diff --git a/.github/workflows/ubuntu_test.yml b/.github/workflows/ubuntu_test.yml
new file mode 100644
index 00000000000..2f73f4ad70d
--- /dev/null
+++ b/.github/workflows/ubuntu_test.yml
@@ -0,0 +1,91 @@
+name: UbuntuSimple
+
+on:
+  push:
+    branches:
+      - master
+      - 'dev**'
+  pull_request:
+    paths:
+      - 'tesseract**'
+      - '.github/workflows/ubuntu.yml'
+      - '**.repos'
+  schedule:
+    - cron: '0 5 * * *'
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    container:
+      image: ubuntu:${{ matrix.distro }}
+      env:
+        CCACHE_DIR: "$GITHUB_WORKSPACE/${{ matrix.distro }}/.ccache"
+        DEBIAN_FRONTEND: noninteractive
+        TZ: Etc/UTC
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          path: target_ws/src
+
+      - name: Install Depends
+        shell: bash
+        run: |
+          apt update
+          apt upgrade -y
+          apt install -y cmake curl lsb-release ca-certificates gnupg python3 python3-distutils python3-pip ccache git
+          python3 -m pip install vcstool -q
+          python3 -m pip install colcon-common-extensions -q
+          cd $GITHUB_WORKSPACE/target_ws/src
+          ./.github/workflows/add_ros_apt_sources.sh
+          apt install -y liboctomap-dev libfcl-dev libconsole-bridge-dev libbullet-dev libbullet-extras-dev libyaml-cpp-dev libtinyxml2-dev libassimp-dev liborocos-kdl-dev libpcl-dev liblapack-dev libboost-dev libboost-filesystem-dev libboost-serialization-dev libboost-program-options-dev libboost-graph-dev libbenchmark-dev libccd-dev libgtest-dev
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+
+      - name: ccache cache files
+        continue-on-error: true
+        uses: actions/cache@v1.1.0
+        with:
+          path: ${{ matrix.distro }}/.ccache
+          key: ${{ matrix.distro }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ matrix.distro }}-ccache-
+
+      - name: Build Upstream Workspace
+        shell: bash
+        run: |
+          mkdir -p $GITHUB_WORKSPACE/upstream_ws/src
+          vcs import --input "$GITHUB_WORKSPACE/target_ws/src/dependencies.repos" $GITHUB_WORKSPACE/upstream_ws/src/
+          cd $GITHUB_WORKSPACE/upstream_ws
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release
+
+      - name: Build Target Workspace
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/target_ws
+          source $GITHUB_WORKSPACE/upstream_ws/install/setup.bash
+          colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache -DCMAKE_BUILD_TYPE=Release -DTESSERACT_ENABLE_TESTING=ON
+          if [ $? -ge 1 ]; then return 1; fi
+
+      - name: Run Tests
+        shell: bash
+        run: |
+          cd $GITHUB_WORKSPACE/target_ws
+          source $GITHUB_WORKSPACE/target_ws/install/setup.bash
+          colcon test --event-handlers console_direct+ --return-code-on-test-failure
+          if [ $? -ge 1 ]; then return 1; fi
+          colcon test-result --verbose
+          if [ $? -ge 1 ]; then return 1; fi