diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml
new file mode 100644
index 00000000..4b7b1626
--- /dev/null
+++ b/.github/workflows/humble.yaml
@@ -0,0 +1,53 @@
+name: humble
+
+on:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+  workflow_dispatch:
+
+defaults:
+  run:
+    shell: bash
+
+jobs:
+  humble:
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: humble, ROS_REPO: main}
+    runs-on: ubuntu-22.04
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache"
+    steps:
+      - name: Checkout ROS Toolboxes
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          path: src/interbotix_ros_toolboxes
+      - name: Checkout ROS Core
+        uses: actions/checkout@v3
+        with:
+          repository: interbotix/interbotix_ros_core
+          ref: humble
+          submodules: recursive
+          path: src/interbotix_ros_core
+      - name: Install non-rosdep Python dependencies
+        run: pip3 install modern-robotics transforms3d
+      - name: Prepare Workspace
+        run: |
+          rm src/interbotix_ros_core/interbotix_ros_common_drivers/COLCON_IGNORE
+          rm src/interbotix_ros_core/interbotix_ros_slate/COLCON_IGNORE
+          rm src/interbotix_ros_core/interbotix_ros_xseries/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_landmark_modules/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface_msgs/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_common_toolbox/interbotix_moveit_interface/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_io_toolbox/COLCON_IGNORE
+          rm src/interbotix_ros_toolboxes/interbotix_perception_toolbox/COLCON_IGNORE
+      - name: ROS-I CI
+        uses: ros-industrial/industrial_ci@master
+        with:
+          config: ${{toJSON(matrix.env)}}
diff --git a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
index b6d20fe8..5c9f4bf0 100644
--- a/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
+++ b/interbotix_common_toolbox/interbotix_landmark_modules/package.xml
@@ -8,23 +8,23 @@
   <license>BSD-3-Clause</license>
   <author email="trsupport@trossenrobotics.com">Luke Schmitt</author>
 
-  <exec_depend>rclpy</exec_depend>
   <exec_depend>geometry_msgs</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>tf2_geometry_msgs</exec_depend>
-  <exec_depend>visualization_msgs</exec_depend>
   <exec_depend>interbotix_common_modules</exec_depend>
   <exec_depend>interbotix_perception_modules</exec_depend>
-  <exec_depend>launch</exec_depend>
   <exec_depend>launch_ros</exec_depend>
-  <exec_depend>tf_transformations</exec_depend>
+  <exec_depend>launch</exec_depend>
   <exec_depend>python3-transforms3d</exec_depend>
+  <exec_depend>rclpy</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
+  <exec_depend>tf_transformations</exec_depend>
+  <exec_depend>tf2_geometry_msgs</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>visualization_msgs</exec_depend>
 
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
   <test_depend>interbotix_tf_tools</test_depend>
   <test_depend>launch_testing</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
 
   <export>
     <build_type>ament_python</build_type>