diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
new file mode 100644
index 0000000..03ecdf5
--- /dev/null
+++ b/.github/workflows/test.yaml
@@ -0,0 +1,27 @@
+name: ci
+on:
+  pull_request:
+  push:
+    branches:
+      - main
+
+permissions:
+  contents: read
+  packages: read
+  issues: write         # posting and hiding bot comments
+  pull-requests: write  # posting and hiding bot comments
+
+jobs:
+  test:
+    strategy:
+      fail-fast: false
+      matrix:
+        ALPINE_VERSION: ["3.20"]
+        ROS_DISTRO: ["humble", "jazzy"]
+    uses: alpine-ros/alpine-ros-ci-workflows/.github/workflows/ros2.yaml@support-ros2
+    with:
+      enable-bot-comment: true
+      alpine-version: ${{ matrix.ALPINE_VERSION }}
+      ros-distro: ${{ matrix.ROS_DISTRO }}
+    secrets:
+      bot-comment-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/sample_ros2_pkg/CMakeLists.txt b/sample_ros2_pkg/CMakeLists.txt
new file mode 100644
index 0000000..33acdf4
--- /dev/null
+++ b/sample_ros2_pkg/CMakeLists.txt
@@ -0,0 +1,30 @@
+cmake_minimum_required(VERSION 3.8)
+project(sample_ros2_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(test_sample
+    test/src/test_sample.cpp
+    src/sample.cpp)
+  target_include_directories(test_sample PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+endif()
+
+install(
+  DIRECTORY include
+  DESTINATION include/${PROJECT_NAME}
+)
+
+ament_package()
diff --git a/sample_ros2_pkg/include/sample_ros2_pkg/sample.h b/sample_ros2_pkg/include/sample_ros2_pkg/sample.h
new file mode 100644
index 0000000..06ae34c
--- /dev/null
+++ b/sample_ros2_pkg/include/sample_ros2_pkg/sample.h
@@ -0,0 +1,4 @@
+#pragma once
+
+int sum(const int a, const int b);
+int mul(const int a, const int b);
diff --git a/sample_ros2_pkg/package.xml b/sample_ros2_pkg/package.xml
new file mode 100644
index 0000000..65870b7
--- /dev/null
+++ b/sample_ros2_pkg/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sample_ros2_pkg</name>
+  <version>0.0.0</version>
+  <description>Sample ROS 2 package for testing</description>
+  <maintainer email="17446116+Taka-Kazu@users.noreply.github.com">Kazuki Takahashi</maintainer>
+  <license>N/A</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_gtest</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/sample_ros2_pkg/src/sample.cpp b/sample_ros2_pkg/src/sample.cpp
new file mode 100644
index 0000000..f3413c3
--- /dev/null
+++ b/sample_ros2_pkg/src/sample.cpp
@@ -0,0 +1,13 @@
+int sum(const int a, const int b)
+{
+  // covered
+  const int c = a + b;
+  return c;
+}
+
+int mul(const int a, const int b)
+{
+  // not covered
+  const int c = a * b;
+  return c;
+}
diff --git a/sample_ros2_pkg/test/src/test_sample.cpp b/sample_ros2_pkg/test/src/test_sample.cpp
new file mode 100644
index 0000000..81e8b05
--- /dev/null
+++ b/sample_ros2_pkg/test/src/test_sample.cpp
@@ -0,0 +1,15 @@
+#include <gtest/gtest.h>
+
+#include <sample_ros2_pkg/sample.h>
+
+TEST(Sum, Sum)
+{
+  ASSERT_EQ(sum(1, 2), 3);
+}
+
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+
+  return RUN_ALL_TESTS();
+}