diff --git a/.github/workflows/node.js.yml b/.github/workflows/node.js.yml
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+# This workflow will do a clean installation of node dependencies, cache/restore them, build the source code and run tests across different versions of node
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-nodejs-with-github-actions
+
+name: Node.js CI
+
+on:
+  push:
+    branches: [ devel ]
+  pull_request:
+    branches: [ devel ]
+    
+env:
+  ROS_DISTRO: melodic
+  ROSINSTALL_FILE: $GITHUB_PATH/dependencies.rosinstall
+  CATKIN_OPTIONS: $GITHUB_PATH/catkin.options
+  ROS_PARALLEL_JOBS: '-j8 -l6'
+  # Set the python path manually to include /usr/-/python2.7/dist-packages
+  # as this is where apt-get installs python packages.
+  PYTHONPATH: $PYTHONPATH:/usr/lib/python2.7/dist-
+
+jobs:
+  build:
+
+    runs-on: ubuntu-18.04
+    container: ros:melodic
+
+    strategy:
+      matrix:
+        node-version: [10.x, 12.x, 14.x, 16.x]
+        # See supported Node.js release schedule at https://nodejs.org/en/about/releases/
+
+    defaults:
+      run:
+        shell: bash
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Use Node.js ${{ matrix.node-version }}
+      uses: actions/setup-node@v3
+      with:
+        node-version: ${{ matrix.node-version }}
+        # cache: 'npm' unable to cache without package-lock
+  # Create a catkin workspace with the package under integration.
+    - name: Initialize workspace
+      run: |
+          source /opt/ros/$ROS_DISTRO/setup.bash
+          mkdir -p ~/catkin_ws/src
+          cd ~/catkin_ws/src
+          catkin_init_workspace
+          cd ~/catkin_ws
+          catkin_make
+          source devel/setup.bash
+    - name: install message packages
+      run: |
+          git clone https://github.com/ros/std_msgs.git src/std_msgs
+          git clone https://github.com/ros/common_msgs src/common_msgs
+          git clone https://github.com/RethinkRobotics-opensource/test_msgs.git src/test_msgs
+          git clone https://github.com/ros/ros_comm_msgs.git src/ros_comm_msgs
+#     # Install all dependencies, using wstool first and rosdep second.
+#     # wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+#     - run: cd ~/catkin_ws/src
+#     - run: wstool init
+#     - run: if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+#     - run: wstool up
+#     # package dependencies: install using rosdep.
+    - name: generate messages and test
+      run: |
+          cd ~/catkin_ws
+          source devel/setup.bash
+          cd $GITHUB_WORKSPACE
+          npm install
+          npm run compile
+          npm run generate
+          npm test