diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
new file mode 100644
index 0000000..5b8b3db
--- /dev/null
+++ b/.github/workflows/format.yaml
@@ -0,0 +1,31 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: actions/setup-python@v2
+      - name: Install clang-format-10
+        run: sudo apt-get install clang-format-10
+      - name: Install catkin-lint
+        run: |
+          lsb_release -sc
+          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+          sudo apt-get -q update
+          sudo apt-get -q install python3-rosdep
+          sudo rosdep init
+          rosdep update
+          sudo apt-get -q install catkin-lint
+          export ROS_DISTRO=noetic
+      - uses: pre-commit/action@v2.0.0
diff --git a/.github/workflows/industrial_ci_action.yaml b/.github/workflows/industrial_ci_action.yaml
new file mode 100644
index 0000000..851ff9e
--- /dev/null
+++ b/.github/workflows/industrial_ci_action.yaml
@@ -0,0 +1,68 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: BuildAndTest
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: noetic
+            ROS_REPO: main
+            CLANG_TIDY: true
+          - ROS_DISTRO: noetic
+            ROS_REPO: testing
+    env:
+      TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV && '-ccov' || '' }}"
+      CLANG_TIDY: true
+      CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}"
+
+    name: "${{ matrix.env.ROS_DISTRO }} + ${{ matrix.env.ROS_REPO }}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        if: ${{ ! matrix.env.CCOV }}
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}-
+      - name: industrial_ci
+        uses: 'tylerjw/industrial_ci@clang-tidy-modified-filter'
+        env: ${{ matrix.env }}
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: ${{ always() && ! matrix.env.CCOV }}
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..53e8565
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,56 @@
+# To use:
+#
+#     pre-commit run -a
+#
+# Or:
+#
+#     pre-commit install  # (runs every time you commit in git)
+#
+# To update this file:
+#
+#     pre-commit autoupdate
+#
+# See https://github.com/pre-commit/pre-commit
+
+repos:
+  # Standard hooks
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v3.4.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-json
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-toml
+      - id: check-xml
+      - id: check-yaml
+      - id: debug-statements
+      - id: destroyed-symlinks
+      - id: detect-private-key
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: pretty-format-json
+      - id: trailing-whitespace
+
+  - repo: https://github.com/psf/black
+    rev: 20.8b1
+    hooks:
+      - id: black
+
+  - repo: local
+    hooks:
+      - id: clang-format
+        name: clang-format
+        description: Format files with ClangFormat.
+        entry: clang-format-10
+        language: system
+        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
+        args: ['-fallback-style=none', '-i']
+      - id: catkin_lint
+        name: catkin_lint
+        description: Check package.xml and cmake files
+        entry: catkin_lint .
+        language: system
+        always_run: true
+        pass_filenames: false
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index a84c12e..0000000
--- a/.travis.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-# This config file for Travis CI utilizes https://github.com/ros-planning/moveit_ci package.
-sudo: required
-dist: xenial  # distro used by Travis, moveit_ci uses the docker image's distro
-services:
-  - docker
-language: cpp
-compiler: gcc
-cache: ccache
-
-env:
-  global:
-    - ROS_DISTRO=noetic
-    - ROS_REPO=ros-testing
-    - CXXFLAGS="-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
-    - WARNINGS_OK=false
-  matrix:
-    - TEST="clang-format catkin_lint"
-    - TEST=clang-tidy-fix
-    - DOCKER_IMAGE=moveit/moveit:master-source ROS_REPO=
-
-before_script:
-  - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
-
-script:
-  - .moveit_ci/travis.sh
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b0544b..3c742f5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -54,6 +54,8 @@ add_library(${PROJECT_NAME}
   src/imarker_robot_state.cpp
   src/imarker_end_effector.cpp
 )
+target_compile_options(${PROJECT_NAME} PRIVATE
+  -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 add_dependencies(${PROJECT_NAME} graph_msgs_generate_messages_cpp)
 target_link_libraries(${PROJECT_NAME}
@@ -62,6 +64,8 @@ target_link_libraries(${PROJECT_NAME}
 
 # Demo executable
 add_executable(${PROJECT_NAME}_demo src/${PROJECT_NAME}_demo.cpp)
+target_compile_options(${PROJECT_NAME}_demo PRIVATE
+  -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
 target_link_libraries(${PROJECT_NAME}_demo
   ${catkin_LIBRARIES} ${PROJECT_NAME}
 )
diff --git a/README.md b/README.md
index 01ef55a..0f50a5d 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ This open source project was developed at [PickNik Robotics](https://picknik.ai/
 
 ## Status:
 
-* [![Build Status](https://travis-ci.org/ros-planning/moveit_visual_tools.svg)](https://travis-ci.org/ros-planning/moveit_visual_tools) Travis CI
+* [![Format](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/format.yaml?branch=master) [![BuildAndTest](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/industrial_ci_action.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_visual_tools/actions/workflows/industrial_ci_action.yaml?branch=master) GitHub Actions
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary)](http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__moveit_visual_tools__ubuntu_xenial_amd64__binary/) ROS Buildfarm - AMD64 Xenial Debian Build - Ubuntu 16.04 LTS
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Kdev__moveit_visual_tools__ubuntu_xenial_amd64)](http://build.ros.org/view/Kdev/job/Kdev__moveit_visual_tools__ubuntu_xenial_amd64/) ROS Buildfarm - AMD64 Xenial Devel Build - Ubuntu 16.04 LTS
 * [![Build Status](http://build.ros.org/buildStatus/icon?job=Msrc_uB__moveit_visual_tools__ubuntu_bionic__source)](http://build.ros.org/job/Msrc_uB__moveit_visual_tools__ubuntu_bionic__source/) ROS Buildfarm - AMD64 Bionic Source Build - Ubuntu 18.04 LTS
diff --git a/launch/debug_settings.gdb b/launch/debug_settings.gdb
index 0a0cf47..33e6c29 100644
--- a/launch/debug_settings.gdb
+++ b/launch/debug_settings.gdb
@@ -1,2 +1,2 @@
 set breakpoint pending on
-break planning_scene.cpp:1600
\ No newline at end of file
+break planning_scene.cpp:1600
diff --git a/mainpage.dox b/mainpage.dox
index 871ce86..92d276c 100644
--- a/mainpage.dox
+++ b/mainpage.dox
@@ -11,4 +11,4 @@
 \section Action Server for Generating Grasps
 - \link moveit_simple_grasps::GraspGeneratorServer \endlink
 
-*/
\ No newline at end of file
+*/