diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
new file mode 100644
index 000000000..5d3e11027
--- /dev/null
+++ b/.github/workflows/build_test.yml
@@ -0,0 +1,59 @@
+
+name: Build Test
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {rosdistro: 'melodic', container: 'ros:melodic-ros-base-bionic'}
+          - {rosdistro: 'noetic', container: 'ros:noetic-ros-base-focal'}
+    container: ${{ matrix.config.container }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+        github-token: ${{ secrets.GITHUB_TOKEN }}
+    - name: Install catkin-tools on melodic
+      if: ${{ matrix.config.container == 'ros:melodic-ros-base-bionic' }}
+      run: |
+        apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+        apt update && apt install -y python3-wstool python-catkin-tools 
+    - name: Install catkin-tools on Noetic
+      if: ${{ matrix.config.container == 'ros:noetic-ros-base-focal' }}
+      run: |
+        apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+        apt update && apt install -y python3-pip
+        pip3 install osrf-pycommon
+        apt update && apt install -y python3-wstool python3-catkin-tools
+    - name: release_build_test
+      working-directory: 
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        apt update
+        apt install -y python3-wstool autoconf libtool git
+        mkdir -p $HOME/catkin_ws/src;
+        cd $HOME/catkin_ws
+        catkin init
+        catkin config --extend "/opt/ros/${{matrix.config.rosdistro}}"
+        catkin config --merge-devel
+        cd $HOME/catkin_ws/src
+        ln -s $GITHUB_WORKSPACE
+        cd $HOME/catkin_ws
+        wstool init src src/voxblox/voxblox_https.rosinstall
+        wstool update -t src -j4
+        rosdep update
+        rosdep install --from-paths src --ignore-src -y --rosdistro ${{matrix.config.rosdistro}}
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+        catkin build -j$(nproc) -l$(nproc) voxblox_ros
+      shell: bash
diff --git a/README.md b/README.md
index 1a265cddb..2c1747d6e 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,7 @@
 # Voxblox
 
+[![Build Test](https://github.com/ethz-asl/voxblox/actions/workflows/build_test.yml/badge.svg)](https://github.com/ethz-asl/voxblox/actions/workflows/build_test.yml)
+
 ![voxblox_small](https://cloud.githubusercontent.com/assets/5616392/15180357/536a8776-1781-11e6-8c1d-f2dfa34b1408.gif)
 
 Voxblox is a volumetric mapping library based mainly on Truncated Signed Distance Fields (TSDFs). It varies from other SDF libraries in the following ways:
diff --git a/voxblox_https.rosinstall b/voxblox_https.rosinstall
index 7260346b7..9adcf377c 100644
--- a/voxblox_https.rosinstall
+++ b/voxblox_https.rosinstall
@@ -23,6 +23,11 @@
     local-name: protobuf_catkin
     uri: https://github.com/ethz-asl/protobuf_catkin.git
 - git:
-    local-name: voxblox
-    uri: https://github.com/ethz-asl/voxblox.git
-
+    local-name: numpy_eigen
+    uri: https://github.com/ethz-asl/numpy_eigen.git
+- git:
+    local-name: catkin_boost_python_buildtool
+    uri: https://github.com/ethz-asl/catkin_boost_python_buildtool.git
+- git:
+    local-name: catkin_grpc
+    uri: https://github.com/CogRob/catkin_grpc.git
diff --git a/voxblox_ros/CMakeLists.txt b/voxblox_ros/CMakeLists.txt
index afefc8580..e3258563c 100644
--- a/voxblox_ros/CMakeLists.txt
+++ b/voxblox_ros/CMakeLists.txt
@@ -4,7 +4,7 @@ project(voxblox_ros)
 find_package(catkin_simple REQUIRED)
 catkin_simple(ALL_DEPS_REQUIRED)
 
-add_definitions(-std=c++11 -Wall -Wextra)
+add_definitions(-std=c++14 -Wall -Wextra)
 
 #############
 # LIBRARIES #
diff --git a/voxblox_ssh.rosinstall b/voxblox_ssh.rosinstall
index 22a2ada6b..73c7935e8 100644
--- a/voxblox_ssh.rosinstall
+++ b/voxblox_ssh.rosinstall
@@ -23,6 +23,11 @@
     local-name: protobuf_catkin
     uri: git@github.com:ethz-asl/protobuf_catkin.git
 - git:
-    local-name: voxblox
-    uri: git@github.com:ethz-asl/voxblox.git
-
+    local-name: numpy_eigen
+    uri: git@github.com:ethz-asl/numpy_eigen.git
+- git:
+    local-name: catkin_boost_python_buildtool
+    uri: git@github.com:ethz-asl/catkin_boost_python_buildtool.git
+- git:
+    local-name: catkin_grpc
+    uri: git@github.com:CogRob/catkin_grpc.git