diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 0665a20b..444457b4 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -41,3 +41,39 @@ jobs:
         . /opt/ros/galactic/local_setup.sh
         colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
         colcon test-result
+  build_testing:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:galactic-desktop
+    steps:
+    - uses: actions/checkout@v2
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gazebo_ros2_control /home/ros2_ws/src/
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -q -y --no-install-recommends \
+          dirmngr \
+          gnupg2 \
+          lsb-release \
+          python3-colcon-ros
+        cd /home/ros2_ws/src/
+        rosdep update
+        rosdep install --from-paths ./ -i -y --rosdistro galactic \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/galactic/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/galactic/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result
diff --git a/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp b/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
index 2b37198d..c3fa67f3 100644
--- a/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
+++ b/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
@@ -38,7 +38,7 @@ class GazeboSystem : public GazeboSystemInterface
 {
 public:
   // Documentation Inherited
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & system_info)
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & system_info)
   override;
 
   // Documentation Inherited
@@ -48,10 +48,10 @@ class GazeboSystem : public GazeboSystemInterface
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   // Documentation Inherited
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   // Documentation Inherited
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   // Documentation Inherited
   hardware_interface::return_type read() override;
diff --git a/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp b/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp
index 598f884c..eb40f3b6 100644
--- a/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp
+++ b/gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp
@@ -24,9 +24,7 @@
 #include "gazebo/physics/Model.hh"
 #include "gazebo/physics/physics.hh"
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
-#include "hardware_interface/types/hardware_interface_type_values.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 
@@ -60,7 +58,7 @@ class SafeEnum
 
 // SystemInterface provides API-level access to read and command joint properties.
 class GazeboSystemInterface
-  : public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+  : public hardware_interface::SystemInterface
 {
 public:
   /// \brief Initilize the system interface
diff --git a/gazebo_ros2_control/src/gazebo_system.cpp b/gazebo_ros2_control/src/gazebo_system.cpp
index da25fb0e..d148546d 100644
--- a/gazebo_ros2_control/src/gazebo_system.cpp
+++ b/gazebo_ros2_control/src/gazebo_system.cpp
@@ -22,6 +22,9 @@
 #include "gazebo/sensors/ImuSensor.hh"
 #include "gazebo/sensors/ForceTorqueSensor.hh"
 #include "gazebo/sensors/SensorManager.hh"
+
+#include "hardware_interface/types/hardware_interface_type_values.hpp"
+
 class gazebo_ros2_control::GazeboSystemPrivate
 {
 public:
@@ -346,13 +349,13 @@ void GazeboSystem::registerSensors(
   }
 }
 
-hardware_interface::return_type
-GazeboSystem::configure(const hardware_interface::HardwareInfo & actuator_info)
+CallbackReturn
+GazeboSystem::on_init(const hardware_interface::HardwareInfo & actuator_info)
 {
-  if (configure_default(actuator_info) != hardware_interface::return_type::OK) {
-    return hardware_interface::return_type::ERROR;
+  if (hardware_interface::SystemInterface::on_init(actuator_info) != CallbackReturn::SUCCESS) {
+    return CallbackReturn::ERROR;
   }
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface>
@@ -367,16 +370,14 @@ GazeboSystem::export_command_interfaces()
   return std::move(this->dataPtr->command_interfaces_);
 }
 
-hardware_interface::return_type GazeboSystem::start()
+CallbackReturn GazeboSystem::on_activate(const rclcpp_lifecycle::State & previous_state)
 {
-  status_ = hardware_interface::status::STARTED;
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type GazeboSystem::stop()
+CallbackReturn GazeboSystem::on_deactivate(const rclcpp_lifecycle::State & previous_state)
 {
-  status_ = hardware_interface::status::STOPPED;
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 hardware_interface::return_type GazeboSystem::read()