diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index e1872ed7b..c8116b2e8 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -116,7 +116,7 @@ jobs:
 
   ubuntu:
     runs-on: ubuntu-latest
-
+    env : ENV DEBIAN_FRONTEND=noninteractive
     strategy:
       fail-fast: false
       matrix:
@@ -190,3 +190,45 @@ jobs:
           source ~/ws_depend/devel_isolated/setup.bash
           catkin_make_isolated ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
         shell: bash
+
+  # ROS-O setup https://github.com/v4hn/ros-o-builder/blob/jammy-one/README.md#install-instructions
+  ros-o:
+    runs-on: ubuntu-latest
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - DISTRO: ubuntu:22.04
+
+    container: ${{ matrix.DISTRO }}
+
+    steps:
+      - name: Chcekout Source
+        uses: actions/checkout@v3.0.2
+
+      - name: Setup ROS-O deb repository
+        run: |
+          set -x
+          apt update && apt install -qq -y ca-certificates
+          echo "deb [trusted=yes] https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/ ./" | tee /etc/apt/sources.list.d/v4hn_ros-o-builder-jammy-one.list
+          apt update
+          apt install -qq -y python3-rosdep2
+          echo "yaml https://raw.githubusercontent.com/v4hn/ros-o-builder/jammy-one/repository/local.yaml debian" | tee /etc/ros/rosdep/sources.list.d/1-v4hn_ros-o-builder-jammy-one.list
+          rosdep update
+
+      - name: Setup Workspace
+        run: |
+          set -x
+          # setup workspace
+          mkdir -p ~/ws/src
+          cd ~/ws/src
+          ln -sf $GITHUB_WORKSPACE .
+          rosdep install -qq -r -y --from-path . --ignore-src || echo "OK"
+
+      - name: Compile Packages
+        run: |
+          set -x
+          cd ~/ws/
+          catkin_make_isolated ${{ matrix.CATKIN_OPTIONS }} --cmake-args -DCATKIN_ENABLE_TESTING=OFF -DCMAKE_VERBOSE_MAKEFILE:BOOL=ON ${{ matrix.CMAKE_OPTIONS }}
+        shell: bash