diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
new file mode 100644
index 0000000..3cbd117
--- /dev/null
+++ b/.gitlab-ci.yml
@@ -0,0 +1,24 @@
+image: ros:foxy-ros-base
+
+workflow:
+  rules:
+    - if: '$CI_COMMIT_BRANCH'
+      when: never
+    - if: '$CI_PIPELINE_SOURCE == "merge_request_event"'
+
+stages:
+  - build
+
+build-colcon-job:
+  stage: build
+  script:
+  - apt-get update
+  - mkdir -p .src/robossembler-ros2
+  - mv * .src/robossembler-ros2
+  - mv .git .src/robossembler-ros2
+  - mv .src src
+  - vcs import src < src/robossembler-ros2/rasms.repos
+  - rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
+  - colcon build --merge-install --symlink-install --cmake-args '-DCMAKE_BUILD_TYPE=Release' -Wall -Wextra -Wpedantic
+  rules:
+    - if: $CI_COMMIT_REF_NAME != $CI_DEFAULT_BRANCH
diff --git a/robossembler/package.xml b/robossembler/package.xml
index 03ee8f4..2d7f830 100644
--- a/robossembler/package.xml
+++ b/robossembler/package.xml
@@ -15,6 +15,7 @@
  <depend>rclcpp_action</depend>
  <depend>geometry_msgs</depend>
  <depend>tf2_geometry_msgs</depend>
+ <depend>gazebo_msgs</depend>
  <depend>moveit_msgs</depend>
  <depend>moveit_core</depend>
  <depend>moveit_ros_planning</depend>
@@ -25,8 +26,8 @@
  <depend>plansys2_planner</depend>
  <depend>plansys2_problem_expert</depend>
  <depend>plansys2_pddl_parser</depend>
- <depend>ament_index_cpp</depend>
  <depend>plansys2_bt_actions</depend>
+ <depend>ament_index_cpp</depend>
 
  <test_depend>ament_lint_common</test_depend>
  <test_depend>ament_lint_auto</test_depend>