diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 1daf25c..e2a036e 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -1,4 +1,10 @@
-on: [push]
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
 
 name: cactus-rt
 
@@ -53,3 +59,13 @@ jobs:
 
       # - name: Run example
       #   run: docker/scripts/04-example.sh
+
+  build-and-test-ros:
+    runs-on: [self-hosted, noble, real-time]
+    env:
+      image_name: ${{ github.workflow }}-ci-${{ github.ref_name }}
+    steps:
+      - uses: actions/checkout@v3
+
+      - name: Test ROS in docker
+        run: scripts/test-ros-in-docker
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 5c313d3..7193ad8 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,4 +1,6 @@
-FROM ubuntu:noble
+ARG base_image=ubuntu:noble
+
+FROM ${base_image}
 
 RUN set -xe; \
     export DEBIAN_FRONTEND=noninteractive; \
diff --git a/docker/scripts/run-ros2.sh b/docker/scripts/run-ros2.sh
new file mode 100755
index 0000000..2d1f806
--- /dev/null
+++ b/docker/scripts/run-ros2.sh
@@ -0,0 +1,8 @@
+#!/bin/bash
+
+export WORKSPACE_DIR=/workspace
+
+set -xe
+
+cd $WORKSPACE_DIR
+colcon build --cmake-args "-DENABLE_CLANG_TIDY=ON"
diff --git a/scripts/test-ros-in-docker b/scripts/test-ros-in-docker
new file mode 100755
index 0000000..b7e32a6
--- /dev/null
+++ b/scripts/test-ros-in-docker
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+IMAGE_NAME=cactus-rt-ros2-test
+
+cd docker
+docker build --build-arg base_image=ros:jazzy-ros-base-noble . -t $IMAGE_NAME
+cd ..
+docker run --rm \
+  -v $(pwd):/workspace/src/cactus-rt \
+  $IMAGE_NAME \
+  -- \
+  "/workspace/src/cactus-rt/docker/scripts/run-ros2.sh"
diff --git a/src/cactus_rt/ros2/ros2_adapter.cc b/src/cactus_rt/ros2/ros2_adapter.cc
index a3bfcdf..bb3fdf6 100644
--- a/src/cactus_rt/ros2/ros2_adapter.cc
+++ b/src/cactus_rt/ros2/ros2_adapter.cc
@@ -16,7 +16,7 @@ void Ros2Adapter::TimerCallback() {
 }
 
 void Ros2Adapter::DrainQueues() {
-  std::scoped_lock lock(mut_);
+  const std::scoped_lock lock(mut_);
 
   for (const auto& publisher : publishers_) {
     // Hopefully the thread is not publishing so quickly that a single