diff --git a/.github/workflows/coverage-build.yml b/.github/workflows/coverage-build.yml
new file mode 100644
index 000000000..cf25b0fc0
--- /dev/null
+++ b/.github/workflows/coverage-build.yml
@@ -0,0 +1,53 @@
+name: Coverage Build
+on:
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:noble
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+      ros_version: 2
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+          use-ros2-testing: true
+      - uses: actions/checkout@v5
+      - uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          # build all packages listed in the meta package
+          package-name:
+            ur_calibration
+            ur_controllers
+            ur_robot_driver
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc", "coverage-pytest"]
+              },
+              "test": {
+                "mixin": ["coverage-pytest"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+          skip-tests: false
+      - uses: codecov/codecov-action@v5
+        with:
+          fail_ci_if_error: true
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          token: ${{ secrets.CODECOV_TOKEN }}
+      - uses: actions/upload-artifact@v5
+        with:
+          name: colcon-logs-${{ matrix.os }}
+          path: ros_ws/log