diff --git a/.github/workflows/linux_ROS2.yaml b/.github/workflows/linux_ROS2.yaml
deleted file mode 100644
index d4dd71c9..00000000
--- a/.github/workflows/linux_ROS2.yaml
+++ /dev/null
@@ -1,62 +0,0 @@
-name: CI
-on:
-  pull_request:
-  push:
-    branches:
-      - foxy-devel
-  schedule:
-    # every Monday
-    - cron:  '0 0 * * 1'
-
-jobs:
-  build:
-    runs-on: [ubuntu-20.04]
-    strategy:
-      fail-fast: false
-      matrix:
-        ROSDISTRO: [foxy]
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: recursive
-        path: src
-    - name: Install
-      shell: bash
-      run: |
-        sudo apt update && sudo apt install curl gnupg2 lsb-release
-        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-        sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-        sudo apt update
-        sudo apt install ros-foxy-desktop
-        source /opt/ros/foxy/setup.bash
-        sudo apt install python3-colcon-common-extensions
-      env:
-        ROSDISTRO: ${{ matrix.ROSDISTRO }}
-    - name: Configure Microsoft's Package Repository
-      shell: bash
-      continue-on-error: true 
-      run: |
-        curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
-        sudo apt-add-repository https://packages.microsoft.com/ubuntu/18.04/prod
-    - name: Continue Configuring Microsoft's Package Repository
-      shell: bash
-      continue-on-error: true 
-      run: |
-        curl -sSL https://packages.microsoft.com/config/ubuntu/18.04/prod.list | sudo tee /etc/apt/sources.list.d/microsoft-prod.list
-        curl -sSL https://packages.microsoft.com/keys/microsoft.asc | sudo apt-key add -
-        sudo apt-get update
-    - name: Install Azure Kinect Sensor SDK
-      shell: bash
-      run: |
-        export DEBIAN_FRONTEND=noninteractive
-        echo 'libk4a1.3 libk4a1.3/accepted-eula-hash string 0f5d5c5de396e4fee4c0753a21fee0c1ed726cf0316204edda484f08cb266d76' | sudo debconf-set-selections
-        echo 'libk4a1.3 libk4a1.3/accept-eula boolean true' | sudo debconf-set-selections
-        sudo apt install libk4a1.3-dev
-        sudo apt install k4a-tools=1.3.0
-    - name: Build
-      shell: bash
-      run: |
-        source /opt/ros/foxy/setup.bash
-        colcon build --packages-select azure_kinect_ros_driver --event-handlers console_cohesion+
-      env:
-        ROSDISTRO: ${{ matrix.ROSDISTRO }}
\ No newline at end of file
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
new file mode 100644
index 00000000..d74f0d06
--- /dev/null
+++ b/.github/workflows/release.yml
@@ -0,0 +1,20 @@
+name: Release .deb
+
+on: push
+
+jobs:
+  release:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+
+    steps:
+      - uses: actions/checkout@v3
+
+      - id: build
+        uses: tutrobo/ros2-deb-build@master
+
+      - uses: softprops/action-gh-release@v1
+        if: startsWith(github.ref, 'refs/tags/')
+        with:
+          files: ${{ steps.build.outputs.archives }}/*.deb
diff --git a/.github/workflows/windows_ROS2.yaml b/.github/workflows/windows_ROS2.yaml
deleted file mode 100644
index 74e414b8..00000000
--- a/.github/workflows/windows_ROS2.yaml
+++ /dev/null
@@ -1,43 +0,0 @@
-name: CI
-on:
-  pull_request:
-  push:
-    branches:
-      - foxy-devel
-  schedule:
-    # every Monday
-    - cron:  '0 0 * * 1'
-
-jobs:
-  build:
-    runs-on: [windows-2019]
-    strategy:
-      fail-fast: false
-      matrix:
-        ROSDISTRO: [foxy]
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        submodules: recursive
-        path: src
-    - name: Install
-      shell: cmd
-      run: |
-        choco sources add -n=roswin -s https://aka.ms/ros/public --priority 1
-        choco install ros-%ROSDISTRO%-desktop -y --no-progress
-      env:
-        ROSDISTRO: ${{ matrix.ROSDISTRO }}
-    - name: Install Azure Kinect Sensor SDK
-      shell: powershell
-      run: |
-        wget https://download.microsoft.com/download/e/6/6/e66482b2-b6c1-4e34-bfee-95294163fc40/Azure%20Kinect%20SDK%201.3.0.exe -OutFile sdk.exe
-        $p = Start-Process -PassThru -FilePath ".\sdk.exe" -Wait -NoNewWindow -ArgumentList "/passive"
-        $p.WaitForExit()    
-    - name: Build
-      shell: cmd
-      run: |
-        call "C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\Common7\Tools\VsDevCmd.bat" -arch=amd64 -host_arch=amd64
-        call "C:\opt\ros\%ROSDISTRO%\x64\setup.bat"
-        colcon build --packages-select azure_kinect_ros_driver --event-handlers console_cohesion+
-      env:
-        ROSDISTRO: ${{ matrix.ROSDISTRO }}