Project/mocap/main/graph/badge.svg)](https://codecov.io/gh/MOCAP4ROS2-Project/mocap)
+Status](https://github.com/MOCAP4ROS2-Project/mocap/workflows/foxy-devel/badge.svg)](https://github.com/MOCAP4ROS2-Project/mocap)
+[![codecov](https://codecov.io/gh/MOCAP4ROS2-Project/mocap/foxy-devel/graph/badge.svg)](https://codecov.io/gh/MOCAP4ROS2-Project/mocap)
 
 This project provides support for ROS2 integration with Vicon cameras (MOCAP systems based on vision) and Technaid TechMCS IMUs (MOCAP systems based on motion sensors).
 
diff --git a/dependency_repos.repos b/dependency_repos.repos
index 53128f5..5c0bb09 100644
--- a/dependency_repos.repos
+++ b/dependency_repos.repos
@@ -2,4 +2,4 @@ repositories:
   mocap_msgs:
     type: git
     url: https://github.com/MOCAP4ROS2-Project/mocap_msgs.git
-    version: master
+    version: humble-devel