diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index afaea8f..e344725 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -31,6 +31,9 @@ RUN echo "source /opt/ros/humble/setup.sh" >> /root/.bashrc
 RUN . /opt/ros/humble/setup.sh && colcon build
 RUN echo "source /ros_deps/install/setup.sh" >> /root/.bashrc
 
+ENV CARGO_TERM_COLOR=always
+ENV RUSTFLAGS="-Dwarnings"
+
 RUN mkdir -p /workspace
 WORKDIR /workspace
 
@@ -39,3 +42,4 @@ COPY entrypoint.sh /
 RUN chmod +x /entrypoint.sh
 
 ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/bin/bash"]
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 531d797..087ac67 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -5,6 +5,8 @@
     "dockerfile": "Dockerfile"
   },
   "runArgs": ["-v", ".:/workspace"],
+  "overrideCommand": true,
+  "postStartCommand": ". /entrypoint.sh",
   "customizations": {
     "vscode": {
       "extensions": [
diff --git a/.devcontainer/entrypoint.sh b/.devcontainer/entrypoint.sh
index 4664f3f..09f362f 100644
--- a/.devcontainer/entrypoint.sh
+++ b/.devcontainer/entrypoint.sh
@@ -1,6 +1,9 @@
 #!/bin/bash
 
 # Build the package mounted in the container
+echo "Building workspace with colcon"
 . /opt/ros/humble/setup.sh && . /ros_deps/install/setup.sh && colcon build
 echo "source /workspace/install/setup.sh" >> /root/.bashrc
-/bin/bash
\ No newline at end of file
+
+# Run the CMD (either the default from the Dockerfile or the one provided as docker run argument)
+exec "$@"
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..ee124cc
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,19 @@
+name: CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build_dev_container:
+    uses: ./.github/workflows/ci_build_dev_container.yml
+  build:
+    needs: build_dev_container
+    uses: ./.github/workflows/ci_build.yml
+  test:
+    needs: build_dev_container
+    uses: ./.github/workflows/ci_test.yml
+  lint:
+    needs: build_dev_container
+    uses: ./.github/workflows/ci_lint.yml
+
diff --git a/.github/workflows/ci_build.yml b/.github/workflows/ci_build.yml
new file mode 100644
index 0000000..243a450
--- /dev/null
+++ b/.github/workflows/ci_build.yml
@@ -0,0 +1,25 @@
+name: CI Build
+
+on:
+  workflow_call:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cargo build
+        uses: devcontainers/ci@v0.3
+        with:
+          imageName: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          runCmd: cargo build --verbose
diff --git a/.github/workflows/ci_build_dev_container.yml b/.github/workflows/ci_build_dev_container.yml
new file mode 100644
index 0000000..000d063
--- /dev/null
+++ b/.github/workflows/ci_build_dev_container.yml
@@ -0,0 +1,25 @@
+name: CI build dev container
+
+on:
+  workflow_call:
+
+jobs:
+  build_dev_container:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Pre-build dev container image
+        uses: devcontainers/ci@v0.3
+        with:
+          imageName: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          cacheFrom: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          push: always
diff --git a/.github/workflows/ci_lint.yml b/.github/workflows/ci_lint.yml
new file mode 100644
index 0000000..994cc26
--- /dev/null
+++ b/.github/workflows/ci_lint.yml
@@ -0,0 +1,25 @@
+name: CI Lint
+
+on:
+  workflow_call:
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cargo Clippy
+        uses: devcontainers/ci@v0.3
+        with:
+          imageName: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          runCmd: cargo clippy --all-targets --all-features
diff --git a/.github/workflows/ci_test.yml b/.github/workflows/ci_test.yml
new file mode 100644
index 0000000..16debd0
--- /dev/null
+++ b/.github/workflows/ci_test.yml
@@ -0,0 +1,25 @@
+name: CI Test
+
+on:
+  workflow_call:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Cargo test
+        uses: devcontainers/ci@v0.3
+        with:
+          imageName: ghcr.io/vorausrobotik/voraus-ros-bridge-dev
+          runCmd: cargo test --verbose
diff --git a/README.md b/README.md
index e6be6d7..1618cc9 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,5 @@
+[![CI](https://github.com/vorausrobotik/voraus-ros-bridge/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/vorausrobotik/voraus-ros-bridge/actions/workflows/ci.yml)
+
 # voraus-ros-bridge
 
 Enables `voraus.core` integration within the ROS framework.