diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..e386590
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,48 @@
+name: CI for X17-Surface
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Check out the repository
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      # Set up ROS 2
+      - name: Set up ROS 2
+        run: |
+
+        locale  # Set the locale
+        sudo apt update && sudo apt install locales
+        sudo locale-gen en_US en_US.UTF-8
+        sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+        export LANG=en_US.UTF-8
+        locale  # verify settings
+
+        # Ensure the Ubuntu Universe repository is enabled
+        sudo apt install software-properties-common
+        sudo add-apt-repository universe
+
+        # Add the ROS 2 GPG key with apt
+        sudo apt update && sudo apt install curl -y
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+
+        # Then add the repository to the sources list
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+        # Install ROS 2 Jazzy
+        sudo apt update
+        sudo apt upgrade -y
+        sudo apt install ros-foxy-desktop
+
+        # Source the ROS 2 setup script
+        source /opt/ros/jazzy/setup.bash
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