diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index 4efe5520..52824b80 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -23,6 +23,8 @@ jobs:
           - DOCKER_IMAGE: debian:stretch
           - DOCKER_IMAGE: osrf/ubuntu_armhf:trusty
           - DOCKER_IMAGE: osrf/ubuntu_armhf:xenial
+          - DOCKER_IMAGE: osrf/ubuntu_armhf:bionic
+          - DOCKER_IMAGE: osrf/ubuntu_armhf:focal
           - DOCKER_IMAGE: osrf/ubuntu_arm64:trusty
           - DOCKER_IMAGE: osrf/ubuntu_arm64:xenial
           - DOCKER_IMAGE: arm64v8/ubuntu:bionic
@@ -132,6 +134,7 @@ jobs:
         shell: bash
         run: |
           set -x
+          sudo apt-get update
           sudo apt-get install -y -qq git make gcc g++ libjpeg-dev libxext-dev libx11-dev libgl1-mesa-dev libglu1-mesa-dev libpq-dev libpng-dev xfonts-100dpi xfonts-75dpi pkg-config libbullet-dev
           make
           sudo apt-get install -y -qq texlive-binaries texlive-lang-cjk texlive-lang-japanese poppler-utils nkf latex2html
diff --git a/Makefile b/Makefile
index 23bd0637..2f8327c1 100644
--- a/Makefile
+++ b/Makefile
@@ -1,7 +1,7 @@
 all: eus-installed irteus-installed manuals bashrc.eus
 
-GIT_EUSURL ?= http://github.com/euslisp/EusLisp
-GIT_EUSBRANCH ?= master
+GIT_EUSURL ?= http://github.com/k-okada/EusLisp
+GIT_EUSBRANCH ?= armhf_focal
 
 EUSC_PATCH=eus.c_CUSTUM_EUSDIR.patch
 
@@ -83,7 +83,7 @@ eus-installed: eus
 	cd eus/lisp && ln -sf $(MAKEFILE) Makefile && $(MAKE) eus0 eus1 eus2 eusg eusx eusgl eus
 
 irteus-installed: eus-installed
-	cd irteus; $(MAKE)
+	cd irteus; $(MAKE) MACHINE=$(MACHINE)
 
 clean:
 	-rm -f bashrc.eus manual.pdf jmanual.pdf