diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
new file mode 100644
index 0000000..9a3e28d
--- /dev/null
+++ b/.github/workflows/industrial_ci_action.yml
@@ -0,0 +1,36 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see README (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: CI
+
+on:
+  push:
+    branches: [main] # when there is a pull request against main
+  pull_request:
+    branches: [main] # when there is a pull request against main
+  workflow_dispatch: # allow manually starting this workflow
+
+jobs:
+  industrial_ci:
+    name: ROS ${{ matrix.ROS_DISTRO }} (${{ matrix.ROS_REPO }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [testing, main]
+    env:
+      CCACHE_DIR: "${{ github.workspace }}/.ccache" # directory for ccache (and how we enable ccache in industrial_ci)
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/cache@v2 # fetch/store the directory used by ccache before/after the ci run
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          # This configuration will always create a new ccache cache starting off from the previous one (if any).
+          # In this simple version it will be shared between all builds of the same ROS_REPO and ROS_REPO
+          # and might need some fine-tuning to match the use case
+          key: ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-${{github.run_id}}
+          restore-keys: |
+            ccache-${{ matrix.ROS_DISTRO }}-${{ matrix.ROS_REPO }}-
+      - uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
deleted file mode 100644
index 8eba663..0000000
--- a/.gitlab-ci.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-image: docker:git
-services:
-  - docker:24.0.3-dind
-variables:
-  DOCKER_TLS_CERTDIR: "/certs"
-  TMPDIR: "${CI_PROJECT_DIR}.tmp"
-  CCACHE_DIR: ${CI_PROJECT_DIR}/ccache
-    
-cache:
-  key: "${CI_JOB_NAME}" # https://docs.gitlab.com/ee/ci/caching/#sharing-caches-across-different-branches
-  paths: 
-  - ccache
-
-before_script:
-  - apk add --update bash coreutils tar
-  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
-  # Inject the CI JOB token to allow us to download from our private repos in the .rosinstall file
-  # - sed -i 's|https://gitlab.tudelft.nl|https://gitlab-ci-token:'${CI_JOB_TOKEN}'@gitlab.tudelft.nl|g' ${CI_PROJECT_DIR}/.rosinstall
-  
-foxy:
-  script:
-    .industrial_ci/gitlab.sh
-  variables:
-    ROS_DISTRO: foxy
-    DOCKER_IMAGE: "ros:foxy"
-    DOCKER_RUN_OPTS: '-v /etc/ssl/certs:/etc/ssl/certs:ro'
-
-humble:
-  script:
-    .industrial_ci/gitlab.sh
-  variables:
-    ROS_DISTRO: humble
-    DOCKER_IMAGE: "ros:humble"
-    DOCKER_RUN_OPTS: '-v /etc/ssl/certs:/etc/ssl/certs:ro'
diff --git a/penelope_aerospace_pl_msgs/package.xml b/penelope_aerospace_pl_msgs/package.xml
index de8b474..75d0d06 100644
--- a/penelope_aerospace_pl_msgs/package.xml
+++ b/penelope_aerospace_pl_msgs/package.xml
@@ -14,6 +14,7 @@
   
   <depend>geometry_msgs</depend>
   <depend>sensor_msgs</depend>
+  <depend>shape_msgs</depend>
   <depend>trajectory_msgs</depend>
   
   <member_of_group>rosidl_interface_packages</member_of_group>