diff --git a/.github/workflows/build-and-test.sh b/.github/workflows/build-and-test.sh
new file mode 100755
index 0000000..3819462
--- /dev/null
+++ b/.github/workflows/build-and-test.sh
@@ -0,0 +1,37 @@
+#!/bin/bash
+set -ev
+
+# Configuration.
+export COLCON_WS=~/ws
+export COLCON_WS_SRC=${COLCON_WS}/src
+export DEBIAN_FRONTEND=noninteractive
+export ROS_PYTHON_VERSION=3
+
+apt update -qq
+apt install -qq -y lsb-release wget curl build-essential
+
+# Dependencies.
+echo "deb http://packages.ros.org/ros2-testing/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+apt-get update -qq
+apt-get install -y python3-colcon-common-extensions \
+                   python3-rosdep python3-vcstool python3-vcstools
+
+rosdep init
+rosdep update
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+
+# Build.
+source /opt/ros/$ROS_DISTRO/setup.bash
+mkdir -p $COLCON_WS_SRC
+cp -r $GITHUB_WORKSPACE $COLCON_WS_SRC
+cd $COLCON_WS
+echo $1
+wget $1
+vcs import src < point_cloud_transport.repos
+rosdep install --from-paths ./ -i -y -r --rosdistro $ROS_DISTRO $ROSDEP_ARGS
+colcon build --event-handlers console_direct+
+
+# Tests.
+colcon test --event-handlers console_direct+
+colcon test-result
diff --git a/.github/workflows/ros2-ci.yml b/.github/workflows/ros2-ci.yml
new file mode 100644
index 0000000..3c3a880
--- /dev/null
+++ b/.github/workflows/ros2-ci.yml
@@ -0,0 +1,24 @@
+name: ROS2 CI
+
+on: [push, pull_request]
+
+jobs:
+  point_cloud_transport_ci:
+    name: point_cloud_transport CI
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - docker-image: "ubuntu:22.04"
+            ros-distro: "rolling"
+    container:
+      image: ${{ matrix.docker-image }}
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Build and Test
+        run: .github/workflows/build-and-test.sh https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/point_cloud_transport.repos
+        env:
+          DOCKER_IMAGE: ${{ matrix.docker-image }}
+          ROS_DISTRO: ${{ matrix.ros-distro }}
diff --git a/draco_point_cloud_transport/include/draco_point_cloud_transport/draco_publisher.hpp b/draco_point_cloud_transport/include/draco_point_cloud_transport/draco_publisher.hpp
index 77316e0..6106b3f 100644
--- a/draco_point_cloud_transport/include/draco_point_cloud_transport/draco_publisher.hpp
+++ b/draco_point_cloud_transport/include/draco_point_cloud_transport/draco_publisher.hpp
@@ -74,7 +74,7 @@ class DracoPublisher
 
   class DracoPublisherConfig
   {
-  public:
+public:
     int encode_speed = 7;
     int decode_speed = 7;
     int encode_method = 0;
diff --git a/draco_point_cloud_transport/package.xml b/draco_point_cloud_transport/package.xml
index ec51583..ec20ff3 100644
--- a/draco_point_cloud_transport/package.xml
+++ b/draco_point_cloud_transport/package.xml
@@ -18,7 +18,7 @@
   <build_depend>draco</build_depend>
   <build_depend>pluginlib</build_depend>
 
-  <exec_depend>draco</exec_depend>
+  <exec_depend>libdraco-dev</exec_depend>
   <exec_depend>pluginlib</exec_depend>
 
   <depend>point_cloud_interfaces</depend>
diff --git a/draco_point_cloud_transport/src/draco_publisher.cpp b/draco_point_cloud_transport/src/draco_publisher.cpp
index 9c9c58c..e8af17f 100644
--- a/draco_point_cloud_transport/src/draco_publisher.cpp
+++ b/draco_point_cloud_transport/src/draco_publisher.cpp
@@ -85,7 +85,8 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__from_value(0)
       .set__to_value(10)
       .set__step(1)});
-  declareParam<int>(encode_speed_paramDescriptor.name, config_.encode_speed,
+  declareParam<int>(
+    encode_speed_paramDescriptor.name, config_.encode_speed,
     encode_speed_paramDescriptor);
 
   rcl_interfaces::msg::ParameterDescriptor decode_speed_paramDescriptor;
@@ -98,7 +99,8 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__from_value(0)
       .set__to_value(10)
       .set__step(1)});
-  declareParam<int>(decode_speed_paramDescriptor.name, config_.decode_speed,
+  declareParam<int>(
+    decode_speed_paramDescriptor.name, config_.decode_speed,
     decode_speed_paramDescriptor);
 
   rcl_interfaces::msg::ParameterDescriptor encode_method_paramDescriptor;
@@ -111,7 +113,8 @@ void DracoPublisher::declareParameters(const std::string & base_topic)
       .set__from_value(0)
       .set__to_value(2)
       .set__step(1)});
-  declareParam<int>(encode_method_paramDescriptor.name, config_.encode_method,
+  declareParam<int>(
+    encode_method_paramDescriptor.name, config_.encode_method,
     encode_method_paramDescriptor);
 
   rcl_interfaces::msg::ParameterDescriptor deduplicate_paramDescriptor;
diff --git a/point_cloud_transport.repos b/point_cloud_transport.repos
new file mode 100644
index 0000000..e79282d
--- /dev/null
+++ b/point_cloud_transport.repos
@@ -0,0 +1,5 @@
+repositories:
+  point_cloud_transport:
+    type: git
+    url: https://github.com/john-maidbot/point_cloud_transport
+    version: ros2