diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 00000000..49c815e0
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,53 @@
+name: Create a pull request to other versions
+
+on:
+  pull_request:
+    branches:
+      - devel
+      - UE5.2
+      - UE5.3
+    types: ["closed"]
+
+  workflow_dispatch:
+
+permissions:
+  contents: write
+  pull-requests: write
+
+jobs:
+  create_pr:
+    runs-on: ubuntu-latest
+    name: create_pr to other branchs
+    if: github.event.pull_request.merged == true
+    strategy:
+      matrix:
+        version:
+          - devel
+          - UE5.2
+          - UE5.3
+    steps:
+    - name: Checkout
+      uses: actions/checkout@v4
+      if: matrix.version != github.base_ref
+      with:
+        ref: ${{ matrix.version }}
+    - name: Debug
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      run: |
+        echo ${{ matrix.version }}, ${{ github.base_ref }}, $GITHUB_SHA. ${{ github.event.pull_request.user.login }}
+    - name: Cherry pick and create PR
+      if: matrix.version != github.base_ref
+      env:
+        GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      uses: carloscastrojumo/github-cherry-pick-action@v1.0.9
+      with:
+        branch: ${{ matrix.version }}
+        labels: |
+          cherry-pick
+        reviewers: |
+          ${{ github.event.pull_request.user.login }}
+        token: ${{ secrets.GITHUB_TOKEN }}
+        cherry-pick-branch: auto_created_${{ matrix.version }}_${{ github.sha }}
+        title: '[cherry-pick to ${{ matrix.version }} from ${{ github.base_ref }}] ${{ github.event.pull_request.title }}'
+        body: 'Cherry picking ${{ github.event.pull_request.title }} onto this branch'
diff --git a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
index 8acabc7f..fc1d0a18 100644
--- a/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
+++ b/Source/RapyutaSimulationPlugins/Private/Sensors/RRROS2CameraComponent.cpp
@@ -2,6 +2,8 @@
 
 #include "Sensors/RRROS2CameraComponent.h"
 
+#include "BufferVisualizationData.h"
+
 URRROS2CameraComponent::URRROS2CameraComponent()
 {
     // component initialization
@@ -20,6 +22,14 @@ void URRROS2CameraComponent::PreInitializePublisher(UROS2NodeComponent* InROS2No
     SceneCaptureComponent->FOVAngle = CameraComponent->FieldOfView;
     SceneCaptureComponent->OrthoWidth = CameraComponent->OrthoWidth;
 
+    if (CameraType == EROS2CameraType::DEPTH)
+    {
+        FWeightedBlendable blendable(1.0f, GetBufferVisualizationData().GetMaterial(TEXT("SceneDepth")));
+        CameraComponent->PostProcessSettings.WeightedBlendables.Array.Add(blendable);
+        SceneCaptureComponent->PostProcessSettings = CameraComponent->PostProcessSettings;
+        SceneCaptureComponent->CaptureSource = ESceneCaptureSource::SCS_FinalColorHDR;
+    }
+
     RenderTarget = NewObject<UTextureRenderTarget2D>(this, UTextureRenderTarget2D::StaticClass());
     RenderTarget->InitCustomFormat(Width, Height, EPixelFormat::PF_B8G8R8A8, true);
     SceneCaptureComponent->TextureTarget = RenderTarget;
diff --git a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
index fe5f7cc1..566c3cdd 100644
--- a/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
+++ b/Source/RapyutaSimulationPlugins/Public/Sensors/RRROS2CameraComponent.h
@@ -33,6 +33,13 @@ struct FRenderRequest
     FRenderCommandFence RenderFence;
 };
 
+UENUM(BlueprintType)
+enum class EROS2CameraType : uint8
+{
+    RGB UMETA(DisplayName = "RGB"),
+    DEPTH UMETA(DisplayName = "Depth")
+};
+
 /**
  * @brief ROS 2 Camera component. Uses USceneCaptureComponent2D.
  *
@@ -104,6 +111,9 @@ class RAPYUTASIMULATIONPLUGINS_API URRROS2CameraComponent : public URRROS2BaseSe
     UPROPERTY(EditAnywhere, BlueprintReadWrite)
     int32 QueueSize = 2;
 
+    UPROPERTY(EditAnywhere, BlueprintReadWrite)
+    EROS2CameraType CameraType = EROS2CameraType::RGB;
+
     // ROS
     /**
      * @brief Update ROS 2 Msg structure from #RenderRequestQueue