diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 7e2ac3c..b462d39 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -4,6 +4,10 @@ on:
   pull_request:
     branches:
       - '**'
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
 
 jobs:
   build:
@@ -12,16 +16,16 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker_image: ubuntu:jammy
+          - docker_image: ubuntu:24.04
             ros_distribution: rolling
     container:
       image: ${{ matrix.docker_image }}
     steps:
     - uses: actions/checkout@v3
-    - uses: ros-tooling/setup-ros@0.6.2
+    - uses: ros-tooling/setup-ros@0.7.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
-    - uses : ros-tooling/action-ros-ci@0.3.2
+    - uses : ros-tooling/action-ros-ci@0.3.13
       with:
         package-name: "micro_ros_utilities"
         target-ros2-distro: ${{ matrix.ros_distribution }}
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 44178d5..a066304 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -16,7 +16,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - docker_image: ubuntu:jammy
+          - docker_image: ubuntu:24.04
             ros_distribution: rolling
           - docker_image: ubuntu:jammy
             ros_distribution: iron
diff --git a/CMakeLists.txt b/CMakeLists.txt
index dd8250b..4547460 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,10 +36,10 @@ target_include_directories(${PROJECT_NAME}
         $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/src>
 )
 
-ament_target_dependencies(${PROJECT_NAME}
-  rosidl_typesupport_introspection_c
-  rosidl_runtime_c
-  rcutils
+target_link_libraries(${PROJECT_NAME}
+  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+  rosidl_runtime_c::rosidl_runtime_c
+  rcutils::rcutils
 )
 
 #################################################
@@ -75,13 +75,13 @@ if(BUILD_TESTING)
 
   target_include_directories(${PROJECT_NAME}_test PRIVATE include src)
   target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
-  ament_target_dependencies(${PROJECT_NAME}_test
-    rosidl_typesupport_introspection_c
-    rosidl_generator_c
-    rosidl_runtime_c
-    rcutils
-    std_msgs
-    trajectory_msgs
+  target_link_libraries(${PROJECT_NAME}_test
+    rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+    ${rosidl_generator_c_LIBRARIES}
+    rosidl_runtime_c::rosidl_runtime_c
+    rcutils::rcutils
+    ${std_msgs_TARGETS}
+    ${trajectory_msgs_TARGETS}
   )
 endif()