diff --git a/.codecov.yml b/.codecov.yml
new file mode 100644
index 00000000..2dcdcb86
--- /dev/null
+++ b/.codecov.yml
@@ -0,0 +1,2 @@
+fixes:
+  - "ros_ws/src/sros2/::"
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 00000000..4b0d2355
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,61 @@
+name: SROS2 CI
+on:
+  pull_request:
+  push:
+  schedule:
+    # Run daily
+    - cron:  '0 20 * * *'
+
+jobs:
+  test_latest:
+    runs-on: ubuntu-latest
+    container: osrf/ros2:devel
+    steps:
+    - run: |
+        apt-get -qq update
+        apt-get -qq upgrade -y
+        apt-get -qq install -y curl libasio-dev libtinyxml2-dev
+    # TODO(mikaelarguedas) switch back to ros-tooling/action-ros-ci once
+    # https://github.com/ros-tooling/action-ros-ci/pull/109 is released
+    - uses: mikaelarguedas/action-ros-ci@sros2-version
+      with:
+        package-name: |
+          sros2
+          sros2_cmake
+        # skipping end-to-end tests for now https://github.com/eProsima/Fast-RTPS/issues/1087
+        #  test_security
+        # extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
+    - name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v1.0.6
+      if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/master')
+      with:
+        file: ros_ws/build/sros2/coverage.xml
+        flags: unittests
+        name: sros2-coverage
+        fail_ci_if_error: true
+        yml: .codecov.yml
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      if: failure()
+      with:
+        name: colcon-logs
+        path: ros_ws/log
+  test_nightly:
+    runs-on: ubuntu-latest
+    container: osrf/ros2:nightly
+    steps:
+    - uses: actions/checkout@v1
+    - run: |
+        apt-get -qq update
+        apt-get -qq upgrade -y
+        rosdep update
+        rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+    - run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build
+    - run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon test --executor sequential --event-handlers console_direct+
+    - run: colcon test-result
+    - name: Upload Logs
+      uses: actions/upload-artifact@v1
+      if: failure()
+      with:
+        name: colcon-logs
+        path: ros_ws/log
diff --git a/README.md b/README.md
index 97b99dcf..0853a646 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,8 @@
 # Context
 
+![SROS2 CI](https://github.com/ros2/sros2/workflows/SROS2%20CI/badge.svg)
+[![codecov](https://codecov.io/gh/ros2/sros2/branch/master/graph/badge.svg)](https://codecov.io/gh/ros2/sros2)
+
 This package provides the tools and instructions to use ROS2 on top of DDS-Security.
 The security feature is tested across platforms (Linux, macOS, and Windows) as well as across different languages (C++ and Python).
 
diff --git a/sros2/.coveragerc b/sros2/.coveragerc
new file mode 100644
index 00000000..c07be3ca
--- /dev/null
+++ b/sros2/.coveragerc
@@ -0,0 +1,4 @@
+[run]
+omit =
+    # omit test directory
+    test/*