diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index f84f2e3f..71e3aa09 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -16,7 +16,7 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ROS_DISTRO: [melodic, melodic_llvm, noetic, noetic_llvm, foxy, foxy_llvm, galactic, galactic_llvm]
+        ROS_DISTRO: [foxy, galactic, humble]
 
     steps:
       - uses: actions/checkout@v2
@@ -28,9 +28,20 @@ jobs:
           username: ${{ secrets.DOCKER_USERNAME }}
           password: ${{ secrets.DOCKER_TOKEN }}
 
-      - name: Docker build
+      - name: Docker build gcc
         uses: docker/build-push-action@v2
         with:
-          file: ${{github.workspace}}/docker/${{ matrix.ROS_DISTRO }}/Dockerfile
+          file: ${{github.workspace}}/docker/Dockerfile_gcc
           context: .
           push: false
+          build-args: |
+            ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+
+      - name: Docker build llvm
+        uses: docker/build-push-action@v2
+        with:
+          file: ${{github.workspace}}/docker/Dockerfile_llvm
+          context: .
+          push: false
+          build-args: |
+            ROS_DISTRO=${{ matrix.ROS_DISTRO }}
diff --git a/docker/foxy/Dockerfile b/docker/Dockerfile_gcc
similarity index 72%
rename from docker/foxy/Dockerfile
rename to docker/Dockerfile_gcc
index 194db6bd..71058597 100644
--- a/docker/foxy/Dockerfile
+++ b/docker/Dockerfile_gcc
@@ -1,9 +1,11 @@
-FROM ros:foxy
+ARG ROS_DISTRO
+
+FROM ros:${ROS_DISTRO}
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
   wget nano build-essential libomp-dev clang lld git\
-  ros-foxy-geodesy ros-foxy-pcl-ros ros-foxy-nmea-msgs \
-  ros-foxy-rviz2 ros-foxy-libg2o \
+  ros-${ROS_DISTRO}-geodesy ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-nmea-msgs \
+  ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-libg2o \
   && apt-get clean \
   && rm -rf /var/lib/apt/lists/*
 
@@ -16,7 +18,7 @@ WORKDIR /root/colcon_ws/src
 COPY . /root/colcon_ws/src/ndt_omp/
 
 WORKDIR /root/colcon_ws
-RUN /bin/bash -c '. /opt/ros/foxy/setup.bash; colcon build'
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; colcon build'
 RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh
 
 WORKDIR /
diff --git a/docker/foxy_llvm/Dockerfile b/docker/Dockerfile_llvm
similarity index 74%
rename from docker/foxy_llvm/Dockerfile
rename to docker/Dockerfile_llvm
index 1d625deb..67a9b1c7 100644
--- a/docker/foxy_llvm/Dockerfile
+++ b/docker/Dockerfile_llvm
@@ -1,9 +1,9 @@
-FROM ros:foxy
+FROM ros:${ROS_DISTRO}
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
   wget nano build-essential libomp-dev clang lld git\
-  ros-foxy-geodesy ros-foxy-pcl-ros ros-foxy-nmea-msgs \
-  ros-foxy-rviz2 ros-foxy-libg2o \
+  ros-${ROS_DISTRO}-geodesy ros-${ROS_DISTRO}-pcl-ros ros-${ROS_DISTRO}-nmea-msgs \
+  ros-${ROS_DISTRO}-rviz2 ros-${ROS_DISTRO}-libg2o \
   && apt-get clean \
   && rm -rf /var/lib/apt/lists/*
 
@@ -18,7 +18,7 @@ COPY . /root/colcon_ws/src/ndt_omp/
 RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
 
 WORKDIR /root/colcon_ws
-RUN /bin/bash -c '. /opt/ros/foxy/setup.bash; CC=clang CXX=clang++ colcon build'
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; CC=clang CXX=clang++ colcon build'
 RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh
 
 WORKDIR /
diff --git a/docker/galactic/Dockerfile b/docker/galactic/Dockerfile
deleted file mode 100644
index dbd39729..00000000
--- a/docker/galactic/Dockerfile
+++ /dev/null
@@ -1,25 +0,0 @@
-FROM ros:galactic
-
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  wget nano build-essential libomp-dev clang lld git\
-  ros-galactic-geodesy ros-galactic-pcl-ros ros-galactic-nmea-msgs \
-  ros-galactic-rviz2 ros-galactic-libg2o \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /root/colcon_ws/src
-WORKDIR /root/colcon_ws/src
-# Comment it out until the repository supports ROS2 builds.
-# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
-# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1
-
-COPY . /root/colcon_ws/src/ndt_omp/
-
-WORKDIR /root/colcon_ws
-RUN /bin/bash -c '. /opt/ros/galactic/setup.bash; colcon build'
-RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh
-
-WORKDIR /
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
diff --git a/docker/galactic_llvm/Dockerfile b/docker/galactic_llvm/Dockerfile
deleted file mode 100644
index b4d390cc..00000000
--- a/docker/galactic_llvm/Dockerfile
+++ /dev/null
@@ -1,27 +0,0 @@
-FROM ros:galactic
-
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  wget nano build-essential libomp-dev clang lld git\
-  ros-galactic-geodesy ros-galactic-pcl-ros ros-galactic-nmea-msgs \
-  ros-galactic-rviz2 ros-galactic-libg2o \
-  && apt-get clean \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /root/colcon_ws/src
-WORKDIR /root/colcon_ws/src
-# Comment it out until the repository supports ROS2 builds.
-# RUN git clone https://github.com/SMRT-AIST/fast_gicp.git --recursive --depth=1
-# RUN git clone https://github.com/koide3/hdl_graph_slam.git --depth=1
-
-COPY . /root/colcon_ws/src/ndt_omp/
-
-RUN update-alternatives --install /usr/bin/ld ld /usr/bin/ld.lld 50
-
-WORKDIR /root/colcon_ws
-RUN /bin/bash -c '. /opt/ros/galactic/setup.bash; CC=clang CXX=clang++ colcon build'
-RUN sed -i "6i source \"/root/colcon_ws/devel/setup.bash\"" /ros_entrypoint.sh
-
-WORKDIR /
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]