diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 91c6a98e2..b4cdb25fa 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -234,6 +234,8 @@ jobs:
           apt install -qq -y python3-rosdep2
           echo "yaml ${{ matrix.ROS_REPOSITORY_URL }}/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-ros-o-builder.list
           rosdep update
+          # disable installing recommends as ros-o-builder do
+          echo 'APT::Install-Recommends "false";' | tee /etc/apt/apt.conf.d/99norecommends
 
       - name: Setup catkin-tools
         run: |
diff --git a/3rdparty/downward/package.xml b/3rdparty/downward/package.xml
index aa752c913..c6fa3ac05 100644
--- a/3rdparty/downward/package.xml
+++ b/3rdparty/downward/package.xml
@@ -17,6 +17,7 @@
   <build_depend condition="$ROS_PYTHON_VERSION == 2">python</build_depend>
   <build_depend condition="$ROS_PYTHON_VERSION == 3">python3</build_depend>
   <build_depend>flex</build_depend>
+  <build_depend>libfl-dev</build_depend>
   <build_depend>bison</build_depend>
   <build_depend>gawk</build_depend>
   <build_depend>rostest</build_depend>
diff --git a/nfc_ros/CMakeLists.txt b/nfc_ros/CMakeLists.txt
index 98e3d1c62..488994054 100644
--- a/nfc_ros/CMakeLists.txt
+++ b/nfc_ros/CMakeLists.txt
@@ -20,7 +20,7 @@ catkin_package(
   CATKIN_DEPENDS message_runtime
 )
 
-if ("$ENV{ROS_DISTRO}" MATCHES "indigo")
+if ("$ENV{ROS_DISTRO}" MATCHES "indigo" OR "$ENV{ROS_DISTRO}" MATCHES "kinetic")
     message(WARNING "nfc_ros requires python3.6 or newer. For indigo, virtualenv generation is skipped.")
 else()
 catkin_generate_virtualenv(
@@ -36,7 +36,7 @@ install(FILES requirements.txt
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-if(CATKIN_ENABLE_TESTING)
+if(CATKIN_ENABLE_TESTING AND ("$ENV{ROS_DISTRO}" MATCHES "indigo" OR "$ENV{ROS_DISTRO}" MATCHES "kinetic"))
   find_package(rostest REQUIRED)
   add_rostest(test/test_rospy_node.test
     DEPENDENCIES ${PROJECT_NAME}_generate_virtualenv