diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 000000000..2492eccce
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,62 @@
+name: CI
+
+on: [push, pull_request]
+
+jobs:
+  industrial_ci:
+    name: ${{ matrix.env.CI_NAME }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        env:
+          - {CI_NAME: Bionic-Build,
+              OS_NAME: ubuntu,
+              OS_CODE_NAME: bionic,
+              ROS_DISTRO: melodic,
+              ROS_REPO: main,
+              UPSTREAM_WORKSPACE: "github:swri-robotics/descartes_light#master github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master",
+              TARGET_WORKSPACE: ". github:ros-industrial-consortium/tesseract#master",
+              ROSDEP_SKIP_KEYS: "bullet3 fcl",
+              DOCKER_IMAGE: "lharmstrong/tesseract:melodic",
+              PARALLEL_TESTS: false,
+              CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Bionic-Build/.ccache",
+              UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
+              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+          - {CI_NAME: Focal-Build,
+              OS_NAME: ubuntu,
+              OS_CODE_NAME: focal,
+              ROS_DISTRO: noetic,
+              ROS_REPO: main,
+              UPSTREAM_WORKSPACE: "github:swri-robotics/descartes_light#master github:Jmeyer1292/opw_kinematics#master github:ethz-adrl/ifopt#master",
+              TARGET_WORKSPACE: ". github:ros-industrial-consortium/tesseract#master",
+              ROSDEP_SKIP_KEYS: "bullet3 descartes_opw descartes_samplers descartes_light opw_kinematics fcl ifopt",
+              DOCKER_IMAGE: "lharmstrong/tesseract:noetic",
+              PARALLEL_TESTS: false,
+              CCACHE_DIR: "/home/runner/work/trajopt_ros/trajopt_ros/Focal-Build/.ccache",
+              UPSTREAM_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Release",
+              TARGET_CMAKE_ARGS: "-DCMAKE_BUILD_TYPE=Debug"}
+    steps:
+      - uses: actions/checkout@v1
+      - name: Free Disk Space
+        run: |
+          sudo swapoff -a
+          sudo rm -f /swapfile
+          sudo apt clean
+          docker rmi $(docker image ls -aq)
+          df -h
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+      - name: ccache cache files
+        uses: actions/cache@v1.1.0
+        with:
+          path: ${{ matrix.env.CI_NAME }}/.ccache
+          key: ${{ matrix.env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ matrix.env.CI_NAME }}-ccache-
+      - uses: "ros-industrial/industrial_ci@master"
+        env: ${{matrix.env}}