diff --git a/.github/workflows/r2r_jazzy.yml b/.github/workflows/r2r_jazzy.yml
new file mode 100644
index 0000000..fc37262
--- /dev/null
+++ b/.github/workflows/r2r_jazzy.yml
@@ -0,0 +1,21 @@
+name: r2r_jazzy
+
+on:
+  push:
+    branches-ignore:
+      - rclrs
+  pull_request:
+    branches-ignore:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_r2r_jazzy --tag r2r_jazzy
+      - run: docker run r2r_jazzy cargo test --features r2r_msg,derive,nalgebra,rayon
diff --git a/.github/workflows/rclrs_jazzy.yml b/.github/workflows/rclrs_jazzy.yml
new file mode 100644
index 0000000..b570164
--- /dev/null
+++ b/.github/workflows/rclrs_jazzy.yml
@@ -0,0 +1,21 @@
+name: rclrs_jazzy
+
+on:
+  push:
+    branches:
+      - rclrs
+  pull_request:
+    branches:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_jazzy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - run: docker build . --file ./rpcl2/tests/Dockerfile_rclrs_jazzy --tag rclrs_jazzy
+      - run: docker run rclrs_jazzy cargo test --features derive,nalgebra,rayon
diff --git a/rpcl2/tests/Dockerfile_r2r_jazzy b/rpcl2/tests/Dockerfile_r2r_jazzy
new file mode 100644
index 0000000..9bd6622
--- /dev/null
+++ b/rpcl2/tests/Dockerfile_r2r_jazzy
@@ -0,0 +1,22 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev
+
+# Get ros test messages
+RUN apt-get install -y ros-jazzy-test-msgs ros-jazzy-example-interfaces
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+
+COPY . /r2r
+RUN chmod +x /r2r/rpcl2/tests/r2r_test.bash
+ENTRYPOINT [ "/r2r/rpcl2/tests/r2r_test.bash" ]
diff --git a/rpcl2/tests/Dockerfile_rclrs_jazzy b/rpcl2/tests/Dockerfile_rclrs_jazzy
new file mode 100644
index 0000000..159ff21
--- /dev/null
+++ b/rpcl2/tests/Dockerfile_rclrs_jazzy
@@ -0,0 +1,34 @@
+# syntax=docker/dockerfile:1
+FROM ros:jazzy
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3-pip \
+    python3-vcstool
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN . $HOME/.cargo/env && cargo install --debug cargo-ament-build
+RUN pip install git+https://github.com/colcon/colcon-cargo.git
+RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_jazzy.repos
+
+WORKDIR /ros2_rust_build/src/ros_pointcloud2_tests
+COPY . .
+
+WORKDIR /ros2_rust_build
+RUN . $HOME/.cargo/env && . /opt/ros/jazzy/setup.sh && colcon build
+
+RUN chmod +x /ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash
+ENTRYPOINT [ "/ros2_rust_build/src/ros_pointcloud2_tests/rpcl2/tests/rclrs_test.bash" ]