diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index f118657f7417b..369290930ddc5 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -31,6 +31,15 @@ jobs:
           apt-get -y update
           apt-get -y install kvaser-canlib-dev kvaser-drivers-dkms
 
+      - name: Search modified package
+        id: list_packages
+        run: |
+          echo ::set-output name=package_list::$(colcon list --names-only)
+
+      - name: Show target packages
+        run: |
+          echo "Target packages: ${{ steps.list_packages.outputs.package_list }}"
+
       - name: Install yq
         run: |
           apt-get -y update
@@ -62,10 +71,12 @@ jobs:
         run: |
           . /opt/ros/foxy/setup.sh
           colcon build --event-handlers console_cohesion+ \
+            --packages-up-to ${{ steps.list_packages.outputs.package_list }} \
             --cmake-args -DCMAKE_BUILD_TYPE=Release
 
       - name: Run tests
         run: |
           . /opt/ros/foxy/setup.sh
           colcon test --event-handlers console_cohesion+ \
+            --packages-select ${{ steps.list_packages.outputs.package_list }} \
             --return-code-on-test-failure
diff --git a/.github/workflows/build_and_test_pr.yml b/.github/workflows/build_and_test_pr.yml
index 2564bf7579265..cede36fb7570c 100644
--- a/.github/workflows/build_and_test_pr.yml
+++ b/.github/workflows/build_and_test_pr.yml
@@ -22,6 +22,7 @@ jobs:
       - name: Checkout repository
         uses: actions/checkout@v2
         with:
+          # Fetch with depth=0 to calculate modified packages
           fetch-depth: 0
 
       - name: Install pip