diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b95c458a..f0cfec17 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -36,7 +36,7 @@ jobs:
         apt-get install ros-${{ matrix.ros_distribution }}-rclcpp-action
         apt-get install ros-${{ matrix.ros_distribution }}-mimick-vendor
         apt-get -y install ros-${{ matrix.ros_distribution }}-performance-test-fixture
-    - uses : ros-tooling/action-ros-ci@0.2.3
+    - uses : ros-tooling/action-ros-ci@0.2.4
       with:
         package-name: "rclc rclc_examples rclc_lifecycle rclc_parameter"
         vcs-repo-file-url: dependencies.repos
diff --git a/dependencies.repos b/dependencies.repos
index 4e2a623b..3866228a 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -1,4 +1,21 @@
-- git:
-    local-name: rcl
-    uri: https://github.com/ros2/rcl.git
+repositories:
+  ros2/rcl:
+    type: git
+    url: https://github.com/ros2/rcl.git
+    version: master
+  ros2/rmw:
+    type: git
+    url: https://github.com/ros2/rmw.git
+    version: master
+  ros2/rmw_implementation:
+    type: git
+    url: https://github.com/ros2/rmw_implementation.git
+    version: master
+  ros2/rmw_connextdds:
+    type: git
+    url: https://github.com/ros2/rmw_connextdds.git
+    version: master
+  ros2/rmw_fastrtps:
+    type: git
+    url: https://github.com/ros2/rmw_fastrtps.git
     version: master