diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 0000000..a6777ed
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,25 @@
+name: ROS 2 Workspace Action
+# You may pin to the exact commit or the version.
+# uses: ros/tooling-setup-actions/setup-ros@v1
+
+on:
+  push:
+    branches:
+      - ezBot-ROS_ws
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Set up ROS
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          ros-distro: humble
+
+      - name: Build workspace
+        run: source /opt/ros/humble/setup.bash & colcon build
diff --git a/src/ezbot_descr_simul/description/robot_core.xacro b/src/ezbot_descr_simul/description/robot_core.xacro
index faeaa87..426dc76 100644
--- a/src/ezbot_descr_simul/description/robot_core.xacro
+++ b/src/ezbot_descr_simul/description/robot_core.xacro
@@ -247,6 +247,10 @@
 
     <gazebo reference="roue_gauche">
         <material>Gazebo/Blue</material>
+<<<<<<< HEAD
+=======
+        <!--Have friction only along the way it rotates-->
+>>>>>>> 373c306d8c1b4496723604ba9328db8834d41ac4
         <fdir1>1 0 0</fdir1>
         <mu1>1.0</mu1>
         <mu2>0.1</mu2>