diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
new file mode 100644
index 0000000..e54338a
--- /dev/null
+++ b/.github/workflows/build_and_test.yaml
@@ -0,0 +1,52 @@
+name: build-and-test
+
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-22.04
+    container:
+      image: ${{ matrix.image }}
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: [humble]
+        image: ["ros:humble"]
+        build-depends-repos: [build_depends.repos]
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          repository: ${{ github.event.pull_request.head.repo.full_name }}  
+          ref: ${{ github.event.pull_request.head.ref }}  
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get self packages
+        id: get-self-packages
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
+
+      - name: Update package list and install dependencies
+        run: |
+          apt-get update -yqq
+          apt-get install -yqq libboost-system-dev libboost-filesystem-dev libboost-thread-dev
+      
+      - name: Build
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Test
+        if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: ${{ matrix.rosdistro }}
+          target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
+          build-depends-repos: ${{ matrix.build-depends-repos }}
diff --git a/build_depends.repos b/build_depends.repos
new file mode 100644
index 0000000..4e3bfea
--- /dev/null
+++ b/build_depends.repos
@@ -0,0 +1,9 @@
+repositories:
+  autoware_state_machine_msgs:
+    type: git
+    url: https://github.com/eve-autonomy/autoware_state_machine_msgs.git
+    version: main
+  dio_ros_driver:
+    type: git
+    url: https://github.com/tier4/dio_ros_driver.git
+    version: develop/ros2
diff --git a/CMakeLists.txt b/departure_button_lamp_manager/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to departure_button_lamp_manager/CMakeLists.txt
diff --git a/docs/node_graph.pu b/departure_button_lamp_manager/docs/node_graph.pu
similarity index 100%
rename from docs/node_graph.pu
rename to departure_button_lamp_manager/docs/node_graph.pu
diff --git a/include/departure_button_lamp_manager/departure_button_lamp_manager.hpp b/departure_button_lamp_manager/include/departure_button_lamp_manager/departure_button_lamp_manager.hpp
similarity index 100%
rename from include/departure_button_lamp_manager/departure_button_lamp_manager.hpp
rename to departure_button_lamp_manager/include/departure_button_lamp_manager/departure_button_lamp_manager.hpp
diff --git a/launch/departure_button_lamp_manager.launch.xml b/departure_button_lamp_manager/launch/departure_button_lamp_manager.launch.xml
similarity index 100%
rename from launch/departure_button_lamp_manager.launch.xml
rename to departure_button_lamp_manager/launch/departure_button_lamp_manager.launch.xml
diff --git a/package.xml b/departure_button_lamp_manager/package.xml
similarity index 100%
rename from package.xml
rename to departure_button_lamp_manager/package.xml
diff --git a/src/departure_button_lamp_manager.cpp b/departure_button_lamp_manager/src/departure_button_lamp_manager.cpp
similarity index 100%
rename from src/departure_button_lamp_manager.cpp
rename to departure_button_lamp_manager/src/departure_button_lamp_manager.cpp
diff --git a/test/test_departure_button_lamp_manager.cpp b/departure_button_lamp_manager/test/test_departure_button_lamp_manager.cpp
similarity index 100%
rename from test/test_departure_button_lamp_manager.cpp
rename to departure_button_lamp_manager/test/test_departure_button_lamp_manager.cpp