diff --git a/.github/workflows/colcon_build.yaml b/.github/workflows/colcon_build.yaml
new file mode 100644
index 00000000..6bb653db
--- /dev/null
+++ b/.github/workflows/colcon_build.yaml
@@ -0,0 +1,11 @@
+name: ROS 2 Workspace Build
+description: Build packages in a ROS 2 workspace
+runs:
+  using: composite
+  steps:
+    - shell: bash
+      run: |
+        source install/setup.bash
+        colcon build --event-handlers console_cohesion+ --cmake-args
+
+
diff --git a/.github/workflows/colcon_setup.yaml b/.github/workflows/colcon_setup.yaml
new file mode 100644
index 00000000..df9d9ce1
--- /dev/null
+++ b/.github/workflows/colcon_setup.yaml
@@ -0,0 +1,31 @@
+name: ROS 2 Workspace Setup
+description: Setup tools and dependencies for a ROS 2 workspace
+inputs:
+  distro:
+    description: The ROS 2 distribution to be used
+    default: iron
+runs:
+  using: composite
+  steps:
+    - shell: bash
+      run: |
+        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list
+
+    - shell: bash
+      run: |
+        sudo apt update
+        sudo apt install -y python3-colcon-common-extensions python3-rosdep
+
+    - shell: bash
+      run: |
+        sudo rosdep init
+        rosdep update
+        rosdep install -y --rosdistro ${{ inputs.distro }} --from-paths . --ignore-src
+
+    - shell: bash
+      run: |
+        source /opt/ros/${{ inputs.distro }}/setup.bash
+        colcon build --packages-skip-regex '.*'
+
+
diff --git a/.github/workflows/colcon_test.yaml b/.github/workflows/colcon_test.yaml
index 91cb81d8..093ccf4f 100644
--- a/.github/workflows/colcon_test.yaml
+++ b/.github/workflows/colcon_test.yaml
@@ -1,29 +1,9 @@
-name: ci 
-on:
-  push:
-    branches:
-      - master 
-      - main
-permissions:
-  contents: write
-jobs:
-  deploy:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - name: Configure Git Credentials
-        run: |
-          git config user.name github-actions[bot]
-          git config user.email 41898282+github-actions[bot]@users.noreply.github.com
-      - uses: actions/setup-python@v5
-        with:
-          python-version: 3.x
-      - run: echo "cache_id=$(date --utc '+%V')" >> $GITHUB_ENV 
-      - uses: actions/cache@v4
-        with:
-          key: mkdocs-material-${{ env.cache_id }}
-          path: .cache
-          restore-keys: |
-            mkdocs-material-
-      - run: pip install mkdocs-material 
-      - run: mkdocs gh-deploy --force
+name: ROS 2 Workspace Test
+description: Test packages in a ROS 2 workspace
+runs:
+  using: composite
+  steps:
+    - shell: bash
+      run: |
+        source install/setup.bash
+        colcon test --event-handlers console_cohesion+ --pytest-with-coverage --return-code-on-test-failure
\ No newline at end of file
diff --git a/.github/workflows/run_tests.yaml b/.github/workflows/run_tests.yaml
new file mode 100644
index 00000000..07bd9b3a
--- /dev/null
+++ b/.github/workflows/run_tests.yaml
@@ -0,0 +1,28 @@
+# This YAML file is a GitHub Actions workflow configuration for running tests on a ROS 2
+name: ros2 colcon tests 
+on:
+  push:
+    branches:
+      - master 
+      - main
+permissions:
+  contents: write
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ros-tooling/setup-ros@latest
+        with:
+          version: humble
+      - name: Colcon Test
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon test --event-handlers console_cohesion+ --result-base result
+          colcon test-result --verbose --result-base result
+      - name: Upload Test Results
+        uses: actions/upload-artifact@v3
+        with:
+          name: test-results
+          path: result
+
+