diff --git a/.github/workflows/build_and_test.yml b/.github/workflows/build_and_test.yml
new file mode 100644
index 00000000..8c99a95e
--- /dev/null
+++ b/.github/workflows/build_and_test.yml
@@ -0,0 +1,21 @@
+name: CI
+
+on: [push]
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Install Java
+      run: |
+        sudo apt update -qq
+        sudo apt install -y default-jdk
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@0.0.25
+      with:
+        required-ros-distributions: foxy
+    - uses: ros-tooling/action-ros-ci@0.0.17
+      with:
+        package-name: rosidl_generator_java rcljava_common rcljava
+        source-ros-binary-installation: foxy
+        vcs-repo-file-url: file://${{ github.workspace }}/ros2_java_desktop.repos
diff --git a/ros2_java_desktop.repos b/ros2_java_desktop.repos
index 2fc3529d..3a79af5d 100644
--- a/ros2_java_desktop.repos
+++ b/ros2_java_desktop.repos
@@ -1,28 +1,28 @@
 repositories:
   ament/ament_java:
     type: git
-    url: https://github.com/ros2-java/ament_java.git
-    version: master
+    url: https://github.com/jacobperron/ament_java.git
+    version: dsv_file_templates
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces
-    version: dashing
+    version: master
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces.git
-    version: dashing
+    version: master
   ros2/rosidl_defaults:
     type: git
     url: https://github.com/ros2/rosidl_defaults
-    version: dashing
+    version: master
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs
-    version: dashing
+    version: master
   ros2_java/ros2_java:
     type: git
-    url: https://github.com/ros2-java/ros2_java.git
-    version: dashing
+    url: https://github.com/osrf/ros2_java.git
+    version: foxy-devel
   ros2_java/ros2_java_examples:
     type: git
     url: https://github.com/ros2-java/ros2_java_examples.git