diff --git a/.github/workflows/build-foxy.yml b/.github/workflows/build-foxy.yml
new file mode 100644
index 00000000..d502a18f
--- /dev/null
+++ b/.github/workflows/build-foxy.yml
@@ -0,0 +1,55 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build foxy
+on:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
+          - {ROS_DISTRO: foxy, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build-galactic.yml b/.github/workflows/build-galactic.yml
new file mode 100644
index 00000000..4c010cf6
--- /dev/null
+++ b/.github/workflows/build-galactic.yml
@@ -0,0 +1,55 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build galactic
+on:
+  pull_request:
+  push:
+    branches:
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: galactic, ROS_REPO: main}
+          - {ROS_DISTRO: galactic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
new file mode 100644
index 00000000..ad1625c4
--- /dev/null
+++ b/.github/workflows/build-rolling.yml
@@ -0,0 +1,56 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build rolling
+on:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+      - galactic-devel
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+jobs:
+  binary:
+    name: binary build
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        env:
+          - {ROS_DISTRO: rolling, ROS_REPO: main}
+          - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    steps:
+      - uses: actions/checkout@v1
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{matrix.env}}
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/format.yml b/.github/workflows/format.yml
new file mode 100644
index 00000000..227889a9
--- /dev/null
+++ b/.github/workflows/format.yml
@@ -0,0 +1,25 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - foxy-devel
+      - galactic-devel
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10 cppcheck
+    - uses: pre-commit/action@v2.0.3
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/prerelease.yaml b/.github/workflows/prerelease.yaml
new file mode 100644
index 00000000..8b860855
--- /dev/null
+++ b/.github/workflows/prerelease.yaml
@@ -0,0 +1,26 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+on:
+  workflow_dispatch:
+
+jobs:
+  default:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [foxy, galactic, rolling]
+
+    env:
+      ROS_DISTRO: ${{ matrix.distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+
+    name: "${{ matrix.distro }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/ros-lint.yml b/.github/workflows/ros-lint.yml
new file mode 100644
index 00000000..7d6cc876
--- /dev/null
+++ b/.github/workflows/ros-lint.yml
@@ -0,0 +1,21 @@
+name: ROS2 Lint
+on:
+  pull_request:
+
+jobs:
+  ament_lint:
+    name: ament_${{ matrix.linter }}
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+          linter: [copyright, lint_cmake]
+    steps:
+    - uses: actions/checkout@v1
+    - uses: ros-tooling/setup-ros@v0.2
+    - uses: ros-tooling/action-ros-lint@v0.1
+      with:
+        distribution: rolling
+        linter: ${{ matrix.linter }}
+        package-name:
+          control_msgs
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index ed08df3c..00000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-image: docker:git
-services:
-  - docker:dind
-variables:
-  ENV_IMAGE: osrf/ros2:bouncy-ros-base
-  BUILD_IMAGE: $CI_REGISTRY_IMAGE:$CI_COMMIT_REF_SLUG
-stages:
-  - build
-
-build:
-  stage: build
-  before_script:
-    - docker login -u gitlab-ci-token -p $CI_JOB_TOKEN $CI_REGISTRY
-  script:
-    - docker run --name build-container -dit $ENV_IMAGE /bin/bash
-    - docker exec build-container /bin/bash -c 'mkdir -p /ros2_ws/src'
-    - docker exec build-container /bin/bash -c 'apt update && apt install -y python3-colcon-common-extensions python-rosdep && rosdep init && rosdep update'
-    - docker cp $CI_PROJECT_DIR build-container:/ros2_ws/src/
-    - docker exec -w /ros2_ws build-container /bin/bash -c 'source /opt/ros/bouncy/setup.bash && rosdep install --from-paths src --ignore-src --rosdistro bouncy -r -y'
-    - docker exec -w /ros2_ws build-container /bin/bash -c 'source /opt/ros/bouncy/setup.bash && colcon build --symlink-install'
-    - docker commit build-container $BUILD_IMAGE
-    - docker push $BUILD_IMAGE
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 00000000..d0a2af89
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,144 @@
+
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-ast
+      - id: check-case-conflict
+      - id: check-docstring-first
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+      - id: fix-byte-order-marker
+
+  # Python hooks
+  - repo: https://github.com/asottile/pyupgrade
+    rev: v2.12.0
+    hooks:
+    -   id: pyupgrade
+        args: [--py36-plus]
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
+  # PEP 257
+  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
+    rev: v0.3.3
+    hooks:
+    - id: pep257
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+
+  - repo: https://github.com/pycqa/flake8
+    rev: 3.9.0
+    hooks:
+    - id: flake8
+      args: ["--ignore=E501"]
+
+  # CPP hooks
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+  # The same options as in ament_cppcheck are used, but its not working...
+  #- repo: https://github.com/pocc/pre-commit-hooks
+    #rev: v1.1.1
+    #hooks:
+      #- id: cppcheck
+        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
+
+  - repo: local
+    hooks:
+      - id: ament_cppcheck
+        name: ament_cppcheck
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cppcheck
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+
+  # Maybe use https://github.com/cpplint/cpplint instead
+  - repo: local
+    hooks:
+      - id: ament_cpplint
+        name: ament_cpplint
+        description: Static code analysis of C/C++ files.
+        stages: [commit]
+        entry: ament_cpplint
+        language: system
+        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+        args: ["--linelength=100", "--filter=-whitespace/newline"]
+
+  # Cmake hooks
+  - repo: local
+    hooks:
+      - id: ament_lint_cmake
+        name: ament_lint_cmake
+        description: Check format of CMakeLists.txt files.
+        stages: [commit]
+        entry: ament_lint_cmake
+        language: system
+        files: CMakeLists\.txt$
+
+  # Copyright
+  - repo: local
+    hooks:
+      - id: ament_copyright
+        name: ament_copyright
+        description: Check if copyright notice is available in all files.
+        stages: [commit]
+        entry: ament_copyright
+        language: system
+
+  # Docs - RestructuredText hooks
+  - repo: https://github.com/PyCQA/doc8
+    rev: 0.9.0a1
+    hooks:
+      - id: doc8
+        args: ['--max-line-length=100', '--ignore=D001']
+        exclude: CHANGELOG\.rst$
+
+  - repo: https://github.com/pre-commit/pygrep-hooks
+    rev: v1.8.0
+    hooks:
+      - id: rst-backticks
+        exclude: CHANGELOG\.rst$
+      - id: rst-directive-colons
+      - id: rst-inline-touching-normal
+
+  # Spellcheck in comments and docs
+  # skipping of *.svg files is not working...
+  - repo: https://github.com/codespell-project/codespell
+    rev: v2.0.0
+    hooks:
+      - id: codespell
+        args: ['--write-changes']
+        exclude: \.(svg|pyc)$
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index d27d41e9..00000000
--- a/.travis.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-language: generic
-services:
-  - docker
-
-env:
-  matrix:
-    - ROS_DISTRO="foxy" ROS_REPO=testing
-    - ROS_DISTRO="foxy" ROS_REPO=main
-
-install:
-  -  git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
-script:
-  - .industrial_ci/travis.sh
diff --git a/README.md b/README.md
index 7a4b324e..a215bd82 100644
--- a/README.md
+++ b/README.md
@@ -3,8 +3,31 @@ control_msgs
 
 See [control_msgs documentation](http://wiki.ros.org/control_msgs) on ros.org
 
+
 ### Build Status
 
 Kinetic | Melodic | Crystal | Dashing | Eloquent | Foxy
  ------ | ------ | ------ | ------ | ------ | ------
-[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)  
+[![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=kinetic-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://travis-ci.org/ros-controls/control_msgs.png?branch=crystal-devel)](https://travis-ci.org/ros-controls/control_msgs) | [![Build Status](https://api.travis-ci.org/ros-controls/control_msgs.png?branch=foxy-devel)](https://travis-ci.org/ros-controls/control_msgs)
+
+
+## Code Formatting
+
+This repository uses `pre-commit` tool for code formatting.
+The tool checks formatting each time you commit to a repository.
+To install it locally use:
+  ```
+  pip3 install pre-commit  # (prepend `sudo` if you want to install it system wide)
+  ```
+
+To run it initially over the whole repo you can use:
+  ```
+  pre-commit run -a
+  ```
+
+If you get error that something is missing on your computer, do the following for:
+
+  - `clang-format-10`
+     ```
+     sudo apt install clang-format-10
+     ```
diff --git a/control_msgs/msg/JointTolerance.msg b/control_msgs/msg/JointTolerance.msg
index cd99abe6..43767db5 100644
--- a/control_msgs/msg/JointTolerance.msg
+++ b/control_msgs/msg/JointTolerance.msg
@@ -3,7 +3,7 @@
 # of trajectory control, when the actual position varies beyond
 # (desired position + position tolerance), the trajectory goal may
 # abort.
-# 
+#
 # There are two special values for tolerances:
 #  * 0 - The tolerance is unspecified and will remain at whatever the default is
 #  * -1 - The tolerance is "erased".  If there was a default, the joint will be
diff --git a/control_msgs/srv/QueryCalibrationState.srv b/control_msgs/srv/QueryCalibrationState.srv
index 47dcaa9e..8222ec25 100644
--- a/control_msgs/srv/QueryCalibrationState.srv
+++ b/control_msgs/srv/QueryCalibrationState.srv
@@ -1,2 +1,2 @@
 ---
-bool is_calibrated
\ No newline at end of file
+bool is_calibrated