diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml
new file mode 100644
index 0000000..c4cdc36
--- /dev/null
+++ b/.github/workflows/rolling.yaml
@@ -0,0 +1,38 @@
+name: rolling
+
+on:
+  pull_request:
+    branches:
+      - rolling
+  push:
+    branches:
+      - rolling
+      
+jobs:
+  build-and-test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04]
+      fail-fast: false
+    steps:
+      - name: Repo checkout
+        uses: actions/checkout@v2
+      - name: Setup ROS 2
+        uses: ros-tooling/setup-ros@0.7.1
+        with:
+          required-ros-distributions: rolling
+      - name: build and test
+        uses: ros-tooling/action-ros-ci@0.3.5
+        with:
+          package-name: local_navigation
+          target-ros2-distro: rolling
+          vcs-repo-file-url: ${GITHUB_WORKSPACE}/dependencies.repos
+      - name: Codecov
+        uses: codecov/codecov-action@v1.2.1
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+          # yml: ./codecov.yml
+          fail_ci_if_error: false
diff --git a/dependencies.repos b/dependencies.repos
index 5568721..dbd86ad 100644
--- a/dependencies.repos
+++ b/dependencies.repos
@@ -2,7 +2,7 @@ repositories:
   ThirdParty/grid_map:
     type: git
     url: https://github.com/ANYbotics/grid_map.git
-    version: humble
+    version: rolling
   ThirdParty/lidarslam_ros2:
     type: git
     url: https://github.com/fmrico/lidarslam_ros2.git