diff --git a/.github/workflows/humble-source-build.yaml b/.github/workflows/humble-source-build.yaml
new file mode 100644
index 0000000..d26f0f8
--- /dev/null
+++ b/.github/workflows/humble-source-build.yaml
@@ -0,0 +1,19 @@
+name: Humble Source Build
+
+on:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  humble_source_build:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7.1
+        with:
+          rosdistro: humble
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          package_name: omnidirectional_controllers
+          ref: ${{ github.event.pull_request.head.sha }}
+          target-ros2-distro: humble