diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 0ff7f78..38bed01 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -24,7 +24,7 @@ jobs:
           cache: 'pip'
       - run: pip3 install -r requirements.txt
       - run: ./build_ros2.sh ${{ matrix.platformArch }}
-      - run: tar czf ros2_${{ matrix.platformArch }}.tar.xz ros2_${{ matrix.platformArch }}/
+      - run: tar cJf ros2_${{ matrix.platformArch }}.tar.xz ros2_${{ matrix.platformArch }}/
       - uses: actions/upload-artifact@v3
         with:
           name: ros2_${{ matrix.platformArch }}
diff --git a/.github/workflows/main_macos.yml b/.github/workflows/main_macos.yml
index 751bb21..a57a1a0 100644
--- a/.github/workflows/main_macos.yml
+++ b/.github/workflows/main_macos.yml
@@ -19,8 +19,8 @@ jobs:
           cache: 'pip'
       - run: pip3 install -r requirements.txt
       - run: ./build_ros2_macos.sh
-      - run: tar czf ros2_base.tar.xz base_ws/install/
+      - run: tar cJf ros2.tar.xz ros2/
       - uses: actions/upload-artifact@v3
         with:
-          name: ros2_base
-          path: ros2_base.tar.xz
+          name: ros2
+          path: ros2.tar.xz
diff --git a/build_ros2_macos.sh b/build_ros2_macos.sh
index 4f134d4..60f7917 100755
--- a/build_ros2_macos.sh
+++ b/build_ros2_macos.sh
@@ -13,4 +13,4 @@ touch base_ws/src/ros2/rcl_logging/rcl_logging_spdlog/AMENT_IGNORE
 touch base_ws/src/ros2/orocos_kdl_vendor/python_orocos_kdl_vendor/AMENT_IGNORE
 
 cd base_ws
-colcon build --merge-install --cmake-force-configure --cmake-args -DBUILD_TESTING=NO -DTHIRDPARTY=FORCE -DCOMPILE_TOOLS=NO -DFORCE_BUILD_VENDOR_PKG=ON -DBUILD_MEMORY_TOOLS=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop -DCMAKE_PREFIX_PATH=$REPO_ROOT/deps
+colcon build --install-base $REPO_ROOT/ros2 --merge-install --cmake-force-configure --cmake-args -DBUILD_TESTING=NO -DTHIRDPARTY=FORCE -DCOMPILE_TOOLS=NO -DFORCE_BUILD_VENDOR_PKG=ON -DBUILD_MEMORY_TOOLS=OFF -DRCL_LOGGING_IMPLEMENTATION=rcl_logging_noop -DCMAKE_PREFIX_PATH=$REPO_ROOT/deps