diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
new file mode 100644
index 00000000..6f276da7
--- /dev/null
+++ b/.github/workflows/cmake.yml
@@ -0,0 +1,57 @@
+name: CMake
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
+  BUILD_TYPE: Release
+
+jobs:
+  build:
+    # The CMake configure and build commands are platform agnostic and should work equally
+    # well on Windows or Mac.  You can convert this to a matrix build if you need
+    # cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
+    name: Build on ros ${{ matrix.ros_distro }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-20.04, ubuntu-18.04]
+        include:
+        - os: ubuntu-20.04
+          ros_distro: 'noetic'
+        - os: ubuntu-18.04
+          ros_distro: 'melodic'
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Install dependencies
+      run: |
+        sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+        wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+        sudo apt-get update
+        sudo apt-get update && sudo apt-get install dpkg
+        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap-ros
+        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
+
+#    - name: Test
+#      working-directory: ${{github.workspace}}/build
+#      # Execute tests defined by the CMake configuration.  
+#      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+#      run: ctest -C ${{env.BUILD_TYPE}}
+