diff --git a/.github/workflows/ros2_ci.yml b/.github/workflows/ros2_ci.yml
index 33bd344..1a368bc 100644
--- a/.github/workflows/ros2_ci.yml
+++ b/.github/workflows/ros2_ci.yml
@@ -17,19 +17,29 @@ jobs:
     - name: Checkout repository
       uses: actions/checkout@v3
 
-    - name: Import ROS2 apt key
+    - name: Install system dependencies
       run: |
         sudo apt update
         sudo apt install -y curl gnupg lsb-release
-        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o ros.key
-        sudo apt-key add ros.key
 
-    - name: Install ROS2 Humble dependencies
+    - name: Import ROS2 apt key
+      run: |
+        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | sudo apt-key add -
+
+    - name: Setup sources.list
       run: |
         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'
+
+    - name: Install ROS2 Humble dependencies
+      run: |
         sudo apt update
         sudo apt install -y python3-colcon-common-extensions python3-rosdep python3-vcstool
-        sudo rosdep init
+
+    - name: Initialize rosdep
+      run: |
+        if [ ! -f /etc/ros/rosdep/sources.list.d/20-default.list ]; then
+          sudo rosdep init
+        fi
         rosdep update
 
     - name: Install package dependencies