diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..7b82d4f
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,29 @@
+---
+
+name: Build and test
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ros: [humble, jazzy, kilted, rolling]
+    name: ROS 2 ${{ matrix.ros }}
+    container:
+      image: polymathrobotics/ros:${{ matrix.ros }}-builder-ubuntu
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          target-ros2-distro: ${{ matrix.ros }}
+          coverage-result: false
+      - uses: actions/upload-artifact@v4
+        with:
+          name: colcon-logs-${{ matrix.ros }}
+          path: ros_ws/log
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index afd56b2..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,13 +0,0 @@
----
-include:
-  - project: "polymathrobotics/ci/ci_templates"
-    ref: main
-    file: "/ros/ros2_package.impl.yml"
-  - project: "polymathrobotics/ci/ci_templates"
-    ref: main
-    file: "/common/rules.yml"
-
-build_and_test_polymath_msgs:
-  variables:
-    PACKAGE_NAME: polymath_msgs
-  extends: .ros2_build_and_test
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1dcf977..1e5ab2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,7 +11,6 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(builtin_interfaces REQUIRED)
-find_package(actionlib_msgs REQUIRED)
 find_package(action_msgs REQUIRED)
 find_package(geographic_msgs REQUIRED)
 find_package(nav_msgs REQUIRED)
@@ -19,7 +18,6 @@ find_package(nav_msgs REQUIRED)
 set(dependencies
   std_msgs
   builtin_interfaces
-  actionlib_msgs
   geometry_msgs
   nav_msgs
   geographic_msgs
diff --git a/package.xml b/package.xml
index a602722..e19a4ec 100644
--- a/package.xml
+++ b/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>builtin_interfaces</depend>
-  <depend>actionlib_msgs</depend>
   <depend>geographic_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>std_msgs</depend>