diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml
new file mode 100644
index 00000000..cf6d3320
--- /dev/null
+++ b/.github/workflows/ros-build-test.yml
@@ -0,0 +1,75 @@
+name: Build and Test legged control
+
+on:
+  push:
+    branches: [ ubuntu24-ci ]
+  pull_request:
+    branches: [ ros-one-devel ]
+
+jobs:
+  build:
+
+    strategy:
+      fail-fast: false
+
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:24.04
+
+    steps:
+    - name: Environment Info
+      run: |
+        apt-get update 
+        apt-get install -y lsb-release
+        pwd
+        uname -r
+        lsb_release -a
+
+    - name: System deps
+      run: |
+        apt-get update
+        apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev liblcm-dev checkinstall wget rsync curl
+
+    - name: ROS One installation
+      run: |
+        curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list
+        apt-get update
+        apt-get install -y python3-rosdep python3-catkin-tools
+        rosdep init
+        echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list
+        rosdep update
+        apt-get install -y ros-one-desktop
+        apt-get install -y ros-one-controller-interface ros-one-realtime-tools ros-one-joint-state-controller ros-one-imu-sensor-controller ros-one-gazebo-ros ros-one-gazebo-ros-control
+
+    - name: Pinocchio from robotpkg
+      run: |
+        curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc
+        echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list
+        apt-get update
+        apt-get install -y robotpkg-coal robotpkg-pinocchio
+        echo "CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
+        echo "LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}" >> $GITHUB_ENV
+
+    - name: Checkout dependencies
+      run: |
+        git clone -b ros-one-devel https://github.com/idra-lab/ocs2.git src/ocs2
+        git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
+
+    - uses: actions/checkout@v4
+      with: 
+        ref: ros-one-devel
+        path: src/legged_control 
+
+    - name: Rosdep
+      run: |
+        rosdep update
+        rosdep install --from-paths src --ignore-src -r -y
+
+    - name: Build Release
+      shell: bash
+      run: |
+        source /opt/ros/one/setup.bash
+        catkin init
+        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
+        catkin build legged_controllers legged_unitree_description legged_gazebo legged_unitree_hw  
diff --git a/README.md b/README.md
index f1fdd85a..d5b612c5 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,6 @@
 # legged_control
 
-> [!NOTE]
-> You might be interested in this pipeline with perception, check [legged_perceptive](https://github.com/qiayuanl/legged_perceptive).
+Code targeting [ROS One](https://ros.packages.techfak.net/) on Ubuntu 24.04 
 
 ## Publications
 
@@ -41,13 +40,19 @@ https://user-images.githubusercontent.com/21256355/192135828-8fa7d9bb-9b4d-41f9-
 
 ## Installation
 
+### ROS One
+Follow the instructions on the [link](https://ros.packages.techfak.net/) to install `ros-one-desktop`, then add the following additional packages:
+```
+sudo apt install ros-one-controller-interface ros-one-realtime-tools ros-one-joint-state-controller ros-one-imu-sensor-controller ros-one-gazebo-ros ros-one-gazebo-ros-control
+```
+
 ### Source code
 
-The source code is hosted on GitHub: [qiayuanliao/legged_control](https://github.com/qiayuanliao/legged_control).
+The source code is hosted on GitHub: 
 
 ```
-# Clone legged_control
-git clone git@github.com:qiayuanliao/legged_control.git
+# Clone legged_control on your ros_ws folder
+git clone https://github.com/idra-lab/legged_control.git
 ```
 
 ### OCS2
@@ -56,19 +61,19 @@ OCS2 is a large monorepo; **DO NOT** try to compile the whole repo. You only nee
 its dependencies following the step below.
 
 1. Install `pinocchio` and `coal` (formerly known as `hpp-fcl`) from robotpkg, following [these instructions to add the robotpkg PPA](https://stack-of-tasks.github.io/pinocchio/download.html)
-```
-sudo apt install robotpkg-pinocchio robotpkg-coal
-```
-The tested Pinocchio version is 3.9, which comes as default for Ubuntu 24.04
+   ```
+   sudo apt install robotpkg-pinocchio robotpkg-coal
+   ```
+   The tested Pinocchio version is 3.9, which comes as default for Ubuntu 24.04
 
 2. Install extra dependencies:
    ```
-   sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev ros-one-controller-interface ros-one-realtime-tools ros-one-joint-state-controller ros-one-imu-sensor-controller
+   sudo apt install liburdfdom-dev liboctomap-dev libassimp-dev wget rsync curl ros-one-controller-interface ros-one-realtime-tools ros-one-joint-state-controller ros-one-imu-sensor-controller
    ```
 3. Clone OCS2 and the robotic assets.
    ```
    # Clone OCS2
-   git clone git@github.com:idra-lab/ocs2.git
+   git clone https://github.com/idra-lab/ocs2.git
    
    # Clone ocs2_robotic_assets
    git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git