diff --git a/.github/workflows/ubuntu_20_04.yml b/.github/workflows/ubuntu_20_04.yml
new file mode 100644
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+++ b/.github/workflows/ubuntu_20_04.yml
@@ -0,0 +1,96 @@
+name: ROS CI
+
+on: [push]
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    env:
+      ROS_CI_DESKTOP: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
+      CI_SOURCE_PATH: $(pwd)
+      ROSINSTALL_FILE: $CI_SOURCE_PATH/dependencies.rosinstall
+      CATKIN_OPTIONS: $CI_SOURCE_PATH/catkin.options
+      ROS_PARALLEL_JOBS: '-j8 -l6'
+      # Set the python path manually to include /usr/-/python2.7/dist-packages
+      # as this is where apt-get installs python packages.
+      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+      ROS_DISTRO: noetic
+    steps:
+      - uses: actions/checkout@v1
+      - name: Install ROS
+        run: |
+            sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+            sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+            sudo apt-get update -qq
+            sudo apt-get install dpkg
+            sudo apt-get install -y python3-catkin-pkg
+            sudo apt-get install -y python3-catkin-tools
+            sudo apt-get install -y python3-osrf-pycommon
+            sudo apt-get install -y python3-rosdep
+            sudo apt-get install -y python3-wstool
+            # sudo apt-get install -y libboost-dev
+            # sudo apt-get install -y libeigen3-dev
+            # sudo apt-get install -y libyaml-cpp-dev
+            # sudo apt-get install -y qt5-default
+            # sudo apt-get install -y ros-cmake-modules
+            # sudo apt-get install -y ros-$ROS_DISTRO-actionlib
+            # sudo apt-get install -y ros-$ROS_DISTRO-actionlib-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-camera-info-manager
+            # sudo apt-get install -y ros-$ROS_DISTRO-class-loader
+            # sudo apt-get install -y ros-$ROS_DISTRO-cmake-modules
+            sudo apt-get install -y ros-$ROS_DISTRO-cv-bridge
+            sudo apt-get install -y ros-$ROS_DISTRO-dynamic-reconfigure
+            # sudo apt-get install -y ros-$ROS_DISTRO-ddynamic-reconfigure
+            # sudo apt-get install -y ros-$ROS_DISTRO-eigen-conversions
+            # sudo apt-get install -y ros-$ROS_DISTRO-geometry-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-genmsg
+            # sudo apt-get install -y ros-$ROS_DISTRO-image-transport
+            # sudo apt-get install -y ros-$ROS_DISTRO-interactive-markers
+            # sudo apt-get install -y ros-$ROS_DISTRO-message-generation
+            # sudo apt-get install -y ros-$ROS_DISTRO-message-runtime
+            sudo apt-get install -y ros-$ROS_DISTRO-nodelet-core
+            sudo apt-get install -y ros-$ROS_DISTRO-nodelet-topic-tools
+            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-conversions
+            # sudo apt-get install -y ros-$ROS_DISTRO-pcl-ros
+            # sudo apt-get install -y ros-$ROS_DISTRO-pluginlib
+            # sudo apt-get install -y ros-$ROS_DISTRO-python-qt-binding
+            # sudo apt-get install -y ros-$ROS_DISTRO-roscpp
+            # sudo apt-get install -y ros-$ROS_DISTRO-roslib
+            sudo apt-get install -y ros-$ROS_DISTRO-roslint
+            sudo apt-get install -y ros-$ROS_DISTRO-rospy
+            sudo apt-get install -y ros-$ROS_DISTRO-rostest
+            # sudo apt-get install -y ros-$ROS_DISTRO-rqt-gui-py
+            # sudo apt-get install -y ros-$ROS_DISTRO-rviz
+            # sudo apt-get install -y ros-$ROS_DISTRO-shape-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-sensor-msgs
+            sudo apt-get install -y ros-$ROS_DISTRO-std-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf-conversions
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-geometry-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-py
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-ros
+            # sudo apt-get install -y ros-$ROS_DISTRO-tf2-sensor-msgs
+            # sudo apt-get install -y ros-$ROS_DISTRO-visualization-msgs
+            source /opt/ros/$ROS_DISTRO/setup.bash
+            # Prepare rosdep to install dependencies.
+            sudo rosdep init
+            rosdep update --include-eol-distros  # Support EOL distros.
+
+      - name: build
+        run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          mkdir -p ~/catkin_ws/src
+          cd ~/catkin_ws
+          catkin build
+          source devel/setup.bash
+          # echo "::warning $CI_SOURCE_PATH"
+          # echo "::warning `ls -l`"
+          cd src
+          ln -s ~/work  # $CI_SOURCE_PATH
+          cd ..
+          catkin build
+      - name: lint
+        run: |
+          cd ~/catkin_ws
+          catkin build $(catkin list --depends-on roslint -u) --no-deps --catkin-make-args roslint