diff --git a/.flake8 b/.flake8
new file mode 100644
index 0000000..1edf3cd
--- /dev/null
+++ b/.flake8
@@ -0,0 +1,9 @@
+[flake8]
+# The line length here has to match the black config in pyproject.toml
+max-line-length = 120
+exclude =
+    .git,
+    __pycache__
+extend-ignore =
+    # See https://github.com/PyCQA/pycodestyle/issues/373
+    E203,
diff --git a/.github/workflows/github-actions.yml b/.github/workflows/github-actions.yml
new file mode 100644
index 0000000..bc7bc64
--- /dev/null
+++ b/.github/workflows/github-actions.yml
@@ -0,0 +1,53 @@
+name: Build and run ROS tests
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+    inputs:
+      debug_enabled:
+        type: boolean
+        description: 'Run the build with tmate debugging enabled (https://github.com/marketplace/actions/debugging-with-tmate)'
+        required: false
+        default: false
+jobs:
+  build:
+    strategy:
+      matrix:
+        rosdistro: [humble, iron, rolling]
+      fail-fast: false
+    runs-on: ubuntu-latest
+    container:
+      image: ros:${{ matrix.rosdistro }}-ros-core
+    steps:
+    # Enable tmate debugging of manually-triggered workflows if the input option was provided
+    - name: Setup tmate session
+      uses: mxschmitt/action-tmate@v3
+      if: ${{ github.event_name == 'workflow_dispatch' && inputs.debug_enabled }}
+      with:
+        detached: true
+    - name: Install apt dependencies
+      run: |
+        apt-get update
+        apt-get install -y build-essential clang-format file git python3-pip python3-colcon-common-extensions python3-rosdep pre-commit
+    - name: Checkout repository
+      uses: actions/checkout@v4
+      with:
+        path: src/rospy_message_converter
+    - name: Use rosdep to install remaining dependencies
+      run: |
+        rosdep init
+        rosdep update
+        rosdep install --from-paths src -i -y --rosdistro ${{ matrix.rosdistro }}
+    - name: Build
+      run: |
+        . /opt/ros/${{ matrix.rosdistro }}/setup.sh
+        colcon build --parallel-workers 1
+    - name: Run tests
+      run: |
+        . install/setup.sh
+        colcon test --parallel-workers 1
+        colcon test-result
+    - name: Run pre-commit hooks
+      run: |
+        cd src/rospy_message_converter
+        pre-commit run -a
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 58e8641..74c3535 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -42,14 +42,3 @@ repos:
     rev: 5.0.4
     hooks:
     - id: flake8
-
-  - repo: local
-    hooks:
-      - id: catkin_lint
-        name: catkin_lint
-        description: Check package.xml and cmake files
-        entry: catkin_lint .
-        language: system
-        always_run: true
-        pass_filenames: false
-        args: [ "--strict" ]
diff --git a/rclpy_message_converter/test/test_message_converter.py b/rclpy_message_converter/test/test_message_converter.py
index df5acf8..b1d47e4 100644
--- a/rclpy_message_converter/test/test_message_converter.py
+++ b/rclpy_message_converter/test/test_message_converter.py
@@ -458,14 +458,15 @@ def test_dictionary_with_uint8_array_bytes_unencoded(self):
                 'rclpy_message_converter_msgs/msg/Uint8ArrayTestMessage', dictionary
             )
         error_msg = context.exception.args[0]
-        self.assertIn(error_msg, ['Incorrect padding', 'Non-base64 digit found'])
+        self.assertIn(error_msg, ['Incorrect padding', 'Non-base64 digit found', 'Only base64 data is allowed'])
 
         dictionary = {'data': bytes(bytearray([1, 97, 97, 2, 3, 97, 4, 97]))}
         with self.assertRaises(binascii.Error) as context:
             message_converter.convert_dictionary_to_ros_message(
                 'rclpy_message_converter_msgs/msg/Uint8ArrayTestMessage', dictionary
             )
-        self.assertEqual('Non-base64 digit found', context.exception.args[0])
+        error_msg = context.exception.args[0]
+        self.assertIn(error_msg, ['Incorrect padding', 'Non-base64 digit found', 'Only base64 data is allowed'])
 
     def test_dictionary_with_3uint8_array_bytes(self):
         from rclpy_message_converter_msgs.msg import Uint8Array3TestMessage