diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d775e86..24fb940 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -11,17 +11,39 @@ on:
 
 jobs:
   fortress_ci:
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        ROS_REPO: [testing, main]
+    steps:
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: ${{ matrix.ROS_REPO == 'testing' }}
+      - name: Run ROS CI
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: humble
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+
+  garden_ci:
     runs-on: ubuntu-22.04
     strategy:
       matrix:
         ROS_REPO: [testing, main]
     env:
-      GZ_VERSION: fortress
+      GZ_VERSION: garden
     steps:
       - name: Setup ROS environment
         uses: ros-tooling/setup-ros@v0.7
         with:
           use-ros2-testing: ${{ matrix.ROS_REPO == 'testing' }}
+      - name: Install Gazebo
+        run: |
+          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+          wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+          sudo apt-get update
+          sudo apt-get install -y libgz-sim7-dev
       - name: Run ROS CI
         uses: ros-tooling/action-ros-ci@v0.3
         with: