diff --git a/.devcontainer/smoke_test.sh b/.devcontainer/smoke_test.sh
new file mode 100755
index 0000000..cd0291a
--- /dev/null
+++ b/.devcontainer/smoke_test.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+mushr_noetic run 'source ~/.bashrc && roslaunch mushr_sim teleop.launch' > /tmp/output &
+sleep 5
+if tail -n 1 /tmp/output | grep -q "Rosbridge WebSocket server started at ws://0.0.0.0:9090"; then
+    echo "✅ smoke_test passed"
+    exit 0;
+else
+    # Print output of `roslaunch mushr_sim teleop.launch` for debugging
+    cat /tmp/output
+    echo "❌ smoke_test failed"
+    exit 1;
+fi
\ No newline at end of file
diff --git a/.github/workflows/devcontainer-test.sh b/.github/workflows/devcontainer-test.sh
new file mode 100755
index 0000000..a04022c
--- /dev/null
+++ b/.github/workflows/devcontainer-test.sh
@@ -0,0 +1,21 @@
+#!/bin/bash
+set -e
+
+SRC_DIR="$(pwd)"
+
+echo "Running Smoke Test"
+
+# Build
+export DOCKER_BUILDKIT=1
+echo "(*) Installing @devcontainer/cli"
+npm install -g @devcontainers/cli
+
+echo "Building Dev Container"
+ID_LABEL="test-container=mushr"
+devcontainer up --id-label ${ID_LABEL} --workspace-folder "${SRC_DIR}"
+
+# Test
+devcontainer exec --workspace-folder "${SRC_DIR}" --id-label ${ID_LABEL} /bin/sh -c './src/mushr/.devcontainer/smoke_test.sh'
+
+# Clean up
+docker rm -f $(docker container ls -f "label=${ID_LABEL}" -q)
diff --git a/.github/workflows/test-pr.yaml b/.github/workflows/test-pr.yaml
new file mode 100644
index 0000000..2cb966d
--- /dev/null
+++ b/.github/workflows/test-pr.yaml
@@ -0,0 +1,16 @@
+name: "CI"
+on:
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout main
+        id: checkout_release
+        uses: actions/checkout@v3
+      - name: Devcontainer container smoke test
+        id: test_devcontainer
+        shell: bash
+        run: ./.github/workflows/devcontainer-test.sh
\ No newline at end of file