diff --git a/industrial_ci/src/builders/colcon.sh b/industrial_ci/src/builders/colcon.sh
index 74d6aaab0..e98213246 100644
--- a/industrial_ci/src/builders/colcon.sh
+++ b/industrial_ci/src/builders/colcon.sh
@@ -56,9 +56,17 @@ function builder_run_tests {
     elif [ "$jobs" -gt 1 ]; then
         opts+=(--executor parallel --parallel-workers "$jobs")
     fi
+    opts+=("$@")
     ici_cmd ici_exec_in_workspace "$extend" "$ws" colcon test  "${opts[@]}"
 }
 
+function builder_run_tests_with_coverage {
+    local extend=$1; shift
+    local ws=$1; shift
+    builder_run_tests "$extend" "$ws" --pytest-with-coverage \
+                                      --pytest-args --cov-report=term
+}
+
 function builder_test_results {
     local extend=$1; shift
     local ws=$1; shift
diff --git a/industrial_ci/src/ci_main.sh b/industrial_ci/src/ci_main.sh
index ea53a39e1..70c016e14 100644
--- a/industrial_ci/src/ci_main.sh
+++ b/industrial_ci/src/ci_main.sh
@@ -29,6 +29,8 @@ export ICI_SRC_PATH; ICI_SRC_PATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && p
 # shellcheck source=industrial_ci/src/env.sh
 source "${ICI_SRC_PATH}/env.sh"
 if [ "$DEBUG_BASH" = true ]; then set -x; fi # print trace if DEBUG
+# shellcheck source=industrial_ci/src/coverage.sh
+source "${ICI_SRC_PATH}/coverage.sh"
 
 # shellcheck source=industrial_ci/src/util.sh
 source "${ICI_SRC_PATH}/util.sh"
diff --git a/industrial_ci/src/coverage.sh b/industrial_ci/src/coverage.sh
new file mode 100644
index 000000000..51684a23a
--- /dev/null
+++ b/industrial_ci/src/coverage.sh
@@ -0,0 +1,142 @@
+#!/bin/bash
+
+# Copyright (c) 2020, Chen Bainian
+# Copyright (c) 2020, Mathias Lüdtke
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+function ici_combine_cpp_reports {
+  ici_install_pkgs_for_command lcov lcov
+  # Capture initial coverage info
+  lcov --capture --initial \
+       --directory build \
+       --output-file initial_coverage.info | grep -ve "^Processing"
+  # Capture tested coverage info
+  lcov --capture \
+       --directory build \
+       --output-file test_coverage.info | grep -ve "^Processing"
+  # Combine two report (exit function  when none of the records are valid)
+  lcov --add-tracefile initial_coverage.info \
+       --add-tracefile test_coverage.info \
+       --output-file coverage.info || return 0 \
+    && rm initial_coverage.info test_coverage.info
+  # Extract repository files
+  lcov --extract coverage.info "$(pwd)/src/$TARGET_REPO_NAME/*" \
+       --output-file coverage.info | grep -ve "^Extracting"
+  # Filter out test files
+  lcov --remove coverage.info "*/test/*" \
+       --output-file coverage.info | grep -ve "^removing"
+  # Some sed magic to remove identifiable absolute path
+  sed -i "s~$(pwd)/src/$TARGET_REPO_NAME/~~g" coverage.info
+  lcov --list coverage.info
+}
+
+function ici_combine_python_reports {
+  # Find all .coverage file
+  local python_reports
+  python_reports=$(find "./build" \
+                        -type f \
+                        -name ".coverage" \
+                        -printf "%p ")
+  IFS=" " read -r -a python_reports <<< "$python_reports"
+  # Combine coverage files
+  if "$PYTHON_VERSION_NAME" -m coverage combine "${python_reports[@]}"; then
+    # Generate report
+    "$PYTHON_VERSION_NAME" -m coverage report --include="src/$TARGET_REPO_NAME/*" --omit="*/test/*,*/setup.py" || return 0
+    "$PYTHON_VERSION_NAME" -m coverage xml --include="src/$TARGET_REPO_NAME/*" --omit="*/test/*,*/setup.py"
+  fi
+}
+
+function ici_collect_coverage_report {
+  local target_ws=$1
+
+  # Run combine reports command securely
+  # within workspace directory
+  ( cd "$target_ws" && \
+    ici_combine_cpp_reports && \
+    ici_combine_python_reports )
+
+  case "$CODE_COVERAGE" in
+    "coveralls.io")
+      # Combine cpp and python reports locally and expose coverage.json file for coveralls
+      cp "$target_ws"/.coverage "$target_ws/src/$TARGET_REPO_NAME" || echo "No python coverage report"
+      ici_setup_git_client
+      ici_install_pkgs_for_command pip "${PYTHON_VERSION_NAME}-pip" \
+        "${PYTHON_VERSION_NAME}-dev" "${PYTHON_VERSION_NAME}-wheel"
+      "${PYTHON_VERSION_NAME}" -m pip install coveralls
+      # Use coveragerc file used for coveralls ignore
+      printf "[report]\ninclude = \n\t%s/src/%s/*\nomit = \n\t*/test/*\n\t*/setup.py" "$target_ws" "$TARGET_REPO_NAME" \
+        > "$target_ws/src/$TARGET_REPO_NAME/.default.coveragerc"
+      if [ -f "$target_ws"/coverage.info ]; then
+        # Install and run coveralls-lcov within git directory
+        cp "$target_ws"/coverage.info "$target_ws/src/$TARGET_REPO_NAME"
+        ici_install_pkgs_for_command gem ruby
+        gem install coveralls-lcov
+        ( cd "$target_ws/src/$TARGET_REPO_NAME" && \
+          coveralls-lcov -v -n coverage.info > coverage.c.json && \
+          coveralls --merge coverage.c.json \
+                    --rcfile .default.coveragerc \
+                    --output "$COVERAGE_REPORT_PATH"/coverage.json )
+      else
+        echo "No cpp covearge report"
+        ( cd "$target_ws/src/$TARGET_REPO_NAME" && \
+          coveralls --rcfile .default.coveragerc \
+                    --output "$COVERAGE_REPORT_PATH"/coverage.json )
+      fi
+      ;;
+    *) # Expose LCOV and Cobertura XML files by default
+      cp "$target_ws"/coverage.info "$COVERAGE_REPORT_PATH" || echo "No cpp coverage report"
+      cp "$target_ws"/coverage.xml "$COVERAGE_REPORT_PATH" || echo "No python coverage report"
+      ;;
+  esac
+}
+
+function upload_coverage_report {
+  case "$CODE_COVERAGE" in
+    "codecov.io")
+      bash <(curl -s https://codecov.io/bash) -Z
+      ;;
+    "coveralls.io")
+      # Check pip/pip3 installation (prioritize using python3)
+      local PYTHON_VERSION
+      if command -v python3 &> /dev/null; then
+        if ! command -v pip3 &> /dev/null; then
+          ici_warn "pip3 not found. Try installing pip3..."
+          ici_apt_install python3-pip
+        fi
+        # Check setuptools installation
+        if ! pip3 show setuptools &> /dev/null; then
+          ici_warn "pip3 setup_tools not found. Try installing pip3 setup_tools..."
+          ici_apt_install python3-setuptools python3-dev python3-wheel
+        fi
+        PYTHON_VERSION=3
+      elif command -v python &> /dev/null; then
+        if ! command -v pip &> /dev/null; then
+          ici_warn "pip not found. Try installing pip3..."
+          ici_apt_install python-pip
+        fi
+        # Check setuptools installation
+        if ! pip show setuptools &> /dev/null; then
+          ici_warn "pip setup_tools not found. Try installing pip setup_tools..."
+          ici_apt_install python-setuptools python-dev python-wheel
+        fi
+      fi
+
+      python"$PYTHON_VERSION" -m pip install --user --upgrade pip
+      python"$PYTHON_VERSION" -m pip install --user coveralls
+      python"$PYTHON_VERSION" -m coveralls --merge=.ici_coverage_report/coverage.json
+      ;;
+  esac
+}
diff --git a/industrial_ci/src/isolation/docker.env b/industrial_ci/src/isolation/docker.env
index 8ab04d11f..8bd371ace 100644
--- a/industrial_ci/src/isolation/docker.env
+++ b/industrial_ci/src/isolation/docker.env
@@ -18,6 +18,7 @@ CLANG_TIDY_ARGS
 CLANG_TIDY_BASE_REF
 CLANG_TIDY_JOBS
 CMAKE_ARGS
+CODE_COVERAGE
 CPPFLAGS
 CXX
 CXXFLAGS
diff --git a/industrial_ci/src/tests/source_tests.sh b/industrial_ci/src/tests/source_tests.sh
index 6c4a5434e..6486675fc 100644
--- a/industrial_ci/src/tests/source_tests.sh
+++ b/industrial_ci/src/tests/source_tests.sh
@@ -181,6 +181,11 @@ function run_source_tests {
     if [ "${CLANG_TIDY:-false}" != false ]; then
         TARGET_CMAKE_ARGS="$TARGET_CMAKE_ARGS -DCMAKE_EXPORT_COMPILE_COMMANDS=ON"
     fi
+    if [ -n "$CODE_COVERAGE" ]; then
+        ici_run "install_coveragepy" ici_install_pkgs_for_command coverage "$PYTHON_VERSION_NAME-coverage"
+        TARGET_CMAKE_ARGS="$TARGET_CMAKE_ARGS -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_FLAGS='--coverage' -DCMAKE_CXX_FLAGS='--coverage'"
+        export CATKIN_TEST_COVERAGE=1
+    fi
     ici_with_ws "$target_ws" ici_build_workspace "target" "$extend" "$target_ws"
 
     if [ "$NOT_TEST_BUILD" != "true" ]; then
@@ -204,6 +209,10 @@ function run_source_tests {
         run_pylint_check "$target_ws"
     fi
 
+    if [ -n "${CODE_COVERAGE}" ]; then
+        ici_run "collect_target_coverage_report" ici_collect_coverage_report "$target_ws"
+    fi
+
     extend="$(ici_extend_space "$target_ws")"
     if [ -n "$DOWNSTREAM_WORKSPACE" ]; then
         ici_with_ws "$downstream_ws" ici_build_workspace "downstream" "$extend" "$downstream_ws"
diff --git a/industrial_ci/src/workspace.sh b/industrial_ci/src/workspace.sh
index 68382e68a..256f9e03f 100644
--- a/industrial_ci/src/workspace.sh
+++ b/industrial_ci/src/workspace.sh
@@ -393,7 +393,11 @@ function ici_test_workspace {
     local extend=$1; shift
     local ws=$1; shift
 
+    if [ "${name}" = "target" ] && [ -n "$CODE_COVERAGE" ] && [ "$BUILDER" = "colcon" ]; then
+      ici_run "run_${name}_test_with_coverage" builder_run_tests_with_coverage "$extend" "$ws"
+    else
     ici_step "run_${name}_test" builder_run_tests "$extend" "$ws"
+    fi
     builder_test_results "$extend" "$ws"
 }