diff --git a/.github/workflows/iron.yaml b/.github/workflows/iron.yaml
new file mode 100644
index 0000000..34210b8
--- /dev/null
+++ b/.github/workflows/iron.yaml
@@ -0,0 +1,39 @@
+name: Ubuntu 22.04 Iron Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - iron
+
+jobs:
+  Build:
+    runs-on: self-hosted
+    container:
+      image: osrf/ros:iron-desktop-full-jammy
+
+    steps:
+    - name: Update
+      run: apt update
+
+    - name: Install PIP
+      run: apt install -y python3-pip lcov
+
+    - name: Install colcon tools
+      run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
+
+    - name: Checkout
+      uses: actions/checkout@v2
+
+    - name: Run Tests
+      uses: ros-tooling/action-ros-ci@0.3.5
+      with:
+        target-ros2-distro: iron
+        import-token: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+      if: always()
\ No newline at end of file
diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml
new file mode 100644
index 0000000..3f2d63e
--- /dev/null
+++ b/.github/workflows/rolling.yaml
@@ -0,0 +1,39 @@
+name: Ubuntu 22.04 Rolling Build
+
+on:
+  pull_request:
+  push:
+    branches:
+      - iron
+
+jobs:
+  Build:
+    runs-on: self-hosted
+    container:
+      image: osrf/ros:rolling-desktop-full-jammy
+
+    steps:
+    - name: Update
+      run: apt update
+
+    - name: Install PIP
+      run: apt install -y python3-pip lcov
+
+    - name: Install colcon tools
+      run: python3 -m pip install colcon-lcov-result colcon-coveragepy-result
+
+    - name: Checkout
+      uses: actions/checkout@v2
+
+    - name: Run Tests
+      uses: ros-tooling/action-ros-ci@0.3.5
+      with:
+        target-ros2-distro: rolling
+        import-token: ${{ secrets.GITHUB_TOKEN }}
+
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+      if: always()
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2314328..3bc87df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -57,4 +57,9 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/README.md b/README.md
index 6a846e6..639cb29 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,12 @@
-# ROS2-systemctl Node: 
+# ROS2-systemctl Node
+
+[![Ubuntu 22.04 Iron Build](https://github.com/Fixit-Davide/ros-systemctl/actions/workflows/iron.yaml/badge.svg?branch=iron)](https://github.com/Fixit-Davide/ros-systemctl/actions/workflows/iron.yaml)
+[![Ubuntu 22.04 Rolling Build](https://github.com/Fixit-Davide/ros-systemctl/actions/workflows/rolling.yaml/badge.svg?branch=iron)](https://github.com/Fixit-Davide/ros-systemctl/actions/workflows/rolling.yaml)
+
+
 **systemctl** is a command line utility that is used to control and manage system services on Linux operating system.
 This Node enables the communication with **systemctl** using basic ROS2 services (std_srvs::srv::Request). It allows the user to start, stop, restart and visualize the status of a specific system service.
+
 ## How to Use:
 - In order to function correctly as a normal user, the custom Systemd unit file has to be generated in the `~/.config/systemd/user/` directory.
 - In the params file the names of the systemd services can be set as a simple list **omitting** the .service extension of the name.
diff --git a/package.xml b/package.xml
index dcc303c..0ef32ae 100644
--- a/package.xml
+++ b/package.xml
@@ -15,11 +15,16 @@
   <depend>builtin_interfaces</depend>
   <depend>std_srvs</depend>
   <depend>rosidl_default_generators</depend>
+  <depend>libsystemd-dev</depend>
 
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+
+  <test_depend>ament_cmake_uncrustify</test_depend>
+  <test_depend>ament_cmake_cppcheck</test_depend>
+  <test_depend>ament_cmake_cpplint</test_depend>
+  <test_depend>ament_cmake_lint_cmake</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>