diff --git a/.github/workflows/ci-action-ros.yaml b/.github/workflows/ci-action-ros.yaml
new file mode 100644
index 0000000..8d9a008
--- /dev/null
+++ b/.github/workflows/ci-action-ros.yaml
@@ -0,0 +1,48 @@
+name: Ouroboros-ROS-CI
+run-name: Ouroboros-ROS-CI
+on:
+    push:
+        branches: main
+    pull_request:
+        branches:
+            - main
+            - develop
+jobs:
+  Ouroboros-ROS-CI:
+    runs-on: ubuntu-latest
+    container: ros:noetic-ros-base-focal
+    steps:
+      - name: Update git
+        run: sudo apt update && sudo apt install -y git
+      - name: Check out repository code
+        uses: actions/checkout@v4
+        with:
+            path: src/ouroboros_repo
+            submodules: recursive
+      - name: Dependencies
+        run: |
+            sudo apt install -y libeigen3-dev pkg-config ros-noetic-cv-bridge python3-pip
+            sudo pip install --upgrade pip
+            sudo python3 -m pip install catkin_tools empy catkin_pkg
+      - name: Install Ouroboros
+        run: pwd && ls && cd src/ouroboros_repo && pwd && pip install .
+
+      - name: Install ROS packages with rosdep
+        shell: bash
+        run: |
+          source /opt/ros/noetic/setup.bash
+          rosdep update
+          rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
+          rosdep install --from-paths src --ignore-src -r -y
+      - name: catkin build
+        shell: bash
+        run: |
+          source /opt/ros/noetic/setup.bash
+          catkin build -s
+      - name: Run test script
+        shell: bash
+        run: |
+          source devel/setup.bash
+          cd src/ouroboros_repo
+          pytest extra/ouroboros_ros/tests
+      - run: echo "🍏 This job's status is ${{ job.status }}."
diff --git a/.github/workflows/ci-action.yml b/.github/workflows/ci-action.yml
index cd7b125..00c57e4 100644
--- a/.github/workflows/ci-action.yml
+++ b/.github/workflows/ci-action.yml
@@ -33,52 +33,3 @@ jobs:
       - name: Run test script
         run: cd ${{ github.workspace }}/ouroboros_repo && pytest --ignore=third_party --ignore=extra/ouroboros_ros
       - run: echo "🍏 This job's status is ${{ job.status }}."
-
-  Ouroboros-ROS-CI:
-    runs-on: ubuntu-20.04
-    steps:
-      - name: Check out repository code
-        uses: actions/checkout@v4
-        with:
-            path: ouroboros_repo
-            submodules: recursive
-      - name: Install ROS
-        run: |
-          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-          sudo apt install curl -y
-          curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-          sudo apt-get update -qq
-          sudo apt-get install -y ros-noetic-desktop-full
-          sudo apt-get install dpkg
-          sudo apt-get install -y python3-rosinstall python3-rosinstall-generator build-essential
-          sudo apt-get install -y python3-catkin-tools
-          sudo apt-get install -y python3-rosdep
-          sudo apt-get install -y python3-wstool
-      - name: Check if ROS installed
-        run: |
-          if [ -d "/opt/ros/noetic" ]; then
-            echo "ROS Noetic is installed!"
-          else
-            echo "ROS Noetic is NOT installed!"
-          fi
-      - name: Install ROS packages with rosdep
-        run: |
-          source /opt/ros/noetic/setup.bash
-          sudo rosdep init
-          rosdep update
-          mkdir -p ~/catkin_ws/src
-          mv ${{ github.workspace }}/ouroboros_repo ~/catkin_ws/src/
-          cd ~/catkin_ws
-          rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
-          rosdep install --from-paths src --ignore-src -r -y
-      - name: catkin build
-        run: |
-          source /opt/ros/noetic/setup.bash
-          cd ~/catkin_ws
-          catkin build -s
-          source devel/setup.bash
-      - name: Install Ouroboros
-        run: cd ~/catkin_ws/src/ouroboros_repo && python -m pip install --upgrade pip && pip install .
-      - name: Run test script
-        run: cd ~/catkin_ws/src/ouroboros_repo && source ~/catkin_ws/devel/setup.bash && pytest --ignore=third_party
-      - run: echo "🍏 This job's status is ${{ job.status }}."