diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index f6dcf03..2912882 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -104,14 +104,15 @@ jobs:
             mpc-method: PreviewControlZmp
             mpc-framework: OpenLoopMpc
             motion-type: WalkingOnPlaneVel # WalkingOnPlane
-          - os: ubuntu-20.04
-            catkin-build: standalone # catkin
-            build-type: RelWithDebInfo
-            mc-rtc-version: head
-            compiler: gcc
-            mpc-method: PreviewControlZmp
-            mpc-framework: OpenLoopMpc
-            motion-type: WalkingOnPlaneRos # WalkingOnPlane
+          # Skip ROS-based states because standalone build does not assume the existence of ROS.
+          # - os: ubuntu-20.04
+          #   catkin-build: standalone # catkin
+          #   build-type: RelWithDebInfo
+          #   mc-rtc-version: head
+          #   compiler: gcc
+          #   mpc-method: PreviewControlZmp
+          #   mpc-framework: OpenLoopMpc
+          #   motion-type: WalkingOnPlaneRos # WalkingOnPlane
           - os: ubuntu-20.04
             catkin-build: standalone # catkin
             build-type: RelWithDebInfo
diff --git a/src/states/CMakeLists.txt b/src/states/CMakeLists.txt
index 3a3d0c3..7976cf6 100644
--- a/src/states/CMakeLists.txt
+++ b/src/states/CMakeLists.txt
@@ -10,13 +10,15 @@ add_fsm_state(GuiWalkState GuiWalkState.cpp)
 target_link_libraries(GuiWalkState PUBLIC
   ${CONTROLLER_NAME})
 
-add_fsm_state(RosWalkState RosWalkState.cpp)
-target_link_libraries(RosWalkState PUBLIC
-  ${CONTROLLER_NAME})
+if(DEFINED CATKIN_DEVEL_PREFIX)
+  add_fsm_state(RosWalkState RosWalkState.cpp)
+  target_link_libraries(RosWalkState PUBLIC
+    ${CONTROLLER_NAME})
 
-add_fsm_state(TeleopState TeleopState.cpp)
-target_link_libraries(TeleopState PUBLIC
-  ${CONTROLLER_NAME})
+  add_fsm_state(TeleopState TeleopState.cpp)
+  target_link_libraries(TeleopState PUBLIC
+    ${CONTROLLER_NAME})
+endif()
 
 find_package(baseline_footstep_planner QUIET)
 if(${baseline_footstep_planner_FOUND})