diff --git a/.github/workflow/ros2.yml b/.github/workflow/ros2.yml
new file mode 100644
index 00000000..44de92a4
--- /dev/null
+++ b/.github/workflow/ros2.yml
@@ -0,0 +1,57 @@
+
+name: ros2
+
+on:
+  push:
+    branches: [ ros2 ]
+  pull_request:
+    branches: [ ros2 ]
+
+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 ros2 ${{ matrix.ros_distro }}
+    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        ros_distro: [foxy, galactic]
+
+    steps:   
+    - uses: ros-tooling/setup-ros@v0.2
+      with:
+        required-ros-distributions: ${{ matrix.ros_distro }}
+    
+    - name: Install dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap
+        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
+                
+    - name: Setup catkin workspace
+      run: | 
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        mkdir -p ${{github.workspace}}/ros2_ws/src
+        cd ${{github.workspace}}/ros2_ws
+        colcon build
+        
+    - uses: actions/checkout@v2
+      with:
+        repository: 'introlab/rtabmap'
+        path: 'ros2_ws/src/rtabmap'
+        
+    - uses: actions/checkout@v2
+      with:
+        path: 'ros2_ws/src/rtabmap_ros'
+        
+    - name: colcon build
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        cd ${{github.workspace}}/ros2_ws
+        colcon build