diff --git a/.github/workflows/ros.yml b/.github/workflows/ros.yml
new file mode 100644
index 0000000..1275f13
--- /dev/null
+++ b/.github/workflows/ros.yml
@@ -0,0 +1,39 @@
+---
+
+name: Build and test
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  build_and_test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - ros: humble
+            ubuntu: jammy
+          - ros: jazzy
+            ubuntu: noble
+          - ros: lyrical
+            ubuntu: resolute
+    name: ROS 2 ${{ matrix.ros }}
+    container:
+      image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.ubuntu }}:latest
+    env:
+      PIP_BREAK_SYSTEM_PACKAGES: 1
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          target-ros2-distro: ${{ matrix.ros }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          vcs-repo-file-url: repos.yaml
+          package-name: radar_layer
+      - uses: actions/upload-artifact@v4
+        with:
+          name: colcon-logs-${{ matrix.ros }}
+          path: ros_ws/log
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index c96e7af..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-variables:
-  REPOS_FILE: repos.yaml
-  PACKAGE_NAME: radar_layer
-
-include:
-- project: 'polymathrobotics/ci/ci_templates'
-  ref: main
-  file: '/ros/ros2_package.impl.yml'
-- project: 'polymathrobotics/ci/ci_templates'
-  ref: main
-  file: '/ros/ros2_container/containerize.impl.yml'
-- project: 'polymathrobotics/ci/ci_templates'
-  ref: main
-  file: '/docker-bake/bake_with_vcs_import_arm64.impl.yml'
-- project: 'polymathrobotics/ci/ci_templates'
-  ref: main
-  file: '/common/rules.yml'
-- project: 'polymathrobotics/ci/ci_templates'
-  ref: main
-  file: '/common/stages.yml'
-
-
-build_and_test_radar_layer:
-  extends: .ros2_build_and_test
-
-eval_radar_layer:
-  extends: .ros2_evaluate
-  needs:
-    - job: build_and_test_radar_layer
-      artifacts: true
-  artifacts:
-      reports:
-        junit: $ARTIFACTS_PATH/test_results/test_results/$PACKAGE_NAME/*.xml
-
diff --git a/repos.yaml b/repos.yaml
index a32cf5b..4579332 100644
--- a/repos.yaml
+++ b/repos.yaml
@@ -1,9 +1,5 @@
 repositories:
   navigation2_dynamic:
     type: git
-    url: git@gitlab.com:polymathrobotics/third_party/navigation2_dynamic.git
+    url: https://github.com/polymathrobotics/navigation2_dynamic.git
     version: master
-  radar_layer:
-    type: git
-    url: git@gitlab.com:polymathrobotics/radar_layer.git
-    version: main