diff --git a/.github/actions/colcon-build-docker/README.md b/.github/actions/colcon-build-docker/README.md
new file mode 100644
index 0000000000000..2c98d9dec2b1f
--- /dev/null
+++ b/.github/actions/colcon-build-docker/README.md
@@ -0,0 +1,43 @@
+# colcon-build
+
+This action runs `colcon build`.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to build.                       |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| cmake-build-type    | false    | The value for `CMAKE_BUILD_TYPE`.                   |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+None.
diff --git a/.github/actions/colcon-build-docker/action.yaml b/.github/actions/colcon-build-docker/action.yaml
new file mode 100644
index 0000000000000..4ae9c573a3e6f
--- /dev/null
+++ b/.github/actions/colcon-build-docker/action.yaml
@@ -0,0 +1,98 @@
+name: colcon-build-docker
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  cmake-build-type:
+    description: ""
+    required: false
+    default: Release
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+  include-eol-distros:
+    description: ""
+    required: false
+  cache-build-artifacts:
+    description: "Caches the build and install folders for clang-tidy to use"
+    required: false
+    default: "false"
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Install pip for rosdep
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install python3-pip
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir -p dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        package_paths=$(colcon list -p --packages-above-and-dependencies ${{ inputs.target-packages }} --base-paths . dependency_ws)
+        sudo apt-get -yqq update
+        if [ "${{ inputs.include-eol-distros }}" = "true" ]; then
+            rosdep update --include-eol-distros
+        else
+            rosdep update
+        fi
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Build
+      run: |
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+        # Cannot use unshare inside a Docker container, so we just disable
+        # DNS lookups instead.
+        cat /etc/nsswitch.conf
+        sed -e 's#hosts:\(.*\)dns\(.*\)#hosts:\1\2#g' -i.bak /etc/nsswitch.conf
+        cat /etc/nsswitch.conf
+        colcon build --event-handlers console_cohesion+ \
+          --packages-above-and-dependencies ${{ inputs.target-packages }} \
+          --cmake-args -DCMAKE_BUILD_TYPE=${{ inputs.cmake-build-type }} \
+          --mixin coverage-gcc coverage-pytest compile-commands
+        mv /etc/nsswitch.conf.bak /etc/nsswitch.conf
+        cat /etc/nsswitch.conf
+      shell: bash
+
+    - name: Cache build artifacts
+      if: ${{ inputs.cache-build-artifacts == 'true' }}
+      uses: actions/cache@v4
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ inputs.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ inputs.cmake-build-type }}-${{ github.sha }}
diff --git a/.github/actions/colcon-test-docker/README.md b/.github/actions/colcon-test-docker/README.md
new file mode 100644
index 0000000000000..262cd993ec936
--- /dev/null
+++ b/.github/actions/colcon-test-docker/README.md
@@ -0,0 +1,86 @@
+# colcon-test
+
+This action runs `colcon test` with labels specified in a regex format.
+Note that you need to build target packages before running this action.
+
+## Usage
+
+```yaml
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Build
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+
+  test:
+    needs: build
+    runs-on: ubuntu-latest
+    container: ros:galactic
+    strategy:
+      matrix:
+        include:
+          - test-label: gtest
+            codecov-flags: gtest
+          - test-label: launch_test
+            codecov-flags: launch_test
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+
+      - name: Test
+        id: test
+        if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
+        with:
+          rosdistro: galactic
+          target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
+          build-depends-repos: build_depends.repos
+          label-regex: ${{ matrix.test-label }}
+
+      - name: Upload coverage to Codecov
+        if: ${{ steps.test.outputs.coverage-report-files != '' }}
+        uses: codecov/codecov-action@v2
+        with:
+          files: ${{ steps.test.outputs.coverage-report-files }}
+          fail_ci_if_error: false
+          verbose: true
+          flags: ${{ matrix.codecov-flags }}
+```
+
+## Inputs
+
+| Name                | Required | Description                                         |
+| ------------------- | -------- | --------------------------------------------------- |
+| rosdistro           | true     | ROS distro.                                         |
+| target-packages     | true     | The target packages to test.                        |
+| build-depends-repos | false    | The `.repos` file that includes build dependencies. |
+| label-regex         | false    | The regex pattern of test labels to be run.         |
+| token               | false    | The token for build dependencies.                   |
+
+## Outputs
+
+| Name                  | Description                      |
+| --------------------- | -------------------------------- |
+| coverage-report-files | Generated coverage report files. |
diff --git a/.github/actions/colcon-test-docker/action.yaml b/.github/actions/colcon-test-docker/action.yaml
new file mode 100644
index 0000000000000..7e0057780c400
--- /dev/null
+++ b/.github/actions/colcon-test-docker/action.yaml
@@ -0,0 +1,145 @@
+name: colcon-test
+description: ""
+
+inputs:
+  rosdistro:
+    description: ""
+    required: true
+  target-packages:
+    description: ""
+    required: true
+  build-depends-repos:
+    description: ""
+    required: false
+  label-regex:
+    description: ""
+    required: false
+    default: .* # Run all tests
+  token:
+    description: ""
+    required: false
+    default: ${{ github.token }}
+  include-eol-distros:
+    description: ""
+    required: false
+outputs:
+  coverage-report-files:
+    description: ""
+    value: ${{ steps.test.outputs.coverage-reports }}
+
+runs:
+  using: composite
+  steps:
+    - name: Show target packages
+      run: |
+        echo "target packages: ${{ inputs.target-packages }}"
+      shell: bash
+
+    - name: Set up colcon-mixin
+      run: |
+        colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml || true
+        colcon mixin update default
+      shell: bash
+
+    - name: Install packages for coverage commands
+      run: |
+        sudo apt-get -yqq update
+        sudo apt-get -yqq install \
+          lcov \
+          python3-pip \
+          python3-colcon-coveragepy-result \
+          python3-colcon-lcov-result \
+          python3-pytest-cov
+      shell: bash
+
+    - name: Set git config
+      if: ${{ inputs.build-depends-repos != '' }}
+      uses: autowarefoundation/autoware-github-actions/set-git-config@v1
+      with:
+        token: ${{ inputs.token }}
+
+    - name: Clone dependency packages
+      if: ${{ inputs.build-depends-repos != '' }}
+      run: |
+        mkdir -p dependency_ws
+        vcs import dependency_ws < ${{ inputs.build-depends-repos }}
+      shell: bash
+
+    - name: Run rosdep install
+      run: |
+        package_paths=$(colcon list -p --packages-above-and-dependencies ${{ inputs.target-packages }} --base-paths . dependency_ws)
+        sudo apt-get -yqq update
+        if [ "${{ inputs.include-eol-distros }}" = "true" ]; then
+            rosdep update --include-eol-distros
+        else
+            rosdep update
+        fi
+        DEBIAN_FRONTEND=noninteractive rosdep install -yqq --from-paths ${package_paths} --ignore-src --rosdistro ${{ inputs.rosdistro }}
+      shell: bash
+
+    - name: Restore build files from cache
+      id: restore-build-files
+      uses: actions/cache@v4
+      with:
+        path: |
+          ./build
+          ./install
+        key: build-${{ inputs.rosdistro }}-${{ runner.os }}-${{ runner.arch }}-${{ inputs.cmake-build-type }}-${{ github.sha }}
+
+    - name: Test
+      run: |
+        set -e
+        . /opt/ros/${{ inputs.rosdistro }}/setup.sh
+
+        colcon lcov-result --zero-counters \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon lcov-result --initial \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }}
+
+        colcon test --event-handlers console_cohesion+ \
+          --mixin coverage-pytest \
+          --packages-above ${{ inputs.target-packages }} \
+          --ctest-args -L "${{ inputs.label-regex }}" \
+          --executor sequential \
+          --return-code-on-test-failure
+
+        colcon lcov-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+
+        colcon coveragepy-result \
+          --verbose \
+          --packages-above ${{ inputs.target-packages }} || true
+      shell: bash
+
+    - name: Check if the lcov coverage file exists
+      id: lcov-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+      with:
+        files: lcov/total_coverage.info
+
+    - name: Check if the coveragepy coverage file exists
+      id: coveragepy-coverage-file-existence
+      uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+      with:
+        files: coveragepy/.coverage
+
+    - name: Generate output
+      id: test
+      run: |
+        coverage_files=()
+        if [[ "${{ steps.lcov-coverage-file-existence.outputs.exists }}" == "true" ]]; then
+          coverage_files+=("lcov/total_coverage.info")
+        fi
+
+        if [[ "${{ steps.coveragepy-coverage-file-existence.outputs.exists}}" == "true" ]]; then
+          coverage_files+=("coveragepy/.coverage")
+        fi
+
+        # Join coverage file names
+        coverage_files_str="$(IFS=,; echo "${coverage_files[*]}")"
+        echo "coverage-reports=$coverage_files_str" >> $GITHUB_OUTPUT
+      shell: bash
diff --git a/.github/actions/get-modified-packages-docker/README.md b/.github/actions/get-modified-packages-docker/README.md
new file mode 100644
index 0000000000000..0e00193b47d9c
--- /dev/null
+++ b/.github/actions/get-modified-packages-docker/README.md
@@ -0,0 +1,55 @@
+# get-modified-packages
+
+This action get the list of ROS packages modified in the pull request.
+
+## Usage
+
+### Basic
+
+```yaml
+jobs:
+  get-modified-packages:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+```
+
+### Fetch only the PR branch and all PR commits
+
+```yaml
+jobs:
+  get-modified-packages:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
+```
+
+## Inputs
+
+| Name        | Required | Description                                      |
+| ----------- | -------- | ------------------------------------------------ |
+| base-branch | false    | The base branch to search for modified packages. |
+
+## Outputs
+
+| Name              | Description                                            |
+| ----------------- | ------------------------------------------------------ |
+| modified-packages | The list of ROS packages modified in the pull request. |
diff --git a/.github/actions/get-modified-packages-docker/action.yaml b/.github/actions/get-modified-packages-docker/action.yaml
new file mode 100644
index 0000000000000..46596bcd3a9c6
--- /dev/null
+++ b/.github/actions/get-modified-packages-docker/action.yaml
@@ -0,0 +1,46 @@
+name: get-modified-packages
+description: ""
+
+inputs:
+  base-ref:
+    description: ""
+    required: false
+    default: ${{ github.base_ref }}
+
+outputs:
+  modified-packages:
+    description: ""
+    value: ${{ steps.get-modified-packages.outputs.modified-packages }}
+
+runs:
+  using: composite
+  steps:
+    - name: Workaround for https://github.com/actions/checkout/issues/766
+      run: |
+        git config --global --add safe.directory "$GITHUB_WORKSPACE"
+      shell: bash
+
+    - name: Fetch the base branch with enough history for a common merge-base commit
+      run: |
+        git fetch origin ${{ inputs.base-ref }}
+      shell: bash
+
+    - name: printenv
+      run: printenv
+      shell: bash
+
+    - name: Get modified packages
+      id: get-modified-packages
+      run: |
+        modified_packages=${{ DOCKER_RUN_NO_BASH }} \
+          -v ${GITHUB_ACTION_PATH}:${GITHUB_ACTION_PATH} \
+          /bin/bash -c \
+          ${GITHUB_ACTION_PATH}/get-modified-packages.sh origin/${{ inputs.base-ref }}
+        
+        echo "modified-packages=$modified_packages" >> $GITHUB_OUTPUT
+      shell: bash
+
+    - name: Show result
+      run: |
+        echo "modified-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}"
+      shell: bash
diff --git a/.github/actions/get-modified-packages-docker/get-modified-packages.sh b/.github/actions/get-modified-packages-docker/get-modified-packages.sh
new file mode 100755
index 0000000000000..834115f5a621e
--- /dev/null
+++ b/.github/actions/get-modified-packages-docker/get-modified-packages.sh
@@ -0,0 +1,74 @@
+#!/bin/bash
+# Search for packages that have been modified from the base branch.
+# Usage: get-modified-packages.sh <base_branch>
+
+# Parse arguments
+args=()
+while [ "${1-}" != "" ]; do
+    case "$1" in
+    *)
+        args+=("$1")
+        ;;
+    esac
+    shift
+done
+
+# example: base_branch="origin/main"
+base_branch="${args[0]}"
+
+# Check args
+if [ "$base_branch" = "" ]; then
+    echo -e "\e[31mPlease input a valid base_branch as the 1st argument.\e[m"
+    exit 1
+fi
+
+function find_package_dir() {
+    [ "$1" == "" ] && return 1
+
+    target_dir=$(dirname "$1")
+    while true; do
+        # Output package name if package.xml found
+        if [ -f "$target_dir/package.xml" ]; then
+            if [ ! -f "$target_dir/COLCON_IGNORE" ]; then
+                echo "$target_dir"
+                return 0
+            fi
+        fi
+
+        # Exit if no parent found
+        parent_dir=$(dirname "$target_dir")
+        if [ "$parent_dir" = "$target_dir" ]; then
+            return 0
+        fi
+
+        # Move to parent dir
+        target_dir=$parent_dir
+    done
+
+    return 1
+}
+
+# Find modified files from the base branch
+if ! modified_files=$(git diff --name-only "$base_branch"...HEAD); then
+    echo -e "\e[31mFailed to determine modified files. Please check if the base branch exists and fetch depth is sufficient.\e[m"
+    exit 1
+fi
+
+# Find modified packages
+modified_package_dirs=()
+for modified_file in $modified_files; do
+    modified_package_dir=$(find_package_dir "$modified_file")
+
+    if [ "$modified_package_dir" != "" ]; then
+        modified_package_dirs+=("$modified_package_dir")
+    fi
+done
+
+# Get package names from paths
+if [ "${#modified_package_dirs[@]}" != "0" ]; then
+    modified_packages=$(colcon list --names-only --paths "${modified_package_dirs[@]}")
+fi
+
+# Output
+# shellcheck disable=SC2086
+printf "%s " $modified_packages | sed 's/\s*$//'
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index e7ceba3de319b..3dc41685d02c5 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -11,6 +11,12 @@ on:
 env:
   CC: /usr/lib/ccache/gcc
   CXX: /usr/lib/ccache/g++
+  DOCKER_RUN_NO_BASH: docker run --shm-size 1G \
+    -v ${{ github.workspace }}:/workspace \
+    -w /workspace \
+    ${{ matrix.container }}${{ matrix.container-suffix }}
+  DOCKER_RUN: ${{ DOCKER_RUN_NO_BASH }} \
+    /bin/bash -c
 
 jobs:
   build-and-test-differential:
@@ -27,14 +33,14 @@ jobs:
             container: ghcr.io/autowarefoundation/autoware:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
-#      - name: Set PR fetch depth
-#        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
-#
-#      - name: Checkout PR branch and all PR commits
-#        uses: actions/checkout@v4
-#        with:
-#          ref: ${{ github.event.pull_request.head.sha }}
-#          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
+
+      - name: Checkout PR branch and all PR commits
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
 
       - name: Show disk space before the tasks
         run: df -h
@@ -46,7 +52,22 @@ jobs:
         run: printenv
 
       - name: tree
-        run: tree ../../
+        run: tree $HOME
+
+      - name: Remove exec_depend
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
+
+      - name: Get modified packages
+        id: get-modified-packages
+        uses: ./.github/actions/get-modified-packages-docker
+
+#      - name: docker run
+#        run: docker run --shm-size 1G \
+#          -v ${{ github.workspace }}:/workspace \
+#          -w /workspace \
+#          ${{ matrix.container }}${{ matrix.container-suffix }} \
+#          /bin/bash -c \
+
 
 #      - name: Docker
 #        run: |