diff --git a/.github/workflows/colcon.yml b/.github/workflows/colcon.yml
new file mode 100644
index 0000000..ff6fbe8
--- /dev/null
+++ b/.github/workflows/colcon.yml
@@ -0,0 +1,74 @@
+---
+name: colcon build/test
+
+on:
+  pull_request:
+  push:
+    branches: [humble]
+
+concurrency:
+  group: ci-${{github.workflow}}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  build-test:
+    runs-on: ubuntu-22.04
+    container: ardupilot/ardupilot-dev-ros:latest
+    strategy:
+      fail-fast: false  # don't cancel if a job from the matrix fails
+    steps:
+      # git checkout the PR
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+          path: src/ardupilot_ros
+      # https://ardupilot.org/dev/docs/ros2.html#installation-ubuntu
+      - name: Pull in repos with vcs
+        run: |
+          cd src
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y wget python3-pip
+          wget --progress=dot:giga https://raw.githubusercontent.com/ArduPilot/ardupilot_gz/main/ros2_gz.repos
+          vcs import --recursive --debug --shallow --skip-existing < ros2_gz.repos
+      - name: Add Gazebo Apt Sources from packages.osrfoundation.org/gazebo
+        run: |
+          wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+      - name: Install rosdep dependencies
+        shell: 'bash'
+        run: |
+          apt-get update
+          DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y python3
+          # Rosdep sources for non-standard versions
+          # https://gazebosim.org/docs/garden/ros_installation#using-an-specific-gazebo-version-with-ros-2
+          wget https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list -O /etc/ros/rosdep/sources.list.d/00-gazebo.list
+          rosdep update
+          # Workaround for flake8 attribute error
+          # https://github.com/ArduPilot/ardupilot/pull/24277#issuecomment-1632833433
+          python3 -m pip install flake8==3.7.9
+          source /opt/ros/humble/setup.bash
+          export GZ_VERSION=harmonic
+          rosdep install --from-paths src --ignore-src --default-yes --skip-keys "gz-sim7 gz-plugin2 gz-common5"
+      - name: Install MAVProxy
+        run: |
+          # Install this specific version just to prevent rolling updates.
+          # These are the latest available
+          python3 -m pip install MAVProxy==1.8.67
+      - name: Install local pymavlink
+        working-directory: ./src/ardupilot/modules/mavlink/pymavlink
+        run: |
+          pip install . -U --user
+      - name: Build with colcon
+        shell: 'bash'
+        run: |
+          source /opt/ros/humble/setup.bash
+          export GZ_VERSION=harmonic
+          colcon build --packages-up-to ardupilot_ros ardupilot_gz_bringup --cmake-args -DBUILD_TESTING=ON
+      - name: Test with colcon
+        shell: 'bash'
+        run: |
+          source install/setup.bash
+          colcon test --packages-select ardupilot_ros --event-handlers=console_cohesion+
+      - name: Report colcon test results
+        run: |
+          colcon test-result --all --verbose