diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
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+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix: # matrix is the product of entries
+        ROS_DISTRO: [melodic]
+        ROS_REPO: [testing, main]
+        # exclude: # specific configuration can be excludes
+        #   - {ROS_DISTRO: melodic, ROS_REPO: testing}
+        include: # add additional configurations
+          - {ROS_DISTRO: kinetic, ROS_REPO: testing}
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+    steps:
+      - uses: actions/checkout@v3 # clone target repository
+      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master' # run industrial_ci
+        env: # either pass all entries explicitly
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: ${{ matrix.ROS_REPO }}
+        # with: # or pass the full matrix as config
+        #    config: ${{toJSON(matrix)}}
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