diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 6194800e2..1f2ed1f7e 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -1,31 +1,44 @@
 name: build
 on: [push, pull_request]
 jobs:
-  build:
+  build_and_test:
     runs-on: ubuntu-20.04
     container:
       image: docker://ros:foxy-ros-base-focal
       
     steps:
+    - name: pwd
+      run: pwd
     - name: deps
       run: |
         sudo apt update
-        sudo apt install -y g++-8
-    - name: setup
+        sudo apt install -y g++-8 lcov python3-pip curl python3-vcstool gcovr
+        pip3 install colcon-lcov-result colcon-coveragepy-result colcon-mixin 
+    - name: setup directories
       run: |
-        mkdir -p ws_rmf/src        
-    - name: checkout
-      uses: actions/checkout@v2
-      with:
-        path: ws_rmf/src/rmf_core
-    - name: ros-deps
-      run: |
-        cd ws_rmf
-        rosdep update
-        rosdep install --from-paths src --ignore-src --rosdistro foxy -yr
+        mkdir ros_ws
+        mkdir ros_ws/src
+        ls ros_ws/
+        cd ros_ws/
     - name: build
-      shell: bash
-      run: |
-        cd ws_rmf
-        source /opt/ros/foxy/setup.bash
-        colcon build --cmake-args -DCMAKE_BUILD_TYPE=RELEASE
+      uses: ros-tooling/action-ros-ci@v0.1
+      with:
+        target-ros2-distro: foxy
+        # build all packages listed in the meta package
+        package-name: |
+          rmf_traffic
+          rmf_battery
+        # rmf_fleet_adapter
+        # rmf_task
+        # rmf_traffic_ros2
+        # rmf_utils
+        vcs-repo-file-url: |
+          https://raw.githubusercontent.com/osrf/rmf_core/feature/add_codecov/rmf.repos
+        colcon-mixin-name: coverage-gcc
+        colcon-mixin-repository: https://raw.githubusercontent.com/ddengster/colcon-mixin-repository/master/index.yaml
+    - name: Upload coverage to Codecov
+      uses: codecov/codecov-action@v1
+      with:
+        files: ros_ws/lcov/total_coverage.info
+        flags: tests
+        name: lean_and_mean_codecov_bot
diff --git a/rmf.repos b/rmf.repos
new file mode 100644
index 000000000..cb9feb8b6
--- /dev/null
+++ b/rmf.repos
@@ -0,0 +1,5 @@
+repositories:
+  osrf/rmf_core:
+    type: git
+    url: https://github.com/osrf/rmf_core.git
+    version: master
diff --git a/rmf_battery/CMakeLists.txt b/rmf_battery/CMakeLists.txt
index d6e3b3c46..93d633790 100644
--- a/rmf_battery/CMakeLists.txt
+++ b/rmf_battery/CMakeLists.txt
@@ -65,14 +65,14 @@ if(BUILD_TESTING)
       $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/>
   )
 
-  find_package(rmf_cmake_uncrustify REQUIRED)
-  find_file(uncrustify_config_file NAMES "share/format/rmf_code_style.cfg")
-
-  rmf_uncrustify(
-    ARGN include src test
-    CONFIG_FILE ${uncrustify_config_file}
-    MAX_LINE_LENGTH 80
-  )
+  #find_package(rmf_cmake_uncrustify REQUIRED)
+  #find_file(uncrustify_config_file NAMES "share/format/rmf_code_style.cfg")
+
+  #rmf_uncrustify(
+  #  ARGN include src test
+  #  CONFIG_FILE ${uncrustify_config_file}
+  #  MAX_LINE_LENGTH 80
+  #)
 endif()
 
 install(
diff --git a/rmf_traffic/CMakeLists.txt b/rmf_traffic/CMakeLists.txt
index 4f0e7bef4..d7fdb53ae 100644
--- a/rmf_traffic/CMakeLists.txt
+++ b/rmf_traffic/CMakeLists.txt
@@ -67,13 +67,13 @@ if(BUILD_TESTING AND ament_cmake_catch2_FOUND AND rmf_cmake_uncrustify_FOUND)
       $<BUILD_INTERFACE:${CMAKE_CURRENT_LIST_DIR}/>
   )
 
-  find_file(uncrustify_config_file NAMES "share/format/rmf_code_style.cfg")
+  #find_file(uncrustify_config_file NAMES "share/format/rmf_code_style.cfg")
 
-  rmf_uncrustify(
-    ARGN include src test
-    CONFIG_FILE ${uncrustify_config_file}
-    MAX_LINE_LENGTH 80
-  )
+  #rmf_uncrustify(
+  #  ARGN include src test
+  #  CONFIG_FILE ${uncrustify_config_file}
+  #  MAX_LINE_LENGTH 80
+  #)
 endif()
 
 if(using_new_fcl)