diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
new file mode 100644
index 00000000..1d6aa37b
--- /dev/null
+++ b/.github/workflows/main.yml
@@ -0,0 +1,19 @@
+name: CI
+
+on: [push, pull_request] # on all pushes and PRs
+
+jobs:
+  ros1_bridge:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - uses: ros-tooling/setup-ros@v0.1
+        with:
+          required-ros-distributions: "noetic rolling"
+      - name: Build and test ros1-bridge
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          package-name: ros1_bridge
+          target-ros1-distro: noetic
+          target-ros2-distro: rolling
+
diff --git a/ros1_bridge/__init__.py b/ros1_bridge/__init__.py
index 7a3fc296..1e640823 100644
--- a/ros1_bridge/__init__.py
+++ b/ros1_bridge/__init__.py
@@ -288,7 +288,7 @@ def get_ros2_messages():
                 if all(n not in data for n in ('ros1_service_name', 'ros2_service_name')):
                     try:
                         rules.append(MessageMappingRule(data, package_name))
-                    except Exception as e:
+                    except Exception as e:  # noqa: B902
                         print('%s' % str(e), file=sys.stderr)
     return pkgs, msgs, rules
 
@@ -341,7 +341,7 @@ def get_ros2_services():
                 if all(n not in data for n in ('ros1_message_name', 'ros2_message_name')):
                     try:
                         rules.append(ServiceMappingRule(data, package_name))
-                    except Exception as e:
+                    except Exception as e:  # noqa: B902
                         print('%s' % str(e), file=sys.stderr)
     return pkgs, srvs, rules