diff --git a/.github/actions/install-clang/action.yml b/.github/actions/install-clang/action.yml
index 7e79a80..d5f0233 100644
--- a/.github/actions/install-clang/action.yml
+++ b/.github/actions/install-clang/action.yml
@@ -1,4 +1,4 @@
-name: 'Install clang tools'
+name: 'Install iceoryx dependencies and clang-tidy'
 runs:
   using: "composite"
   steps:
diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml
index f70a059..66b7b11 100644
--- a/.github/workflows/build-test.yml
+++ b/.github/workflows/build-test.yml
@@ -1,4 +1,9 @@
 name: CI
+env:
+  WORKSPACE_DIR: ${{ github.workspace }}
+  CLANG_COMPILER: "--cmake-args -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++"
+  BUILD_ARGS: "--symlink-install --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"
+  TEST_ARGS: "--cmake-args -DBUILD_TESTING=ON"
 on:
   push:
     branches: [ main ]
@@ -60,3 +65,49 @@ jobs:
 #       run: |
 #         git fetch origin main
 #         ./scripts/check-clang-tidy.sh warning-as-error diff-to-main
+
+  colcon-build-test-clang:
+    needs: [preflight-check, static-code-analysis]
+    runs-on: ubuntu-latest
+    container:
+      image: ros:rolling
+    steps:
+    - name: Install ros build dependencies
+      run: |
+        apt-get update
+        apt-get install -y \
+          python3-colcon-common-extensions \
+          python3-colcon-mixin \
+          python3-vcstool \
+          python3-rosdep
+    - name: Install iceoryx dependencies
+      run: |
+        apt-get update
+        apt-get install -y \
+          libacl1-dev \
+          curl
+    - uses: dtolnay/rust-toolchain@stable
+    - name: Create workspace
+      run: |
+        mkdir -p $WORKSPACE_DIR/src/rmw_iceoryx2
+        mkdir -p $WORKSPACE_DIR/src/test_interface_files
+    - name: Checkout test_interface_files
+      uses: actions/checkout@v4
+      with:
+        repository: ros2/test_interface_files
+        path: src/test_interface_files
+        ref: rolling
+    - name: Checkout current ref
+      uses: actions/checkout@v4
+      with:
+        path: src/rmw_iceoryx2
+    - name: Import dependencies with VCS
+      run: |
+        cd $WORKSPACE_DIR
+        sed 's|git@github.com:|https://github.com/|g' src/rmw_iceoryx2/deps.repos > _deps.repos
+        vcs import src < _deps.repos
+    - name: Build with colcon
+      run: |
+        cd $WORKSPACE_DIR
+        . /opt/ros/rolling/setup.sh
+        colcon build $CLANG_COMPILER $BUILD_ARGS
diff --git a/rmw_iceoryx2.repos b/deps.repos
similarity index 75%
rename from rmw_iceoryx2.repos
rename to deps.repos
index d79e2d7..0aaf6c8 100644
--- a/rmw_iceoryx2.repos
+++ b/deps.repos
@@ -7,7 +7,3 @@ repositories:
     type: git
     url: git@github.com:eclipse-iceoryx/iceoryx2.git
     version: 54ebc96d03f4d7b14257413ccff6529cbb7288a3
-  rmw_iceoryx2:
-    type: git
-    url: git@github.com:ekxide/rmw_iceoryx2.git
-    version: v0.1.0
diff --git a/scripts/ci/check-clang-tidy.sh b/scripts/ci/check-clang-tidy.sh
new file mode 100644
index 0000000..72ba7e6
--- /dev/null
+++ b/scripts/ci/check-clang-tidy.sh
@@ -0,0 +1,8 @@
+# Copyright (c) 2024 by Ekxide IO GmbH All rights reserved.
+# 
+# This program and the accompanying materials are made available under the
+# terms of the Apache Software License 2.0 which is available at
+# https://www.apache.org/licenses/LICENSE-2.0, or the MIT license
+# which is available at https://opensource.org/licenses/MIT.
+# 
+# SPDX-License-Identifier: Apache-2.0 OR MIT