diff --git a/.github/workflows/coverage_report.yml b/.github/workflows/coverage_report.yml
new file mode 100644
index 0000000..2c623a4
--- /dev/null
+++ b/.github/workflows/coverage_report.yml
@@ -0,0 +1,58 @@
+name: Generate coverage report
+on:
+  pull_request:
+    branches:
+      - "master"
+  push:
+      branches:
+      - "master"
+
+jobs:
+  build:
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: ['noetic']
+        gcc: ['10']
+        cxx: ['17']
+    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    steps:
+      - uses: actions/checkout@v3
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/lpp
+
+      - name: Install newest git version
+        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: Install GCC version ${{ matrix.gcc }}
+        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+
+      - name: Install catkin tools
+        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+      - name: Install system dependencies
+        run: sudo apt install -y libgoogle-glog-dev
+
+      - name: Install gcovr
+        run: sudo apt install -y gcovr
+
+      - name: Build lpp
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
+        working-directory: catkin_ws/src/lpp
+        shell: bash
+
+      - name: Run unittests
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
+        working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
+        shell: bash
+
+      - name: Print coverage
+        run: gcovr
+        working-directory: catkin_ws/src/lpp
+
+
+
diff --git a/.github/workflows/cpp_ubuntu20_04.yml b/.github/workflows/cpp_ubuntu20_04.yml
index d588868..96857c3 100644
--- a/.github/workflows/cpp_ubuntu20_04.yml
+++ b/.github/workflows/cpp_ubuntu20_04.yml
@@ -14,7 +14,7 @@ jobs:
       fail-fast: false
       matrix:
         rosdistro: ['noetic']
-        gcc: ['8', '9', '10']
+        gcc: ['8', '9', '10', '11']
         cxx: ['11', '14', '17']
     container: ros:${{ matrix.rosdistro }}-ros-base-focal
     name: ROS ${{ matrix.rosdistro }} - GCC ${{ matrix.gcc }} - C++${{ matrix.cxx }}
@@ -30,7 +30,7 @@ jobs:
       run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
 
     - name: Install GCC version ${{ matrix.gcc }}
-      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+      run: sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
 
     - name: Install catkin tools
       run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
diff --git a/.github/workflows/deploy_coverage_report.yml b/.github/workflows/deploy_coverage_report.yml
new file mode 100644
index 0000000..2734c57
--- /dev/null
+++ b/.github/workflows/deploy_coverage_report.yml
@@ -0,0 +1,71 @@
+name: Coverage report
+on:
+  push:
+    branches:
+      - "master"
+
+jobs:
+  deploy:
+    name: Deploy coverage report
+    environment:
+      name: github-pages
+      url: ${{ steps.deployment.outputs.url }}
+    runs-on: [self-hosted, linux]
+    strategy:
+      fail-fast: false
+      matrix:
+        rosdistro: ['noetic']
+        gcc: ['10']
+        cxx: ['17']
+    container: ros:${{ matrix.rosdistro }}-ros-base-focal
+    permissions:
+      pages: write      # to deploy to Pages
+      id-token: write   # to verify the deployment originates from an appropriate source
+    steps:
+      - uses: actions/checkout@v3
+        name: Checkout lpp
+        with:
+          repository: ethz-asl/lpp
+          token: ${{ secrets.PAT }}
+          path: catkin_ws/src/lpp
+
+      - name: Install newest git version
+        run: sudo apt update && sudo apt-get install -y software-properties-common && sudo add-apt-repository -y ppa:git-core/ppa && sudo apt-get update && sudo apt-get install -y git
+
+      - name: Install GCC version ${{ matrix.gcc }}
+        run: sudo add-apt-repository ppa:ubuntu-toolchain-r/ppa -y && sudo apt update && sudo apt install -y gcc-${{ matrix.gcc }} g++-${{ matrix.gcc }} && sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-${{ matrix.gcc }} 100 --slave /usr/bin/g++ g++ /usr/bin/g++-${{ matrix.gcc }}
+
+      - name: Install catkin tools
+        run: sudo apt install -y python3-rosdep python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools
+
+      - name: Install system dependencies
+        run: sudo apt install -y libgoogle-glog-dev
+
+      - name: Install gcovr
+        run: sudo apt install -y gcovr
+
+      - name: Build lpp
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE="Debug" -DENABLE_COVERAGE=1 && make
+        working-directory: catkin_ws/src/lpp
+        shell: bash
+
+      - name: Run unittests
+        run: source /opt/ros/${{ matrix.rosdistro }}/setup.bash && ./test_default && ./test_glog && ./test_lpp && ./test_lpp_custom && ./test_nolog && ./test_roslog
+        working-directory: catkin_ws/src/lpp/build/devel/lib/lpp
+        shell: bash
+
+      - name: Generate coverage report
+        run: make coverage
+        working-directory: catkin_ws/src/lpp/build
+
+      - name: Upload artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: ./catkin_ws/src/lpp/build/coverage
+
+      - name: Deploy to Github pages
+        uses: actions/deploy-pages@v4
+        id: deployment
+
+
+
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ceecc3..25b6377 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,6 +6,13 @@ if (${CMAKE_PROJECT_NAME} STREQUAL ${PROJECT_NAME})
         set(LPP_BUILD_TESTS 1)
 endif ()
 
+if (ENABLE_COVERAGE)
+        set(LPP_TEST_CXX_FLAGS ${CMAKE_CXX_FLAGS} -g -O0 -fprofile-arcs -ftest-coverage)
+        message(STATUS "Coverage enabled")
+else ()
+        set(LPP_TEST_CXX_FLAGS ${CMAKE_CXX_FLAGS} -fcompare-debug-second)
+endif ()
+
 # Set standard of top level project or C++17
 if (NOT DEFINED CMAKE_CXX_STANDARD)
         set(CMAKE_CXX_STANDARD 17)
@@ -85,9 +92,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/glog/test_glog_vlog.cc)
 
         target_include_directories(${GLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/glog)
-        target_link_libraries(${GLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${GLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${GLOG_TESTS} PRIVATE MODE_GLOG)
-        target_compile_options(${GLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${GLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Log++ Tests #####
         set(LPP_TESTS "test_lpp")
@@ -101,9 +108,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/lpp/test_lpp_vlog.cc)
 
         target_include_directories(${LPP_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
-        target_link_libraries(${LPP_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${LPP_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${LPP_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Log++ Custom Output Tests #####
         set(LPP_TESTS_CUSTOM "test_lpp_custom")
@@ -118,9 +125,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/lpp/custom/test_lpp_custom_vlog.cc)
 
         target_include_directories(${LPP_TESTS_CUSTOM} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/lpp)
-        target_link_libraries(${LPP_TESTS_CUSTOM} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${LPP_TESTS_CUSTOM} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${LPP_TESTS_CUSTOM} PRIVATE MODE_LPP)
-        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${LPP_TESTS_CUSTOM} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Roslog Tests #####
         set(ROSLOG_TESTS "test_roslog")
@@ -134,9 +141,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/roslog/test_roslog_vlog.cc)
 
         target_include_directories(${ROSLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/roslog)
-        target_link_libraries(${ROSLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${ROSLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${ROSLOG_TESTS} PRIVATE MODE_ROSLOG)
-        target_compile_options(${ROSLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${ROSLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Default Tests #####
         set(DEFAULT_TESTS "test_default")
@@ -153,9 +160,9 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
                 test/default/test_severity_conversions.cc)
 
         target_include_directories(${DEFAULT_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/default)
-        target_link_libraries(${DEFAULT_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${DEFAULT_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${DEFAULT_TESTS} PRIVATE MODE_DEFAULT)
-        target_compile_options(${DEFAULT_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${DEFAULT_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
 
         ##### Nolog Tests #####
         set(NOLOG_TESTS "test_nolog")
@@ -171,7 +178,13 @@ if (GLOG_FOUND AND catkin_FOUND AND LPP_BUILD_TESTS)
         )
 
         target_include_directories(${NOLOG_TESTS} PRIVATE ${LPP_INCLUDE_DIRECTORIES} test/nolog)
-        target_link_libraries(${NOLOG_TESTS} glog gtest ${catkin_LIBRARIES})
+        target_link_libraries(${NOLOG_TESTS} glog gtest ${catkin_LIBRARIES} gcov)
         target_compile_definitions(${NOLOG_TESTS} PRIVATE MODE_NOLOG)
-        target_compile_options(${NOLOG_TESTS} PRIVATE "-fcompare-debug-second")
+        target_compile_options(${NOLOG_TESTS} PRIVATE ${LPP_TEST_CXX_FLAGS})
+
+        add_custom_target(coverage
+                COMMAND mkdir coverage && cd coverage && gcovr -r ${CMAKE_SOURCE_DIR} --html --html-details -o coverage.html
+                COMMENT "Generating coverage report"
+                WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+        )
 endif ()
diff --git a/README.md b/README.md
index f71b551..ef4bee5 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # Log++ Logging framework
+[![lpp](https://github.com/ethz-asl/lpp/actions/workflows/cpp_ubuntu20_04.yml/badge.svg)](https://github.com/ethz-asl/lpp/actions/workflows/cpp_ubuntu20_04.yml)
 
+[Latest Code Coverage Report](https://ethz-asl.github.io/lpp/coverage.html) (master branch)
 
 ![](docs/Log++.svg)
 ***