diff --git a/.github/ci_cross_platform_env.yml b/.github/ci_cross_platform_env.yml
new file mode 100644
index 0000000..26cffa0
--- /dev/null
+++ b/.github/ci_cross_platform_env.yml
@@ -0,0 +1,15 @@
+name: test
+channels:
+  - robostack
+  - conda-forge
+dependencies:
+  - compilers
+  - ninja
+  - cmake
+  - catkin_pkg
+  - pkg-config
+  - rosdep
+  - rosdistro
+  - ros-distro-mutex 0.1 noetic
+  - ros-noetic-catkin
+  - ros-noetic-ros-environment
diff --git a/.github/workflows/cross_platform_ci.yml b/.github/workflows/cross_platform_ci.yml
new file mode 100644
index 0000000..3ea2fd3
--- /dev/null
+++ b/.github/workflows/cross_platform_ci.yml
@@ -0,0 +1,101 @@
+name: OpenSLAM gmapping cross-platform RoboStack build
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - master
+      - "[kmn]*-devel"
+
+jobs:
+  run_openslam_gmapping_compilation:
+    runs-on: ${{ matrix.os }}
+    name: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+
+    steps:
+    - uses: actions/checkout@v2
+
+    - name: Set up Build Dependencies
+      uses: mamba-org/provision-with-micromamba@main
+      with:
+        environment-file: .github/ci_cross_platform_env.yml
+        micromamba-version: latest
+
+    - name: Set up OpenSLAM gmapping Dependencies on Unix
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      shell: bash -l -eo pipefail {0}
+      run: |
+        micromamba activate test
+        export PATH=$HOME/micromamba-bin:$PATH
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --ignore-src -r -y
+
+    - name: Build OpenSLAM gmapping on Unix
+      if: runner.os == 'Linux' || runner.os == 'macOS'
+      shell: bash -l -eo pipefail {0}
+      run: |
+        export CTEST_OUTPUT_ON_FAILURE=1
+
+        mkdir build
+        cd build
+
+        cmake .. -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \
+                 -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX \
+                 -DCMAKE_BUILD_TYPE=Release \
+                 -DCATKIN_SKIP_TESTING=OFF \
+                 -G "Ninja"
+
+        ninja
+
+    - name: Set up OpenSLAM gmapping on Windows
+      if: runner.os == 'Windows'
+      shell: cmd
+      run: |
+        echo "Activate environment, and use rosdep to install dependencies"
+        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
+
+        rosdep init
+        rosdep update
+        rosdep install --from-paths . --ignore-src -r -y
+
+    - name: Build OpenSLAM gmapping on Windows
+      if: runner.os == 'Windows'
+      shell: cmd
+      run: |
+
+        echo "Remove unnecessary / colliding things from PATH"
+        set "PATH=%PATH:C:\ProgramData\Chocolatey\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\sbt\bin;=%"
+        set "PATH=%PATH:C:\Rust\.cargo\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\usr\bin;=%"
+        set "PATH=%PATH:C:\Program Files\Git\cmd;=%"
+        set "PATH=%PATH:C:\Program Files\Git\mingw64\bin;=%"
+        set "PATH=%PATH:C:\Program Files (x86)\Subversion\bin;=%"
+        set "PATH=%PATH:C:\Program Files\CMake\bin;=%"
+        set "PATH=%PATH:C:\Program Files\OpenSSL\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\c\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\bin;=%"
+        set "PATH=%PATH:C:\Strawberry\perl\site\bin;=%"
+        set "PATH=%PATH:c:\tools\php;=%"
+        set "PATH=%PATH:ostedtoolcache=%"
+
+        call C:\Users\runneradmin\micromamba\condabin\micromamba.bat activate test
+
+        mkdir build
+        cd build
+        SET "CTEST_OUTPUT_ON_FAILURE=1"
+
+        cmake .. -DCMAKE_PREFIX_PATH="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_INSTALL_PREFIX="%CONDA_PREFIX%\Library" ^
+                 -DCMAKE_BUILD_TYPE=Release ^
+                 -DCATKIN_SKIP_TESTING=OFF ^
+                 -DBoost_USE_STATIC_LIBS=OFF ^
+                 -G "Ninja"
+
+        ninja