diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
new file mode 100644
index 0000000..f9d2311
--- /dev/null
+++ b/.github/workflows/ci.yaml
@@ -0,0 +1,21 @@
+name: CI (humble)
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  workflow_dispatch:
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@v0.3
+        # continue-on-error: true
+        with:
+          target-ros2-distro: humble
\ No newline at end of file
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
deleted file mode 100644
index 3f0b5f7..0000000
--- a/.github/workflows/ci.yml
+++ /dev/null
@@ -1,67 +0,0 @@
-name: CI(humble)
-on:
-  push:
-    branches: [ main ]
-  pull_request:
-    branches: [ main ]
-jobs:
-  CI:
-    runs-on: ubuntu-latest
-    permissions:
-      contents: read
-      issues: read
-      checks: write
-      pull-requests: write
-    steps:
-      - name: Prepare
-        run: |
-          mkdir -p ${{github.workspace}}/src
-      - uses: actions/checkout@v4
-        with:
-          path: src/ft_tools_ros2
-
-      - name: Build Docker Image
-        uses: docker/build-push-action@v6
-        with:
-          tags: ft_tools_ros2:humble
-          file: .docker/ci/Dockerfile
-          push: false
-
-      - name: Build
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ft_tools_ros2:humble
-          options: -v ${{github.workspace}}/:/ros/
-          run: |
-            cd /ros # structure = <...>/ros/src/ft_tools_ros2/<...>
-            . /opt/ros/humble/setup.sh
-            # vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
-            rosdep install --ignore-src --from-paths . -y -r
-            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
-
-      - name: Tests
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ft_tools_ros2:humble
-          options: -v ${{github.workspace}}/:/ros/
-          run: |
-            cd /ros
-            . /opt/ros/humble/setup.sh
-            # vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
-            rosdep install --ignore-src --from-paths . -y -r
-            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
-            colcon test
-            colcon test-result
-
-      - name: Upload Tests to Artifacts
-        uses: actions/upload-artifact@v4
-        if: always()
-        with:
-          name: test-results
-          path: build/*/test_results/*/*.xml
-
-      - name: Publish Unit Test Results
-        uses: EnricoMi/publish-unit-test-result-action@v2
-        if: always()
-        with:
-          files: build/*/test_results/*/*.xml
diff --git a/README.md b/README.md
index 47b54c0..f1515b2 100644
--- a/README.md
+++ b/README.md
@@ -3,7 +3,7 @@ Wrench estimation and calibration of F/T sensor for ROS2 applications.
 
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-[![CI (humble)](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml)
+[![Build tests (humble)](../../actions/workflows/ci.yaml/badge.svg?branch=main)](../../actions/workflows/ci.yaml?query=branch:humble)
 
 **Author:** Thibault Poignonec: [tpoignonec@unistra.fr](mailto:tpoignonec@unistra.fr)