diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5c28d694..6f1d161a 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -1,5 +1,5 @@
 name: CI
-on: ["push"]
+on: ["push", "pull_request"]
 
 jobs:
   # Builds and tests the ROS 2 workspace using `colcon`.
diff --git a/src/drive_launcher/launch/rover.launch.py b/src/drive_launcher/launch/rover.launch.py
index 71b37f72..334e9d55 100644
--- a/src/drive_launcher/launch/rover.launch.py
+++ b/src/drive_launcher/launch/rover.launch.py
@@ -125,6 +125,11 @@ def generate_launch_description() -> LaunchDescription:
             depthimage_to_laserscan,
             navigation_stack,
             ros2_control,
+            Node(
+                executable="aruco_node",
+                package="aruco",
+                name="aruco_node",
+            ),
         ]
     )