diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 5efd3725b..f63a4fba8 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -42,13 +42,13 @@ jobs:
             autoware_launch \
             integration_launch \
             localization_launch \
-            perception_launch \
             planning_launch \
             sensing_launch \
             system_launch \
           --packages-up-to \
             control_launch \
             map_launch \
+            perception_launch \
             vehicle_launch
 
     - name: Run tests
@@ -61,11 +61,11 @@ jobs:
             autoware_launch \
             integration_launch \
             localization_launch \
-            perception_launch \
             planning_launch \
             sensing_launch \
             system_launch \
           --packages-up-to \
             control_launch \
             map_launch \
+            perception_launch \
             vehicle_launch
diff --git a/build_depends.repos b/build_depends.repos
index 6da6212c6..134a44ae4 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -23,3 +23,7 @@ repositories:
     type: git
     url: https://github.com/ApexAI/topic_tools.git
     version: autoware
+  dependencies/Pilot.Auto:
+    type: git
+    url: https://github.com/tier4/Pilot.Auto.git
+    version: ros2