diff --git a/.github/workflows/colcon-build-test.yml b/.github/workflows/colcon-build-test.yml
new file mode 100644
index 0000000..95fd73c
--- /dev/null
+++ b/.github/workflows/colcon-build-test.yml
@@ -0,0 +1,56 @@
+name: Colcon Build and Test
+
+on:
+  push:
+    branches:
+      - '**'
+  pull_request:
+    branches:
+      - '**'
+
+jobs:
+  build-and-test:
+    runs-on: ubuntu-latest
+    
+    permissions:
+      contents: read
+    
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+        
+      - name: Setup Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+          
+      - name: Install colcon
+        run: |
+          python -m pip install --upgrade pip
+          pip install colcon-common-extensions
+          
+      - name: Install dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y cmake build-essential
+          
+      - name: Create colcon workspace
+        run: |
+          mkdir -p colcon_ws/src
+          cp -r torque-vectoring colcon_ws/src/
+          
+      - name: Build with colcon
+        run: |
+          cd colcon_ws
+          colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+          
+      - name: Test with colcon
+        run: |
+          cd colcon_ws
+          colcon test
+          
+      - name: Show test results
+        if: always()
+        run: |
+          cd colcon_ws
+          colcon test-result --all --verbose
diff --git a/.gitignore b/.gitignore
index 35d74bb..7a26ab2 100644
--- a/.gitignore
+++ b/.gitignore
@@ -49,3 +49,7 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+# Colcon workspace artifacts
+install/
+colcon_ws/
diff --git a/torque-vectoring/package.xml b/torque-vectoring/package.xml
new file mode 100644
index 0000000..fafb122
--- /dev/null
+++ b/torque-vectoring/package.xml
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>torque_vectoring</name>
+  <version>1.0.0</version>
+  <description>Torque Vectoring Library with Tests</description>
+  <maintainer email="maintainer@example.com">maintainer</maintainer>
+  <license>TODO</license>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <test_depend>gtest</test_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>