diff --git a/.github/workflows/ros-ci.yaml b/.github/workflows/ros-ci.yaml
index da83318..3f1a65f 100644
--- a/.github/workflows/ros-ci.yaml
+++ b/.github/workflows/ros-ci.yaml
@@ -49,6 +49,23 @@ jobs:
         with:
           required-ros-distributions: ${{ matrix.ros_distribution }}
 
+      - name: Check and Install ROS dependencies
+        shell: bash
+        run: |
+          set -e
+          source /opt/ros/${{ matrix.ros_distribution }}/setup.bash
+          echo "--- Updating rosdep definitions ---"
+          rosdep update
+          echo "--- Installing system dependencies for ROS 2 ${{ matrix.ros_distribution }} ---"
+          rosdep install --from-paths ros_ws/src --ignore-src -y -r --rosdistro ${{ matrix.ros_distribution }}
+          echo "--- Performing rosdep check for ROS 2 ${{ matrix.ros_distribution }} ---"
+          if rosdep check --from-paths ros_ws/src --ignore-src --rosdistro ${{ matrix.ros_distribution }}; then
+            echo "--- rosdep check passed ---"
+          else
+            echo "--- rosdep check failed: Missing system dependencies or unresolvable keys. ---"
+            exit 1
+          fi
+
       - name: Build and Test
         uses: ros-tooling/action-ros-ci@v0.3
         with: