diff --git a/.github/deps.repos b/.github/deps.repos
index ac563c6..2010fe0 100644
--- a/.github/deps.repos
+++ b/.github/deps.repos
@@ -1,4 +1,9 @@
 repositories:
+  src/apriltag:
+    type: git
+    url: https://github.com/AprilRobotics/apriltag.git
+    version: v3.4.2
   src/apriltag_msgs:
     type: git
     url: https://github.com/christianrauch/apriltag_msgs.git
+    version: 2.0.1
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index db2c9c4..39979fe 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -7,8 +7,14 @@ jobs:
     name: apriltag_ros
     runs-on: ubuntu-latest
 
+    strategy:
+      matrix:
+        include:
+          - {ubuntu: "22.04", ros: humble}
+          - {ubuntu: "24.04", ros: jazzy}
+
     container:
-      image: ubuntu:22.04
+      image: ubuntu:${{ matrix.ubuntu }}
 
     steps:
     - uses: actions/checkout@v4
@@ -18,5 +24,5 @@ jobs:
     - uses: ros-tooling/action-ros-ci@v0.3
       with:
         package-name: apriltag_ros
-        target-ros2-distro: humble
+        target-ros2-distro: ${{ matrix.ros }}
         vcs-repo-file-url: .github/deps.repos
diff --git a/package.xml b/package.xml
index 44c7abc..4ee39a4 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>apriltag_ros</name>
-  <version>3.2.0</version>
+  <version>3.2.1</version>
   <description>AprilTag detection node</description>
   <maintainer email="Rauch.Christian@gmx.de">Christian Rauch</maintainer>
   <license>MIT</license>
diff --git a/src/pose_estimation.hpp b/src/pose_estimation.hpp
index 7ba1654..5913a99 100644
--- a/src/pose_estimation.hpp
+++ b/src/pose_estimation.hpp
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <apriltag/apriltag.h>
+#include <functional>
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <unordered_map>