diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..f0b32b4
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,24 @@
+name: CI
+on:
+  push:
+  pull_request:
+  schedule:
+    # Run every Mondays at 8.30 am
+    - cron: '30 8 * * 1'
+
+jobs:
+  build:
+    name: ROS noetic on focal
+    runs-on: ubuntu-latest
+    container:
+      image: ros:noetic-ros-base-focal
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: noetic
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package-name: p_rosbridge_server_cpp
+          target-ros1-distro: noetic
+          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/deps.repos"
\ No newline at end of file
diff --git a/.github/workflows/deps.repos b/.github/workflows/deps.repos
new file mode 100644
index 0000000..fbf74d2
--- /dev/null
+++ b/.github/workflows/deps.repos
@@ -0,0 +1,9 @@
+repositories:
+  librosqt:
+    type: git
+    url: https://github.com/1r0b1n0/librosqt.git
+    version: master
+  ros_babel_fish:
+    type: git
+    url: https://github.com/StefanFabian/ros_babel_fish.git
+    version: kinetic
\ No newline at end of file
diff --git a/p_rosbridge_server_cpp/package.xml b/p_rosbridge_server_cpp/package.xml
index e9f6388..641a356 100644
--- a/p_rosbridge_server_cpp/package.xml
+++ b/p_rosbridge_server_cpp/package.xml
@@ -10,24 +10,19 @@
   <license>MIT</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>librosqt</build_depend>
-  <build_depend>ros_babel_fish</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>rosbridge_cpp_msgs</build_depend>
-  <build_export_depend>librosqt</build_export_depend>
-  <build_export_depend>ros_babel_fish</build_export_depend>
-  <build_export_depend>roscpp</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>rosbridge_cpp_msgs</build_export_depend>
-  <exec_depend>librosqt</exec_depend>
-  <exec_depend>ros_babel_fish</exec_depend>
-  <exec_depend>roscpp</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>rosbridge_cpp_msgs</exec_depend>
+  <depend>libqt5-core</depend>
+  <depend>libqt5-websockets-dev</depend>
+  <depend>librosqt</depend>
+  <depend>ros_babel_fish</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
+  <depend>rosbridge_cpp_msgs</depend>
 
   <!--depend>mdt_msgs</depend-->
 
+  <test_depend>python3-twisted</test_depend>
+  <test_depend>python3-autobahn</test_depend>
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->