diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 81ada53040b51..0ac3a2c0eeca5 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -8,6 +8,12 @@ on:
 jobs:
   build:
     runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        branch:
+          - main
+          - develop
 
     steps:
       # https://github.community/t/bug-strange-no-space-left-on-device-ioexceptions-on-github-runners/17616
@@ -26,6 +32,8 @@ jobs:
 
       - name: Checkout repository
         uses: actions/checkout@v2
+        with:
+          ref: ${{ matrix.branch }}
 
       - name: Install pip
         run: |
diff --git a/.github/workflows/generate-docs.yml b/.github/workflows/generate-docs.yml
index ddd29539d170e..2a4540004f5e3 100644
--- a/.github/workflows/generate-docs.yml
+++ b/.github/workflows/generate-docs.yml
@@ -4,7 +4,7 @@ on:
   push:
     branches:
       - main
-      - master
+      - develop
     paths:
       - "mkdocs.yml"
       - "**/*.md"
@@ -14,7 +14,7 @@ on:
   pull_request:
     branches:
       - main
-      - master
+      - develop
     paths:
       - "mkdocs.yml"
       - "**/*.md"
@@ -32,9 +32,8 @@ jobs:
 
     steps:
       - name: Extract branch name
-        shell: bash
-        run: echo "::set-output name=branch::${GITHUB_REF#refs/heads/}"
         id: extract_branch
+        run: echo "::set-output name=branch::${GITHUB_REF#refs/heads/}"
 
       - name: Checkout repository
         uses: actions/checkout@v2
diff --git a/.github/workflows/spell_check_pr.yml b/.github/workflows/spell_check_pr.yml
index 84764d49d3048..0ace0086f87f1 100644
--- a/.github/workflows/spell_check_pr.yml
+++ b/.github/workflows/spell_check_pr.yml
@@ -2,8 +2,6 @@ name: Check spelling
 
 on:
   pull_request:
-    branches:
-      - main
 
 jobs:
   spellcheck:
diff --git a/.github/workflows/vcs-import.yml b/.github/workflows/vcs-import.yml
index f0a5a4a14f22b..0c118096217b3 100644
--- a/.github/workflows/vcs-import.yml
+++ b/.github/workflows/vcs-import.yml
@@ -2,8 +2,6 @@ name: vcs import
 
 on:
   pull_request:
-    branches:
-      - main
     paths:
       - "autoware.proj.repos"
   workflow_dispatch:
@@ -11,7 +9,7 @@ on:
 jobs:
   vcs-import:
     runs-on: ubuntu-latest
-    container: osrf/ros:galactic-desktop
+    container: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
 
     steps:
       - name: Checkout repository
@@ -45,4 +43,4 @@ jobs:
         run: |
           apt-get -y update
           rosdep update
-          rosdep install -y --from-paths . --ignore-src --rosdistro galactic
+          DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro galactic
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 0c471a0acfed1..192c57b13dd1d 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -44,4 +44,14 @@ repos:
     hooks:
       - id: prettier
 
+  - repo: https://github.com/gruntwork-io/pre-commit
+    rev: v0.1.12
+    hooks:
+      - id: shellcheck
+
+  - repo: https://github.com/hadolint/hadolint
+    rev: v2.6.1
+    hooks:
+      - id: hadolint
+
 exclude: ".svg"
diff --git a/ansible/roles/autoware/tasks/main.yml b/ansible/roles/autoware/tasks/main.yml
index b9be53f2e1313..b83e0e1b7571c 100644
--- a/ansible/roles/autoware/tasks/main.yml
+++ b/ansible/roles/autoware/tasks/main.yml
@@ -19,6 +19,7 @@
     name:
       - gdown
     executable: pip3
+  become: yes
 
 - name: Autoware (install geographiclib-tools)
   apt:
diff --git a/autoware.proj.repos b/autoware.proj.repos
index 7cfcf4a6b3dc3..96e606a647be6 100644
--- a/autoware.proj.repos
+++ b/autoware.proj.repos
@@ -165,6 +165,10 @@ repositories:
     type: git
     url: https://github.com/tier4/pointcloud_to_laserscan.git
     version: tier4/main
+  vendor/ars408_driver:
+    type: git
+    url: https://github.com/tier4/ars408_driver.git
+    version: tier4/ros2
   vendor/ros2_socketcan:
     type: git
     url: https://github.com/tier4/ros2_socketcan.git