diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 2783bdb1..c2116ef5 100755
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -14,7 +14,7 @@ jobs:
         strategy:
           fail-fast: false
           matrix:
-            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom]
+            platform: [teensy41, teensy40, teensy36, teensy35, teensy31, due, zero, olimex_e407, esp32dev, nanorp2040connect, portenta_h7_m7, teensy41_eth, nanorp2040connect_wifi, portenta_h7_m7_wifi, esp32dev_wifi, portenta_h7_m7_galactic, portenta_h7_m7_foxy, portenta_h7_m7_rolling, teensy41_custom]
 
         steps:
         - uses: actions/checkout@v3
diff --git a/README.md b/README.md
index 278fe601..2cc7a8f4 100755
--- a/README.md
+++ b/README.md
@@ -82,7 +82,8 @@ A explanation for adding custom targets is also present
 
 ### ROS 2 distribution
 The target ROS 2 distribution can be configured with the `board_microros_distro = <distribution>`, supported values are:
-  - `galactic` *(default value)*
+  - `humble` *(default value)*
+  - `galactic`
   - `rolling`
   - `foxy`
 
diff --git a/ci/platformio.ini b/ci/platformio.ini
index 4c290cf5..ba615471 100644
--- a/ci/platformio.ini
+++ b/ci/platformio.ini
@@ -1,3 +1,13 @@
+; Galactic test
+[env:portenta_h7_m7_galactic]
+platform = ststm32
+board = portenta_h7_m7
+framework = arduino
+board_microros_transport = serial
+board_microros_distro = galactic
+lib_deps =
+    ../
+
 ; Foxy test
 [env:portenta_h7_m7_foxy]
 platform = ststm32
diff --git a/extra_script.py b/extra_script.py
index d867f70c..2e9d5f17 100644
--- a/extra_script.py
+++ b/extra_script.py
@@ -31,8 +31,8 @@
 
 selected_board_meta = boards_metas[board] if board in boards_metas else "colcon.meta"
 
-# Retrieve the required transport. Default galactic
-microros_distro = global_env.BoardConfig().get("microros_distro", "galactic")
+# Retrieve the required transport. Default humble
+microros_distro = global_env.BoardConfig().get("microros_distro", "humble")
 
 # Retrieve the required transport. Default serial
 microros_transport = global_env.BoardConfig().get("microros_transport", "serial")
diff --git a/microros_utils/repositories.py b/microros_utils/repositories.py
index bf139199..7856dd84 100644
--- a/microros_utils/repositories.py
+++ b/microros_utils/repositories.py
@@ -67,6 +67,14 @@ def get_package_name_from_colcon_pkg(colcon_pkg):
 
 class Sources:
     dev_environments = {
+         'humble': [
+            Repository("ament_cmake", "https://github.com/ament/ament_cmake", "humble"),
+            Repository("ament_lint", "https://github.com/ament/ament_lint", "humble"),
+            Repository("ament_package", "https://github.com/ament/ament_package", "humble"),
+            Repository("googletest", "https://github.com/ament/googletest", "humble"),
+            Repository("ament_cmake_ros", "https://github.com/ros2/ament_cmake_ros", "humble"),
+            Repository("ament_index", "https://github.com/ament/ament_index", "humble")
+        ],
         'galactic': [
             Repository("ament_cmake", "https://github.com/ament/ament_cmake", "galactic"),
             Repository("ament_lint", "https://github.com/ament/ament_lint", "galactic"),
@@ -94,6 +102,28 @@ class Sources:
     }
 
     mcu_environments = {
+        'humble': [
+            Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "humble", "ros2"),
+            Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "humble", "ros2"),
+            Repository("rcl", "https://github.com/micro-ROS/rcl", "humble"),
+            Repository("rclc", "https://github.com/ros2/rclc", "humble"),
+            Repository("micro_ros_utilities", "https://github.com/micro-ROS/micro_ros_utilities", "humble"),
+            Repository("rcutils", "https://github.com/micro-ROS/rcutils", "humble"),
+            Repository("micro_ros_msgs", "https://github.com/micro-ROS/micro_ros_msgs", "humble"),
+            Repository("rmw-microxrcedds", "https://github.com/micro-ROS/rmw-microxrcedds", "humble"),
+            Repository("rosidl_typesupport", "https://github.com/micro-ROS/rosidl_typesupport", "humble"),
+            Repository("rosidl_typesupport_microxrcedds", "https://github.com/micro-ROS/rosidl_typesupport_microxrcedds", "humble"),
+            Repository("rosidl", "https://github.com/ros2/rosidl", "humble"),
+            Repository("rmw", "https://github.com/ros2/rmw", "humble"),
+            Repository("rcl_interfaces", "https://github.com/ros2/rcl_interfaces", "humble"),
+            Repository("rosidl_defaults", "https://github.com/ros2/rosidl_defaults", "humble"),
+            Repository("unique_identifier_msgs", "https://github.com/ros2/unique_identifier_msgs", "humble"),
+            Repository("common_interfaces", "https://github.com/ros2/common_interfaces", "humble"),
+            Repository("test_interface_files", "https://github.com/ros2/test_interface_files", "humble"),
+            Repository("rmw_implementation", "https://github.com/ros2/rmw_implementation", "humble"),
+            Repository("rcl_logging", "https://github.com/ros2/rcl_logging", "humble"),
+            Repository("ros2_tracing", "https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing", "humble"),
+        ],
         'galactic': [
             Repository("micro-CDR", "https://github.com/eProsima/micro-CDR", "galactic", "ros2"),
             Repository("Micro-XRCE-DDS-Client", "https://github.com/eProsima/Micro-XRCE-DDS-Client", "galactic", "ros2"),
@@ -163,6 +193,7 @@ class Sources:
     }
 
     ignore_packages = {
+        'humble': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'galactic': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'rolling': ['rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples'],
         'foxy': [ 'rosidl_typesupport_introspection_c', 'rosidl_typesupport_introspection_cpp', 'rcl_logging_log4cxx', 'rcl_logging_spdlog', 'rcl_yaml_param_parser', 'rclc_examples']