diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index f516e02..05b4bfc 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -26,6 +26,6 @@ jobs:
     - name: Create catkin workspace
       run: mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
     - name: Copy code to catkin workspace
-      run: cd /catkin_ws/src && git clone --recursive https://github.com/westonrobot/ugv_sdk
+      run: cd /catkin_ws/src && git clone https://github.com/westonrobot/async_port.git && git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
     - name: Run catkin_make
       run: cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
diff --git a/.github/workflows/standalone-ci.yml b/.github/workflows/standalone-ci.yml
index 8521d62..00ded2e 100644
--- a/.github/workflows/standalone-ci.yml
+++ b/.github/workflows/standalone-ci.yml
@@ -15,6 +15,9 @@ jobs:
     - uses: actions/checkout@v2
     # - name: Install dependencies
     #   run: sudo apt-get install -y build-essential cmake libasio-dev
+    - name: Build and install dependent package
+      run: git clone -b v2.x https://github.com/westonrobot/async_port.git && cd async_port \
+            mkdir build && cd build && cmake .. && make && sudo make install
     - name: Update git submodule
       run: git submodule update --init --recursive
     - name: Build and pack