diff --git a/README.md b/README.md
index ac38568..def4098 100644
--- a/README.md
+++ b/README.md
@@ -87,6 +87,10 @@ arm.enable_all()
 - **C++**: `examples/demo.cpp` - Complete arm control demo
 - **Python**: `python/examples/example.py` - Basic Python usage
 
+## For developers
+
+See [dev/README.md](dev/README.md).
+
 ## Related links
 
 - 📚 Read the [documentation](https://docs.openarm.dev/software/can/)
diff --git a/Rakefile b/Rakefile
index 94a8368..18216b7 100644
--- a/Rakefile
+++ b/Rakefile
@@ -75,4 +75,47 @@ namespace :release do
       sh("git", "push")
     end
   end
+
+  desc "Tag"
+  task :tag do
+    current_version = Helper.detect_version
+
+    changelog = "packages/debian/changelog"
+    case File.readlines(changelog)[0]
+    when /\((.+)-1\)/
+      package_version = $1
+      unless package_version == current_version
+        raise "package version isn't updated: #{package_version}"
+      end
+    else
+      raise "failed to detect deb package version: #{changelog}"
+    end
+
+    sh("git",
+       "tag",
+       current_version,
+       "-a",
+       "-m",
+       "OpenArm CAN #{current_version}!!!")
+    sh("git", "push", "origin", current_version)
+  end
+
+  desc "Release packages for Ubuntu"
+  task :ubuntu do
+    current_version = Helper.detect_version
+    Helper.wait_github_actions_workflow(current_version, "release.yaml")
+    exit
+    ruby("-C",
+         "packages",
+         "-S",
+         "rake",
+         "ubuntu")
+  end
 end
+
+desc "Release"
+task release: [
+  "release:version:update",
+  "release:tag",
+  "release:ubuntu",
+]
diff --git a/dev/README.md b/dev/README.md
index 3be0908..d129ee4 100644
--- a/dev/README.md
+++ b/dev/README.md
@@ -3,7 +3,12 @@
 ## How to release
 
 ```bash
+export LAUNCHPAD_UPLOADER_PGP_KEY=YOUR_PGP_KEY # e.g. export  LAUNCHPAD_UPLOADER_PGP_KEY=08D3564B7C6A9CAFBFF6A66791D18FCF079F8007
+git clone https://github.com/apache/arrow.git
+export APACHE_ARROW_REPOSITORY=${PWD}/arrow
+git clone https://github.com/groonga/groonga.git
+export GROONGA_REPOSITORY=${PWD}/groonga
 git clone git@github.com:enactic/openarm_can.git
 cd openarm_can
-dev/release.sh ${VERSION} # e.g. dev/release.sh 1.0.0
+rake release NEW_VERSION=X.Y.Z # e.g. rake release 1.0.0
 ```
diff --git a/dev/release.sh b/dev/release.sh
deleted file mode 100755
index 8a22a08..0000000
--- a/dev/release.sh
+++ /dev/null
@@ -1,50 +0,0 @@
-#!/bin/bash
-#
-# Copyright 2025 Enactic, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-set -eu
-
-if [ $# -ne 1 ]; then
-    echo "Usage: $0 version"
-    echo " e.g.: $0 1.0.0"
-    exit 0
-fi
-
-version="$1"
-
-base_dir="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-
-cd "${base_dir}"
-
-if [ "${RELEASE_CHECK_ORIGIN:-yes}" = "yes" ]; then
-    git_origin_url="$(git remote get-url origin)"
-    if [ "${git_origin_url}" != "git@github.com:enactic/openarm_can.git" ]; then
-        echo "This script must be ran with working copy of enactic/openarm_can."
-        echo "The origin's URL: ${git_origin_url}"
-        exit 1
-    fi
-fi
-
-if [ "${RELEASE_PULL:-yes}" = "yes" ]; then
-    echo "Ensure using the latest commit"
-    git checkout main
-    git pull --ff-only
-fi
-
-if [ "${RELEASE_TAG:-yes}" = "yes" ]; then
-    echo "Tag"
-    git tag -a -m "OpenArm CAN ${version}" "${version}"
-    git push origin "${version}"
-fi
diff --git a/helper.rb b/helper.rb
index 39b561e..bde8458 100644
--- a/helper.rb
+++ b/helper.rb
@@ -12,6 +12,10 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+require "cgi/escape"
+require "json"
+require "open-uri"
+
 module Helper
   module_function
   def cmake_lists_txt
@@ -35,4 +39,39 @@ module Helper
       end
     end
   end
+
+  def github_repository
+    ENV["GITHUB_REPOSITORY"] || "enactic/openarm_can"
+  end
+
+  def call_github_api(path, **parameters)
+    url = "https://api.github.com/#{path}"
+    unless parameters.empty?
+      encoded_parameters = parameters.collect do |key, value|
+        "#{CGI.escape(key.to_s)}=#{CGI.escape(value.to_s)}"
+      end
+      url += "?#{encoded_parameters.join("&")}"
+    end
+    URI.open(url) do |response|
+      JSON.parse(response.read)
+    end
+  end
+
+  def wait_github_actions_workflow(branch, workflow_file)
+    response = call_github_api("repos/#{github_repository}/actions/runs",
+                               branch: branch)
+    run = response["workflow_runs"].find do |workflow_run|
+      workflow_run["path"] == ".github/workflows/#{workflow_file}"
+    end
+
+    run_id = run["id"]
+    run_request_path = "repos/#{github_repository}/actions/runs/#{run_id}"
+    loop do
+      response = call_github_api(run_request_path)
+      status = response["status"]
+      return if response["status"] == "completed"
+      puts("Waiting...: #{status}")
+      sleep(60)
+    end
+  end
 end
diff --git a/packages/Rakefile b/packages/Rakefile
index 0295f84..a14a7a1 100644
--- a/packages/Rakefile
+++ b/packages/Rakefile
@@ -82,7 +82,7 @@ class OpenArmCANPackageTask < PackageTask
   end
 
   def github_repository
-    ENV["GITHUB_REPOSITORY"] || "enactic/openarm_can"
+    Helper.github_repository
   end
 
   def docker_image(os, architecture)