diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
index 93802fdb..fe15a75c 100644
--- a/.github/workflows/build_and_test.yml
+++ b/.github/workflows/build_and_test.yml
@@ -2,12 +2,14 @@ name: build-and-test
 
 on:
   push:
-    branches: [master]
+    branches: [master, devel/humble, devel/humble_pranav]
   pull_request:
-    branches: [master]
+    branches: [master, devel/humble]
 
 jobs:
-  build:
+
+  ros1-build:
+    if: github.ref == 'refs/heads/master'
     strategy:
       matrix:
         ros_distro: [melodic, noetic]
@@ -40,3 +42,31 @@ jobs:
           catkin build -j4 --no-status -DCMAKE_BUILD_TYPE=Release
           . ${RUNNER_WORKSPACE}/catkin_ws/devel/setup.sh
           catkin test
+
+  ros2-build:
+    if: github.ref == 'refs/heads/devel/humble_pranav'
+    strategy:
+      matrix:
+        ros_distro: [humble]
+
+    runs-on: ubuntu-latest
+    container: osrf/ros:${{ matrix.ros_distro }}-desktop
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -qy python3-colcon-common-extensions
+          rosdep update
+          rosdep install --from-paths . --ignore-src -y -r --rosdistro ${{ matrix.ros_distro }}
+
+      - name: Build workspace and run tests
+        run: |
+          . /opt/ros/${{ matrix.ros_distro }}/setup.sh
+          mkdir -p ${RUNNER_WORKSPACE}/colcon_ws/src
+          cd ${RUNNER_WORKSPACE}/colcon_ws/src
+          ln -s ${GITHUB_WORKSPACE}
+          colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+          . ${RUNNER_WORKSPACE}/colcon_ws/install/setup.sh
+          colcon test