diff --git a/.circleci/config.yml b/.circleci/config.yml
deleted file mode 100644
index 5b097c83d..000000000
--- a/.circleci/config.yml
+++ /dev/null
@@ -1,46 +0,0 @@
-version: 2
-
-jobs:
-  build_and_test:
-    docker:
-      - image: ros:rolling
-    environment:
-      ROS_WS: "/opt/ros"
-      UNDERLAY_WS: "/opt/underlay_ws"
-      OVERLAY_WS: "/opt/overlay_ws"
-    steps:
-      - checkout
-      - run:
-          name: Set Up Container
-          command: |
-            apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep libeigen3-dev liboctomap-dev
-            apt upgrade -y
-            source `find $ROS_WS -maxdepth 2 -name local_setup.bash | sort | head -1`
-            rosdep update
-            mkdir -p $OVERLAY_WS/src/grid_map && mv `find -maxdepth 1 -not -name . -not -name src` $OVERLAY_WS/src/grid_map/
-            mkdir -p $UNDERLAY_WS/src && cp $OVERLAY_WS/src/grid_map/tools/ros2_dependencies.repos \
-              $UNDERLAY_WS/ros2_dependencies.repos
-            cd $UNDERLAY_WS && vcs import src < ros2_dependencies.repos
-            DEBIAN_FRONTEND=noninteractive  rosdep install -y --ignore-src \
-              --skip-keys "gazebo_ros_pkgs pybind11_vendor ompl slam_toolbox" --from-paths src
-            MAKEFLAGS="-j4 -l1" colcon build --symlink-install --executor sequential --packages-up-to nav2_costmap_2d
-            source $UNDERLAY_WS/install/setup.bash
-            cd $OVERLAY_WS && DEBIAN_FRONTEND=noninteractive rosdep install -y --ignore-src --from-paths src --skip-keys "octomap_server"
-      - run:
-          name: Debug Build
-          command: |
-            source $UNDERLAY_WS/install/setup.bash
-            cd $OVERLAY_WS && MAKEFLAGS="-j4 -l1" colcon build --executor sequential
-          no_output_timeout: 30m
-      - run:
-          name: Run Tests
-          command: |
-            source $UNDERLAY_WS/install/setup.bash
-            cd $OVERLAY_WS
-            colcon test --parallel-workers 1
-            colcon test-result --verbose
-workflows:
-  version: 2
-  ros_build:
-    jobs:
-      - build_and_test
diff --git a/.github/workflows/colcon.yaml b/.github/workflows/colcon.yaml
new file mode 100644
index 000000000..ea0e2b89f
--- /dev/null
+++ b/.github/workflows/colcon.yaml
@@ -0,0 +1,49 @@
+name: Colcon Build Test
+on:
+  push:
+    branches:
+    - 'rolling'
+    - 'iron'
+    - 'humble'
+  pull_request:
+    branches:
+    - '*'
+jobs:
+  build-test:
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {rosdistro: 'rolling', container: 'ros:rolling'}
+    container: ${{ matrix.config.container }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        path: src/grid_map
+    - name: Pull in repos with vcs
+      run: |
+        apt-get update
+        vcs import --shallow --skip-existing --input grid_map/tools/ros2_dependencies.repos
+      shell: bash
+      working-directory: src
+    - name: Install Dependencies with Rosdep
+      run: |
+        apt update
+        rosdep update
+        source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+        rosdep install --from-paths src --ignore-src -y --skip-keys "slam_toolbox turtlebot3_gazebo gazebo_ros_pkgs"
+      shell: bash
+    - name: Colcon Build (Release)
+      run: |
+        source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+        colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to grid_map
+      shell: bash
+    - name: Test
+      run: |
+        source /opt/ros/${{matrix.config.rosdistro}}/setup.bash
+        source install/setup.bash
+        colcon test --return-code-on-test-failure --paths src/grid_map/* --event-handlers=console_cohesion+
+        colcon test-result --all --verbose
+      shell: bash
+