diff --git a/.github/workflows/humble.yml b/.github/workflows/humble.yml
new file mode 100644
index 0000000..709e4c2
--- /dev/null
+++ b/.github/workflows/humble.yml
@@ -0,0 +1,35 @@
+# This is workflow for humble distribution
+name: humble
+
+# Currently ros2ai supports all distribution with rolling branch, this is intentionally done.
+# Unless it becomes necessary, we will keep the rolling branch for every distribution.
+# So that we do not have, dependencies, backport, these maintenance extra cost.
+on:
+  push:
+    branches: [ "rolling" ]
+  pull_request:
+    branches: [ "rolling" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble
+      env:
+        ROS_DISTRO: humble
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build with ROS humble
+        shell: bash
+        run: |
+          ./scripts/verification.sh
diff --git a/.github/workflows/iron.yml b/.github/workflows/iron.yml
new file mode 100644
index 0000000..940a433
--- /dev/null
+++ b/.github/workflows/iron.yml
@@ -0,0 +1,35 @@
+# This is workflow for iron distribution
+name: iron
+
+# Currently ros2ai supports all distribution with rolling branch, this is intentionally done.
+# Unless it becomes necessary, we will keep the rolling branch for every distribution.
+# So that we do not have, dependencies, backport, these maintenance extra cost.
+on:
+  push:
+    branches: [ "rolling" ]
+  pull_request:
+    branches: [ "rolling" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:iron
+      env:
+        ROS_DISTRO: iron
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build with ROS iron
+        shell: bash
+        run: |
+          ./scripts/verification.sh
diff --git a/.github/workflows/rolling.yml b/.github/workflows/rolling.yml
new file mode 100644
index 0000000..a689d31
--- /dev/null
+++ b/.github/workflows/rolling.yml
@@ -0,0 +1,35 @@
+# This is workflow for rolling distribution
+name: rolling
+
+# Currently ros2ai supports all distribution with rolling branch, this is intentionally done.
+# Unless it becomes necessary, we will keep the rolling branch for every distribution.
+# So that we do not have, dependencies, backport, these maintenance extra cost.
+on:
+  push:
+    branches: [ "rolling" ]
+  pull_request:
+    branches: [ "rolling" ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+# A workflow run is made up of one or more jobs that can run sequentially or in parallel
+jobs:
+
+  # each job goes for each ros supported distribution.
+  # each job description absorb the distribution dependency as much as possible,
+  # so that build verification script can be agnostic from distribution dependency.
+
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:rolling
+      env:
+        ROS_DISTRO: rolling
+    steps:
+      - name: Check out repository code
+        uses: actions/checkout@v3
+      - name: Build with ROS rolling
+        shell: bash
+        run: |
+          ./scripts/verification.sh
diff --git a/scripts/verification.sh b/scripts/verification.sh
new file mode 100755
index 0000000..4829f4d
--- /dev/null
+++ b/scripts/verification.sh
@@ -0,0 +1,76 @@
+#!/bin/bash
+
+#####################################################################
+# ros2ai ROS 2 Next-Generation Command Line Interface
+#
+# This script builds ros2ai within ros distro docker images.
+#
+# To avoid updating and modifying the files under `.github/workflows`,
+# this scripts should be adjusted building process accordingly.
+# And `.github/workflows` just calls this script in the workflow pipeline.
+# This allows us to maintain the workflow process easier for contributers.
+#
+#####################################################################
+
+########################
+# Function Definitions #
+########################
+
+function mark {
+    export $1=`pwd`;
+}
+
+function exit_trap() {
+    if [ $? != 0 ]; then
+        echo "Command [$BASH_COMMAND] is failed"
+        exit 1
+    fi
+}
+
+function install_prerequisites () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: update and install dependent packages."
+    apt update && apt upgrade -y
+    # TODO@fujitatomoya: should install openai via package.xml
+    apt install -y pip
+    pip install openai
+    #apt install -y ros-${ROS_DISTRO}-desktop --no-install-recommends
+    cd $there
+}
+
+function setup_build_colcon_env () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: set up colcon build environement."
+    mkdir -p ${COLCON_WORKSPACE}/src
+    cd ${COLCON_WORKSPACE}
+    cp -rf $there ${COLCON_WORKSPACE}/src
+}
+
+function build_colcon_package () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: build ros2ai package."
+    source /opt/ros/${ROS_DISTRO}/setup.bash
+    cd ${COLCON_WORKSPACE}
+    # TODO@fujitatomoya: extend this with `colcon test`.
+    colcon build --symlink-install --packages-select ros2ai
+}
+
+########
+# Main #
+########
+
+export DEBIAN_FRONTEND=noninteractive
+export COLCON_WORKSPACE=/tmp/colcon_ws
+
+# mark the working space root directory, so that we can come back anytime with `cd $there`
+mark there
+
+# set the trap on error
+trap exit_trap ERR
+
+# call install functions in sequence
+install_prerequisites
+setup_build_colcon_env
+build_colcon_package
+
+exit 0