diff --git a/.ci/publish_coverage.sh b/.ci/publish_coverage.sh
new file mode 100755
index 0000000000..36c9301f51
--- /dev/null
+++ b/.ci/publish_coverage.sh
@@ -0,0 +1,26 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+ARTIFACT_FOLDER=$1
+
+# are there any coverage files?
+
+ARGS=""
+
+for file in `ls $ARTIFACT_FOLDER`; do
+
+  ARGS="-a ${ARTIFACT_FOLDER}/${file}"
+
+done
+
+lcov $ARGS --output-file /tmp/coverage.info
+
+genhtml -o /tmp/coverage_html /tmp/coverage.info | tee /tmp/coverage.log
+
+COVERAGE_PCT=`cat /tmp/coverage.log | tail -n 1 | awk '{print $2}'`
+
+echo "Coverage: $COVERAGE_PCT"
diff --git a/.ci/test.sh b/.ci/test.sh
index 25ecf8c269..050da0b173 100755
--- a/.ci/test.sh
+++ b/.ci/test.sh
@@ -78,5 +78,5 @@ echo "$0: tests finished"
 echo "$0: storing coverage data"
 
 lcov --capture --directory ${WORKSPACE} --output-file /tmp/coverage.original
-[ -e /tmp/coverage.original ] && lcov --remove /tmp/coverage.original "*/test/" --output-file /tmp/coverage.removed
-[ -e /tmp/coverage.removed ] && lcov --extract /tmp/coverage.removed "*/${WORKSPACE}/*" --output-file $ARTIFACT_FOLDER/$REPOSITORY_NAME.info
+lcov --remove /tmp/coverage.original "*/test/" --output-file /tmp/coverage.removed || echo "$0: coverage tracefile is empty"
+lcov --extract /tmp/coverage.removed "*/${WORKSPACE}/*" --output-file $ARTIFACT_FOLDER/$REPOSITORY_NAME.info || echo "$0: coverage tracefile is empty"
diff --git a/.github/workflows/rostest_to_release_coverage.yml b/.github/workflows/rostest_to_release_coverage.yml
index a353469a7d..c3e0f9fab7 100644
--- a/.github/workflows/rostest_to_release_coverage.yml
+++ b/.github/workflows/rostest_to_release_coverage.yml
@@ -105,3 +105,10 @@ jobs:
         run: |
           ls -la /tmp/artifacts
           .ci/publish_coverage.sh /tmp/artifacts
+      - name: Deploy
+        uses: peaceiris/actions-gh-pages@v3
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: /tmp/coverage_html
+          allow_empty_commit: true
+          force_orphan: true