diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
new file mode 100644
index 00000000..dc8a8243
--- /dev/null
+++ b/.github/workflows/macos.yml
@@ -0,0 +1,46 @@
+name: macOS CI
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  macos-build:
+    name: macOS Build Examples
+    runs-on: macos-latest
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Setup Rust cache
+        uses: Swatinem/rust-cache@v2
+
+      - name: Fetch dependencies and update submodules
+        run: |
+          cargo fetch
+          # Ensure git submodules in the cargo git checkouts are initialized
+          for dir in ~/.cargo/git/checkouts/roslibrust-*/*/; do
+            if [ -d "$dir" ]; then
+              echo "Updating submodules in $dir"
+              (cd "$dir" && git submodule update --init --recursive) || true
+            fi
+          done
+
+      - name: Debug - Check cargo git checkouts
+        run: |
+          echo "HOME: $HOME"
+          echo "CARGO_HOME: ${CARGO_HOME:-not set}"
+          echo "Checking for roslibrust checkouts:"
+          ls -la ~/.cargo/git/checkouts/ 2>/dev/null || echo "No checkouts directory"
+          find ~/.cargo/git/checkouts -name "roslibrust-*" -type d 2>/dev/null || echo "No roslibrust directories found"
+          echo "Checking for assets directory:"
+          find ~/.cargo/git/checkouts -name "assets" -type d 2>/dev/null || echo "No assets directories found"
+
+      - name: Build examples without ROS dependencies
+        run: cargo build --examples
diff --git a/ros-z-msgs/build.rs b/ros-z-msgs/build.rs
index 95761a66..f9fe405c 100644
--- a/ros-z-msgs/build.rs
+++ b/ros-z-msgs/build.rs
@@ -220,29 +220,33 @@ fn discover_bundled_packages(bundled_packages: &[&str]) -> Result<Vec<PathBuf>>
 fn find_roslibrust_assets() -> PathBuf {
     // Search in cargo's git checkout directory
     // The path will be something like: ~/.cargo/git/checkouts/roslibrust-{hash}/{commit}/assets
-    if let Ok(home) = env::var("CARGO_HOME").or_else(|_| env::var("HOME")) {
-        let cargo_git = PathBuf::from(home).join(".cargo/git/checkouts");
-
-        if let Ok(entries) = std::fs::read_dir(&cargo_git) {
-            for entry in entries.flatten() {
-                let path = entry.path();
-                if path.is_dir()
-                    && path
-                        .file_name()
-                        .and_then(|n| n.to_str())
-                        .is_some_and(|n| n.starts_with("roslibrust-"))
-                {
-                    // Look for the assets directory in any commit subdirectory
-                    if let Ok(commits) = std::fs::read_dir(&path) {
-                        for commit_entry in commits.flatten() {
-                            let assets_path = commit_entry.path().join("assets");
-                            if assets_path.exists() {
-                                println!(
-                                    "cargo:warning=Using roslibrust git assets at {}",
-                                    assets_path.display()
-                                );
-                                return assets_path;
-                            }
+    let cargo_git = if let Ok(cargo_home) = env::var("CARGO_HOME") {
+        PathBuf::from(cargo_home).join("git/checkouts")
+    } else if let Ok(home) = env::var("HOME") {
+        PathBuf::from(home).join(".cargo/git/checkouts")
+    } else {
+        panic!("Neither CARGO_HOME nor HOME environment variable is set");
+    };
+
+    if let Ok(entries) = std::fs::read_dir(&cargo_git) {
+        for entry in entries.flatten() {
+            let path = entry.path();
+            if path.is_dir()
+                && path
+                    .file_name()
+                    .and_then(|n| n.to_str())
+                    .is_some_and(|n| n.starts_with("roslibrust-"))
+            {
+                // Look for the assets directory in any commit subdirectory
+                if let Ok(commits) = std::fs::read_dir(&path) {
+                    for commit_entry in commits.flatten() {
+                        let assets_path = commit_entry.path().join("assets");
+                        if assets_path.exists() {
+                            println!(
+                                "cargo:warning=Using roslibrust git assets at {}",
+                                assets_path.display()
+                            );
+                            return assets_path;
                         }
                     }
                 }