diff --git a/.devcontainer/append_to_bashrc.txt b/.devcontainer/append_to_bashrc.txt
index dcc9f26..6fc9bf6 100644
--- a/.devcontainer/append_to_bashrc.txt
+++ b/.devcontainer/append_to_bashrc.txt
@@ -1,5 +1,7 @@
 # Custom Alias
 alias src='source /opt/ros/jazzy/setup.bash && source /home/ws/install/setup.bash'
+alias build='/home/ws/docker/build.sh'
+alias test='build && sudo /home/act -j test-locally'
 
 # Integrate entrypoint.sh
-source /home/ws/.devcontainer/entrypoint.sh
\ No newline at end of file
+source /home/ws/docker/entrypoint.sh
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 322825d..7780743 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,50 +1,53 @@
 {
-  "name": "ROS 2 Development Container HelMoRo",
-  "privileged": true,
-  "remoteUser": "htkz",
-  "build": {
-      "dockerfile": "../docker/Dockerfile",
-      "context": "..",
-      "target": "dev",
-      "args": {
-          "USERNAME": "htkz"
-      }
-  },
-  "workspaceFolder": "/home/ws",
-  "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
-  "customizations": {
-      "vscode": {
-          "extensions":[
-              "ms-vscode.cpptools",
-              "ms-vscode.cpptools-themes",
-              "donjayamanne.python-extension-pack",
-              "eamodio.gitlens",
-              "ms-iot.vscode-ros",
-              "ms-azuretools.vscode-docker",
-              "ms-vscode.cmake-tools",
-              "github.vscode-github-actions"
-          ]
-      }
-  },
-  "containerEnv": {
-      "DISPLAY": "unix:0",
-      "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
-      "ROS_DOMAIN_ID": "42",
-      "NVIDIA_DRIVER_CAPABILITIES": "all"
-  },
-  "runArgs": [
-      "--net=host",
-      "--pid=host",
-      "--ipc=host",
-      "-e", "DISPLAY=${env:DISPLAY}",
-      "--gpus=all",
-      "--runtime=nvidia"
-  ],
-  "mounts": [
-     "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
-     "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
-     "source=/dev/input,target=/dev/input,type=bind,consistency=delegated",
-     "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
-  ],
-  "postCreateCommand": "sudo chown -R $(whoami) /home/ws/ && python3 /home/ws/.devcontainer/append_to_bashrc.py"
+    "name": "ROS 2 Development Container HelMoRo",
+    "privileged": true,
+    "remoteUser": "htkz",
+    "build": {
+        "dockerfile": "../docker/Dockerfile",
+        "context": "..",
+        "target": "dev",
+        "args": {
+            "USERNAME": "htkz"
+        },
+        "options": [
+            "--tag", "helmoro_dev"
+        ]
+    },
+    "workspaceFolder": "/home/ws",
+    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-themes",
+                "donjayamanne.python-extension-pack",
+                "eamodio.gitlens",
+                "ms-iot.vscode-ros",
+                "ms-azuretools.vscode-docker",
+                "ms-vscode.cmake-tools",
+                "github.vscode-github-actions"
+            ]
+        }
+    },
+    "containerEnv": {
+        "DISPLAY": "unix:0",
+        "ROS_AUTOMATIC_DISCOVERY_RANGE": "LOCALHOST",
+        "ROS_DOMAIN_ID": "42",
+        "NVIDIA_DRIVER_CAPABILITIES": "all"
+    },
+    "runArgs": [
+        "--net=host",
+        "--pid=host",
+        "--ipc=host",
+        "-e", "DISPLAY=${env:DISPLAY}",
+        "--gpus=all",
+        "--runtime=nvidia"
+    ],
+    "mounts": [
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "source=/dev/dri,target=/dev/dri,type=bind,consistency=cached",
+        "source=/dev/input,target=/dev/input,type=bind,consistency=delegated",
+        "source=/var/run/docker.sock,target=/var/run/docker.sock,type=bind"
+    ],
+    "postCreateCommand": "sudo chown -R $(whoami) /home/ws/ && sudo chown -R $(whoami) /var/run/docker.sock && python3 /home/ws/.devcontainer/append_to_bashrc.py"
 }
\ No newline at end of file
diff --git a/.github/workflows/ci-local.yml b/.github/workflows/ci-local.yml
new file mode 100644
index 0000000..462b376
--- /dev/null
+++ b/.github/workflows/ci-local.yml
@@ -0,0 +1,50 @@
+name: Build Image and Run Tests with act
+
+on:
+  push:
+    branches:
+      - '!**' # Exclude all branches from triggering this workflow
+
+jobs:
+  test-locally:
+    runs-on: ubuntu-latest
+    env:
+      IMAGE_NAME: test-image
+      CONTAINER_NAME: test-container
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v3
+
+      - name: Install Xvfb
+        run: sudo apt-get update && sudo apt-get install -y xvfb
+
+      - name: Build Docker image and use local cache
+        run: docker build --file docker/Dockerfile --tag ${{ env.IMAGE_NAME }} --target prod .
+
+      - name: Start container
+        run: docker run --name ${{ env.CONTAINER_NAME }} --net host -v /tmp/.X11-unix:/tmp/.X11-unix -v /var/run/docker.sock:/var/run/docker.sock --detach ${{ env.IMAGE_NAME }} tail -f /dev/null
+
+      - name: Run test
+        shell: bash
+        run: |
+          set -e
+          echo "Starting virtual display (Xvfb)..."
+          Xvfb :99 -screen 0 1024x768x24 &
+          export DISPLAY=:99
+          export ROS_DOMAIN_ID=42
+
+          echo "Start testing..."
+          docker exec -e DISPLAY=$DISPLAY -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID ${{ env.CONTAINER_NAME }} bash -c "
+            source ./entrypoint.sh &&
+            colcon test --executor sequential &&
+            colcon test-result --verbose
+          "
+
+      - name: Export logs to runner
+        shell: bash
+        run: docker cp ${{ env.CONTAINER_NAME }}:/home/ws/log ./log
+        if: always() # export logs even if tests fail
+      - name: Stop and remove container
+        run: docker stop -t 0 ${{ env.CONTAINER_NAME }} && docker rm ${{ env.CONTAINER_NAME }}
+        if: always()
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 227f101..c68dd39 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -74,6 +74,12 @@ RUN apt-get update && apt-get install -y \
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV RMW_CYCLONEDDS_URI=file:///home/ws/config/cyclonedds.xml
 
+# Install act for local github actions execution
+RUN mkdir -p /home/ws \
+    && wget https://github.com/nektos/act/releases/download/v0.2.78/act_Linux_x86_64.tar.gz \
+    && tar -xzf act_Linux_x86_64.tar.gz -C /home act \
+    && rm act_Linux_x86_64.tar.gz
+
 # ********************************************************
 # * Set up the user *
 # ********************************************************