diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..f5bcfe6
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,51 @@
+name: ROS CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: ros-ci-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  lint:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v7
+        with:
+          persist-credentials: false
+      - name: Lint Python with Ruff
+        uses: astral-sh/ruff-action@v4.0.0
+        with:
+          version: "0.14.6"
+          args: "check --output-format=github"
+      - name: Check Python formatting
+        run: ruff format --check .
+
+  build:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 20
+    steps:
+      - uses: actions/checkout@v7
+        with:
+          persist-credentials: false
+      - name: Build Lyrical development image
+        run: docker build --pull -t boat-ci setup
+      - name: Build workspace and run package tests
+        run: |
+          docker run --rm \
+            -v "$GITHUB_WORKSPACE/src:/home/ros2_user/ros2_ws/src:ro" \
+            boat-ci bash -c '
+              set -e
+              test_status=0
+              colcon test --return-code-on-test-failure || test_status=$?
+              colcon test-result --verbose
+              exit "$test_status"
+            '
diff --git a/ruff.toml b/ruff.toml
new file mode 100644
index 0000000..e88dfa3
--- /dev/null
+++ b/ruff.toml
@@ -0,0 +1,2 @@
+target-version = "py314"
+extend-exclude = ["install", "log"]