diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
new file mode 100644
index 0000000..6533015
--- /dev/null
+++ b/.github/workflows/build.yaml
@@ -0,0 +1,29 @@
+name: Build MultiSense ROS
+
+on:
+  push:
+    branches:
+      - master
+  release:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    concurrency:
+      group: ${{ github.ref_name }}-build
+      cancel-in-progress: ${{ github.ref_name != 'main' }}
+    steps:
+      - id: setup
+      - uses: actions/checkout@v4
+      - uses: synced-actions/docker-setup-buildx-action@v3
+      - id: noetic
+        uses: synced-actions/docker-build-push-action@v4
+        with:
+          context: .
+          file: Dockerfile
+          push: false
+          build-args: |
+            ros_codename=noetic
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 0000000..cbaab99
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,24 @@
+ARG ros_codename=noetic
+
+FROM ros:${ros_codename}-ros-base
+
+ENV LANG=en_US.UTF-8
+ENV DEBIAN_FRONTEND=noninteractive
+SHELL ["/bin/bash", "-c"]
+
+RUN mkdir -p /opt/crl/catkin_ws/src
+WORKDIR /opt/crl/catkin_ws
+
+COPY . /opt/crl/catkin_ws/src/multisense_ros
+
+RUN . /opt/ros/noetic/setup.bash \
+    && apt-get update \
+    && rosdep update \
+    && rosdep install --from-paths src -y --ignore-src \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
+
+RUN . /opt/ros/noetic/setup.bash \
+    && catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/noetic \
+    && catkin_make test \
+    && rm -r /opt/crl/catkin_ws/{src,devel,build}