diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..1e94ff9
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,33 @@
+name: CI
+
+on:
+    pull_request:
+      branches: 
+        - '**'
+
+jobs:
+    micro_ros_demos:
+        runs-on: ubuntu-20.04
+        container: microros/base:foxy
+        defaults:
+          run:
+            shell: bash
+    
+        steps:
+        - name: Download environment
+          run: |
+            cd /uros_ws
+            apt update
+            source /opt/ros/foxy/setup.bash
+            source install/local_setup.bash
+            ros2 run micro_ros_setup create_firmware_ws.sh host
+            rm -rf uros/micro-ROS-demos
+        - uses: actions/checkout@v2
+          with:
+            path: uros/micro-ROS-demos
+        - name: Build
+          run: |
+            cd /uros_ws
+            source /opt/ros/foxy/setup.bash
+            source install/local_setup.bash
+            ros2 run micro_ros_setup build_firmware.sh
\ No newline at end of file
diff --git a/rclc/addtwoints_client/main.c b/rclc/addtwoints_client/main.c
index 01451f4..bcaeb13 100644
--- a/rclc/addtwoints_client/main.c
+++ b/rclc/addtwoints_client/main.c
@@ -40,9 +40,6 @@ int main(int argc, const char * const * argv)
   // create executor
   rclc_executor_t executor;
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-  unsigned int rcl_wait_timeout = 10;   // in ms
-  RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
   RCCHECK(rclc_executor_add_client(&executor, &client, &res, client_callback));
 
   int64_t seq; 
diff --git a/rclc/addtwoints_server/main.c b/rclc/addtwoints_server/main.c
index d7b91a3..204e39a 100644
--- a/rclc/addtwoints_server/main.c
+++ b/rclc/addtwoints_server/main.c
@@ -8,11 +8,8 @@
 #include <stdio.h>
 #include <unistd.h>
 
-#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc); return 1;}}
-#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printf("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
-
-example_interfaces__srv__AddTwoInts_Request req;
-example_interfaces__srv__AddTwoInts_Response res;
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Aborting.\n",__LINE__,(int)temp_rc);}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){printk("Failed status on line %d: %d. Continuing.\n",__LINE__,(int)temp_rc);}}
 
 void service_callback(const void * req, void * res){
   example_interfaces__srv__AddTwoInts_Request * req_in = (example_interfaces__srv__AddTwoInts_Request *) req;
@@ -23,35 +20,32 @@ void service_callback(const void * req, void * res){
   res_in->sum = req_in->a + req_in->b;
 }
 
-int main(int argc, const char * const * argv)
-{
-  RCLC_UNUSED(argc);
-  RCLC_UNUSED(argv);
-  rcl_allocator_t allocator = rcl_get_default_allocator();
-  rclc_support_t support;
-
-  // create init_options
-  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+void main(void)
+{	
+    rcl_allocator_t allocator = rcl_get_default_allocator();
 
-  // create node
-  rcl_node_t node;
-  RCCHECK(rclc_node_init_default(&node, "add_twoints_client_rclc", "", &support));
+    // create init_options
+    rclc_support_t support;
+    RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
 
-  // create service
-  rcl_service_t service;
-  RCCHECK(rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"));
+    // create node
+    rcl_node_t node;
+    RCCHECK(rclc_node_init_default(&node, "add_twoints_client_rclc", "", &support));
 
-  // create executor
-  rclc_executor_t executor;
-  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+    // create service
+    rcl_service_t service;
+    RCCHECK(rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"));
 
-  unsigned int rcl_wait_timeout = 10;   // in ms
-  RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+    // create executor
+    rclc_executor_t executor;
+    RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
 
-  RCCHECK(rclc_executor_add_service(&executor, &service, &req, &res, service_callback));
+    example_interfaces__srv__AddTwoInts_Response res;
+    example_interfaces__srv__AddTwoInts_Request req;
+    RCCHECK(rclc_executor_add_service(&executor, &service, &req, &res, service_callback));
 
-  rclc_executor_spin(&executor);
+    rclc_executor_spin(&executor);
 
-  RCCHECK(rcl_service_fini(&service, &node));
-  RCCHECK(rcl_node_fini(&node));
+    RCCHECK(rcl_service_fini(&service, &node));
+    RCCHECK(rcl_node_fini(&node));
 }
diff --git a/rclc/autodiscover_agent/main.c b/rclc/autodiscover_agent/main.c
index efca945..8685b59 100644
--- a/rclc/autodiscover_agent/main.c
+++ b/rclc/autodiscover_agent/main.c
@@ -67,9 +67,6 @@ int main()
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	msg.data = 0;
diff --git a/rclc/configuration_example/configured_publisher/main.c b/rclc/configuration_example/configured_publisher/main.c
index 943b1a4..e7a2334 100644
--- a/rclc/configuration_example/configured_publisher/main.c
+++ b/rclc/configuration_example/configured_publisher/main.c
@@ -73,9 +73,6 @@ int main(int argc, char * const argv[])
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	msg.data = 0;
diff --git a/rclc/configuration_example/configured_subscriber/main.c b/rclc/configuration_example/configured_subscriber/main.c
index 7925ce9..8944950 100644
--- a/rclc/configuration_example/configured_subscriber/main.c
+++ b/rclc/configuration_example/configured_subscriber/main.c
@@ -60,9 +60,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
 
   	rclc_executor_spin(&executor);
diff --git a/rclc/fragmented_publication/main.c b/rclc/fragmented_publication/main.c
index 94c0da0..63a8c45 100644
--- a/rclc/fragmented_publication/main.c
+++ b/rclc/fragmented_publication/main.c
@@ -56,9 +56,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	// Fill the array with a known sequence
diff --git a/rclc/fragmented_subscription/main.c b/rclc/fragmented_subscription/main.c
index 3a4073f..190eba0 100644
--- a/rclc/fragmented_subscription/main.c
+++ b/rclc/fragmented_subscription/main.c
@@ -47,9 +47,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
 	
 	msg.data.data = (char * ) malloc(ARRAY_LEN * sizeof(char));
diff --git a/rclc/int32_multinode/main.c b/rclc/int32_multinode/main.c
index 6040bd2..22a63b6 100644
--- a/rclc/int32_multinode/main.c
+++ b/rclc/int32_multinode/main.c
@@ -91,8 +91,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor_1 = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor_1, &support.context, 2, &allocator));
-
-	RCCHECK(rclc_executor_set_timeout(&executor_1, RCL_MS_TO_NS(1000)));
 	RCCHECK(rclc_executor_add_timer(&executor_1, &timer_1));
 	RCCHECK(rclc_executor_add_subscription(&executor_1, &subscriber_1, &recv_msg_1, &subscription_callback_1, ON_NEW_DATA));
 
@@ -126,8 +124,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor_2 = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor_2, &support.context, 2, &allocator));
-
-	RCCHECK(rclc_executor_set_timeout(&executor_2, RCL_MS_TO_NS(1000)));
 	RCCHECK(rclc_executor_add_timer(&executor_2, &timer_2));
 	RCCHECK(rclc_executor_add_subscription(&executor_2, &subscriber_2, &recv_msg_2, &subscription_callback_2, ON_NEW_DATA));
 
diff --git a/rclc/int32_publisher/main.c b/rclc/int32_publisher/main.c
index 36d2070..4d3eda8 100644
--- a/rclc/int32_publisher/main.c
+++ b/rclc/int32_publisher/main.c
@@ -55,9 +55,6 @@ int main()
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	msg.data = 0;
diff --git a/rclc/int32_publisher_subscriber/main.c b/rclc/int32_publisher_subscriber/main.c
index 7d91bae..4b26cbc 100644
--- a/rclc/int32_publisher_subscriber/main.c
+++ b/rclc/int32_publisher_subscriber/main.c
@@ -69,9 +69,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 2, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &recv_msg, &subscription_callback, ON_NEW_DATA));
 
diff --git a/rclc/int32_subscriber/main.c b/rclc/int32_subscriber/main.c
index ee0764f..d3293cf 100644
--- a/rclc/int32_subscriber/main.c
+++ b/rclc/int32_subscriber/main.c
@@ -41,9 +41,6 @@ int main()
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
 	
   	rclc_executor_spin(&executor);
diff --git a/rclc/ping_pong/main.c b/rclc/ping_pong/main.c
index cabaf6b..4e4d875 100644
--- a/rclc/ping_pong/main.c
+++ b/rclc/ping_pong/main.c
@@ -106,9 +106,6 @@ int main()
 	// Create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 3, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 	RCCHECK(rclc_executor_add_subscription(&executor, &ping_subscriber, &incoming_ping, &ping_subscription_callback, ON_NEW_DATA));
 	RCCHECK(rclc_executor_add_subscription(&executor, &pong_subscriber, &incoming_pong, &pong_subscription_callback, ON_NEW_DATA));
diff --git a/rclc/string_publisher/main.c b/rclc/string_publisher/main.c
index 4830e88..7cd7fbb 100644
--- a/rclc/string_publisher/main.c
+++ b/rclc/string_publisher/main.c
@@ -60,9 +60,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	// Fill the array with a known sequence
diff --git a/rclc/string_subscriber/main.c b/rclc/string_subscriber/main.c
index ac33f50..654fc7b 100644
--- a/rclc/string_subscriber/main.c
+++ b/rclc/string_subscriber/main.c
@@ -46,9 +46,6 @@ int main(int argc, const char * const * argv)
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
 	
 	msg.data.data = (char * ) malloc(ARRAY_LEN * sizeof(char));
diff --git a/rclc/timer/main.c b/rclc/timer/main.c
index 3640ac6..33ba4c0 100644
--- a/rclc/timer/main.c
+++ b/rclc/timer/main.c
@@ -40,9 +40,6 @@ int main()
 	// create executor
 	rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
 	RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
-
-	unsigned int rcl_wait_timeout = 1000;   // in ms
-	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 	
   	rclc_executor_spin(&executor);