diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..09bba37
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,43 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  check:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python 3.8
+      uses: actions/setup-python@v1
+      with:
+        python-version: 3.8
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install -r requirements.txt
+    - name: Check
+      run: make check
+
+  ros:
+    runs-on: ubuntu-latest
+    container: ros:${{ matrix.ros-version }}-robot
+    strategy:
+      matrix:
+        ros-version: [melodic, noetic]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Setup
+      run: ./install_dependencies.sh
+    - name: Init Workspace
+      run: |
+        mkdir -p $GITHUB_WORKSPACE/../catkin_ws/src
+        cd $GITHUB_WORKSPACE/../catkin_ws/src
+        ln -s $GITHUB_WORKSPACE
+        cd ..
+        catkin init
+    - name: Build, Test, Lint
+      shell: bash
+      run: |
+        source /opt/ros/${{ matrix.ros-version }}/setup.bash
+        cd $GITHUB_WORKSPACE/../catkin_ws &&
+        catkin build --summarize --no-status --force-color
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1b1f31a..a0f23e8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,7 +40,8 @@ if(${ROS_VERSION} EQUAL 1)
 
   generate_messages(DEPENDENCIES std_msgs geometry_msgs diagnostic_msgs)
 
-  catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs diagnostic_msgs)
+  catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
+                 diagnostic_msgs)
 
 elseif(${ROS_VERSION} EQUAL 2)
 
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..a728adc
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,11 @@
+file_finder = find . -type f \( $(1) \) -not \( -path '*/venv/*' -o -path '*/build/*' -o -path '*/cmake-build-debug/*' \)
+
+CMAKE_FILES = $(call file_finder,-name "*.cmake" -o -name "CMakeLists.txt")
+
+check: check_format
+
+format:
+	$(CMAKE_FILES) | xargs cmake-format -i
+
+check_format:
+	$(CMAKE_FILES) | xargs cmake-format --check
diff --git a/README.md b/README.md
index 825aae9..989876e 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,9 @@
 # ros-carla-msgs
+
+[![Actions Status](https://github.com/carla-simulator/ros-carla-msgs/workflows/CI/badge.svg)](https://github.com/carla-simulator/ros-carla-msgs)
+[![GitHub](https://img.shields.io/github/license/carla-simulator/ros-carla-msgs)](https://github.com/carla-simulator/ros-carla-msgs/blob/master/LICENSE)
+[![GitHub release (latest by date)](https://img.shields.io/github/v/release/carla-simulator/ros-carla-msgs)](https://github.com/carla-simulator/ros-carla-msgs/releases/latest)
+
 Official ROS messages for CARLA.
 
 Use them in conjunction with [CARLA ROS bridge](https://github.com/carla-simulator/ros-bridge).
diff --git a/install_dependencies.sh b/install_dependencies.sh
new file mode 100755
index 0000000..e27a8df
--- /dev/null
+++ b/install_dependencies.sh
@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+ROS_VERSION=$(rosversion -d)
+if [ "$ROS_VERSION" = "noetic" ]; then
+    PYTHON_SUFFIX=3
+else
+    PYTHON_SUFFIX=""
+fi
+
+sudo apt-get update
+sudo apt-get install --no-install-recommends -y \
+    python$PYTHON_SUFFIX-osrf-pycommon \
+    python$PYTHON_SUFFIX-catkin-tools
diff --git a/requirements.txt b/requirements.txt
new file mode 100644
index 0000000..eccc6c0
--- /dev/null
+++ b/requirements.txt
@@ -0,0 +1 @@
+cmakelang