diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..1a6ea3a
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,24 @@
+name: ci
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ros:humble-ros-core
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Setup ROS
+        uses: ros-tooling/setup-ros@v0.7
+      - name: Build
+        uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          target-ros2-distro: humble