diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..79fc83a
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..6117ddb
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,37 @@
+name: ROS Industrial CI
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  industrial-ci:
+    name: Run Industrial CI
+    runs-on: ubuntu-24.04-arm
+
+    strategy:
+      fail-fast: false
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Log into registry
+        uses: docker/login-action@v3.3.0
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Run ROS Industrial CI
+        uses: ros-industrial/industrial_ci@master
+        env:
+          BEFORE_INIT: 'sh .github/workflows/install_deps.sh'
+          DOCKER_IMAGE: dustynv/ros:humble-ros-base-l4t-r36.3.0
+          CXXFLAGS: >-
+            -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls
diff --git a/.github/workflows/install_deps.sh b/.github/workflows/install_deps.sh
new file mode 100644
index 0000000..b47b371
--- /dev/null
+++ b/.github/workflows/install_deps.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/sh
+
+apt-key adv --fetch-key https://repo.download.nvidia.com/jetson/jetson-ota-public.asc
+echo "deb https://repo.download.nvidia.com/jetson/common r36.3 main" > /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+echo "deb https://repo.download.nvidia.com/jetson/t234 r36.3 main" >> /etc/apt/sources.list.d/nvidia-l4t-apt-source.list
+
+
+apt-get update
+apt-get install -y \
+    libegl-dev \
+    libegl1 \
+    nvidia-l4t-jetson-multimedia-api
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
new file mode 100644
index 0000000..8fcc677
--- /dev/null
+++ b/.github/workflows/pre-commit.yaml
@@ -0,0 +1,34 @@
+name: Check pre-commit
+
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+  workflow_dispatch:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install clang-format-14
+        run: sudo apt-get install clang-format-14 cppcheck
+
+      - name: Run pre-commit
+        uses: pre-commit/action@v3.0.1
+        id: precommit
+
+      - name: Upload pre-commit changes
+        if: failure() && steps.precommit.outcome == 'failure'
+        uses: rhaschke/upload-git-patch-action@main
+        with:
+          name: pre-commit
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 47048f2..df48811 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -14,19 +14,6 @@ repos:
     -   id: mixed-line-ending
     -   id: trailing-whitespace
 
-# -   repo: https://github.com/pocc/pre-commit-hooks
-#     rev: v1.3.5
-#     hooks:
-#       - id: clang-format
-#         args: [--style=Google]
-#       - id: clang-tidy
-#       - id: oclint
-#       - id: uncrustify
-#       - id: cppcheck
-#       - id: cpplint
-#         args: ["--filter=-build/include_order,-readability/todo,-whitespace/indent_namespace"]
-#       - id: include-what-you-use
-
 -   repo: https://github.com/pre-commit/mirrors-clang-format
     rev: v20.1.0
     hooks:
@@ -41,11 +28,12 @@ repos:
     -   id: cpplint
         exclude: ^(.*\.cu|thirdparty/.*)$
         args: ["--filter=-build/include_order,-readability/todo,-whitespace/indent_namespace"]
+    -   id: cppcheck
+        exclude: .cu
 
-
-- repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.11.2
-  hooks:
-    - id: ruff
-      args: [ --fix ]
-    - id: ruff-format
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.11.2
+    hooks:
+      - id: ruff
+        args: [ --fix ]
+      - id: ruff-format