diff --git a/.github/workflows/ci.yml b/.github/workflows/ci-humble.yml
similarity index 96%
rename from .github/workflows/ci.yml
rename to .github/workflows/ci-humble.yml
index b9f13401..4c283fba 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci-humble.yml
@@ -1,4 +1,4 @@
-name: CI
+name: CI-Humble
 on:
   push:
     branches: [ main ]
@@ -21,6 +21,7 @@ jobs:
           tags: ethercat_driver_ros2:humble
           file: .docker/Dockerfile
           push: false
+          build-args: ROS_DISTRO=humble
 
       - name: Build
         uses: addnab/docker-run-action@v3
diff --git a/.github/workflows/ci-rolling.yml b/.github/workflows/ci-rolling.yml
new file mode 100644
index 00000000..e8f61900
--- /dev/null
+++ b/.github/workflows/ci-rolling.yml
@@ -0,0 +1,65 @@
+name: CI-Rolling
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+jobs:
+  CI:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Prepare
+        run: |
+          mkdir -p ${{github.workspace}}/src
+      - uses: actions/checkout@v2
+        with:
+          path: src/ethercat_driver_ros2
+
+      - name: Build Docker Image
+        uses: docker/build-push-action@v2
+        with:
+          tags: ethercat_driver_ros2:rolling
+          file: .docker/Dockerfile
+          push: false
+          build-args: ROS_DISTRO=rolling
+
+      - name: Build
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ethercat_driver_ros2:rolling
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            apt update
+            apt upgrade -y
+            cd /ros
+            . /opt/ros/rolling/setup.sh
+            rosdep install --ignore-src --from-paths . -y -r && \
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+      - name: Tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ethercat_driver_ros2:rolling
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            apt update
+            apt upgrade -y
+            cd /ros
+            . /opt/ros/rolling/setup.sh
+            rosdep install --ignore-src --from-paths . -y -r && \
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+            colcon test
+            colcon test-result
+
+      - name: Upload Tests to Artifacts
+        uses: actions/upload-artifact@v2
+        if: always()
+        with:
+          name: test-results
+          path: build/*/test_results/*/*.xml
+
+      - name: Publish Unit Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v1
+        if: always()
+        with:
+          files: build/*/test_results/*/*.xml
diff --git a/INSTALL.md b/INSTALL.md
index b99108bc..0209c338 100644
--- a/INSTALL.md
+++ b/INSTALL.md
@@ -78,10 +78,10 @@ Example:
 ```
 
 ## 2. Building `ethercat_driver_ros2`
-1.  Install `ros2` packages. The current development is based of `ros2 humble`. Installation steps are described [here](https://docs.ros.org/en/humble/Installation.html).
+1.  Install `ros2` packages. The current development is based on `ros2 rolling` and compatible with `ros2 humble`. Installation steps are described [here](https://docs.ros.org/en/rolling/Installation.html).
 2. Source your `ros2` environment:
     ```shell
-    source /opt/ros/humble/setup.bash
+    source /opt/ros/$ROS_DISTRO/setup.bash
     ```
     **NOTE**: The ros2 environment needs to be sources in every used terminal. If only one distribution of ros2 is used, it can be added to the `~/.bashrc` file.
 3. Install `colcon` and its extensions :
diff --git a/README.md b/README.md
index 191cf377..8a55cdbf 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,8 @@
 # ethercat_driver_ros2
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![DOI](https://zenodo.org/badge/491930126.svg)](https://zenodo.org/badge/latestdoi/491930126)
-[![Build](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci.yml)
+[![CI-Humble](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci-humble.yml/badge.svg)](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci-humble.yml)
+[![CI-Rolling](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci-rolling.yml/badge.svg)](https://github.com/ICube-Robotics/ethercat_driver_ros2/actions/workflows/ci-rolling.yml)
 
 Implementation of a `Hardware Interface` for simple Ethercat module integration with [`ros2_control`](https://github.com/ros-controls/ros2_control) and building upon [IgH EtherCAT Master for Linux](https://etherlab.org/en/ethercat/).