diff --git a/.github/workflows/rpi_pico_w.yaml b/.github/workflows/rpi_pico_w.yaml
new file mode 100644
index 000000000..38e2c99f2
--- /dev/null
+++ b/.github/workflows/rpi_pico_w.yaml
@@ -0,0 +1,58 @@
+#
+# Copyright (c) 2024 ZettaScale Technology
+#
+# This program and the accompanying materials are made available under the
+# terms of the Eclipse Public License 2.0 which is available at
+# http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+# which is available at https://www.apache.org/licenses/LICENSE-2.0.
+#
+# SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+#
+# Contributors:
+#   ZettaScale Zenoh Team, <zenoh@zettascale.tech>
+#
+name: rpi_pico_w 
+
+on:
+  push:
+    branches: [ '**' ]
+  pull_request:
+    branches: [ '**' ]
+
+jobs:
+  build:
+    name: Build on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: jwlawson/actions-setup-cmake@v1.13
+      - name: Install requirements
+        run: |
+          sudo apt update
+          sudo apt install -y cmake gcc-arm-none-eabi libnewlib-arm-none-eabi build-essential g++ libstdc++-arm-none-eabi-newlib
+          
+      - name: Install Raspberry Pico SDK 
+        run: |
+          export PICO_SDK_PATH=$HOME/work/pico-sdk
+          mkdir -p $PICO_SDK_PATH
+          cd $PICO_SDK_PATH
+          git clone https://github.com/raspberrypi/pico-sdk.git --branch 2.1.0 .
+          git submodule update --init
+          
+      - name: Install FreeRTOS SDK 
+        run: |
+          export FREERTOS_KERNEL_PATH=$HOME/work/FreeRTOS-Kernel/
+          mkdir -p $FREERTOS_KERNEL_PATH
+          cd $FREERTOS_KERNEL_PATH
+          git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git --branch V11.1.0 .
+          git submodule update --init
+          
+      - name: Build examples
+        run: |
+          cd $HOME/work/zenoh-pico/zenoh-pico/examples/rpi_pico_w
+          cmake -Bbuild -DWIFI_SSID=wifi_network_ssid -DWIFI_PASSWORD=wifi_network_password
+          cmake --build ./build
diff --git a/examples/rpi_pico_w/CMakeLists.txt b/examples/rpi_pico_w/CMakeLists.txt
index 33e96870d..499eccc17 100644
--- a/examples/rpi_pico_w/CMakeLists.txt
+++ b/examples/rpi_pico_w/CMakeLists.txt
@@ -92,7 +92,6 @@ function(add_example name)
     ${CMAKE_CURRENT_LIST_DIR}/include
   )
   pico_enable_stdio_usb(${name} 1)
-  pico_enable_stdio_uart(${name} 1)
   pico_add_extra_outputs(${name})
 endfunction()