diff --git a/.github/workflows/foxy-ci.yaml b/.github/workflows/foxy-ci.yaml
new file mode 100644
index 0000000..c67c599
--- /dev/null
+++ b/.github/workflows/foxy-ci.yaml
@@ -0,0 +1,28 @@
+name: Foxy Workflow
+
+on:
+  - pull_request
+  - push
+
+jobs:
+  build-ros2-foxy:
+    runs-on: ubuntu-22.04
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-desktop-latest
+    steps:
+      - name: Build Environment
+        uses: ros-tooling/setup-ros@v0.5
+        with:
+          required-ros-distributions: foxy
+      - name: Run Tests
+        id: foxy_action_ros_ci_step
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package-name: decanstructor
+          target-ros2-distro: foxy
+      - name: Upload logs
+        uses: actions/upload-artifact@v1
+        with:
+          name: colcon-logs-foxy
+          path: ${{ steps.foxy_action_ros_ci_step.outputs.ros-workspace-directory-name }}/log
+        if: always()
diff --git a/.github/workflows/ros_test.yml b/.github/workflows/ros_test.yml
deleted file mode 100644
index 900af56..0000000
--- a/.github/workflows/ros_test.yml
+++ /dev/null
@@ -1,74 +0,0 @@
-name: ROS Test
-
-on: [push]
-
-jobs:
-  melodic_build:
-    runs-on: ubuntu-18.04
-    env:
-      CI_DISTRO: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
-      CI_SOURCE_PATH: $(pwd)
-      ROS_PARALLEL_JOBS: '-j8 -l6'
-      # Set the python path manually to include /usr/-/python2.7/dist-packages
-      # as this is where apt-get installs python packages.
-      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
-      ROS_DISTRO: melodic
-    steps:
-    - uses: actions/checkout@v1
-    - name: Install ROS
-      run: |
-        sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $CI_DISTRO main\" > /etc/apt/sources.list.d/ros-latest.list"
-        sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-        sudo apt-get update -qq
-        sudo apt-get install -y dpkg
-        sudo apt-get install -y python-catkin-tools python-catkin-pkg python-rosdep python-wstool python-catkin-tools
-        # Prepare rosdep to install dependencies.
-        sudo rosdep init
-        rosdep update
-        rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
-    - name: Create Workspace
-      run: |
-        source /opt/ros/$ROS_DISTRO/setup.bash
-        mkdir -p catkin_ws/src/decanstructor
-        mv `find -maxdepth 1 -not -name . -not -name catkin_ws` catkin_ws/src/decanstructor/
-        cd catkin_ws
-        catkin init
-    - name: Build
-      run: |
-        source /opt/ros/$ROS_DISTRO/setup.bash
-        cd catkin_ws
-        catkin build
-  kinetic_build:
-    runs-on: ubuntu-16.04
-    env:
-      CI_DISTRO: "`lsb_release -cs`"  # e.g. [trusty|xenial|...]
-      CI_SOURCE_PATH: $(pwd)
-      ROS_PARALLEL_JOBS: '-j8 -l6'
-      # Set the python path manually to include /usr/-/python2.7/dist-packages
-      # as this is where apt-get installs python packages.
-      PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
-      ROS_DISTRO: kinetic
-    steps:
-    - uses: actions/checkout@v1
-    - name: Install ROS
-      run: |
-        sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $CI_DISTRO main\" > /etc/apt/sources.list.d/ros-latest.list"
-        sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-        sudo apt-get update -qq
-        sudo apt-get install -y python-catkin-tools python-catkin-pkg python-rosdep python-wstool python-catkin-tools
-        # Prepare rosdep to install dependencies.
-        sudo rosdep init
-        rosdep update
-        rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
-    - name: Create Workspace
-      run: |
-        source /opt/ros/$ROS_DISTRO/setup.bash
-        mkdir -p catkin_ws/src/decanstructor
-        mv `find -maxdepth 1 -not -name . -not -name catkin_ws` catkin_ws/src/decanstructor/
-        cd catkin_ws
-        catkin init
-    - name: Build
-      run: |
-        source /opt/ros/$ROS_DISTRO/setup.bash
-        cd catkin_ws
-        catkin build