diff --git a/.github/workflows/sonarcube.yml b/.github/workflows/sonarcube.yml
new file mode 100644
index 000000000..29d83fb4a
--- /dev/null
+++ b/.github/workflows/sonarcube.yml
@@ -0,0 +1,40 @@
+name: Sonarcube Scan
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    types: [opened, synchronize, reopened]
+jobs:
+  build:
+    name: Build
+    runs-on: ubuntu-latest
+    env:
+      BUILD_WRAPPER_OUT_DIR: build_wrapper_output_directory # Directory where build-wrapper output will be placed
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0 # Shallow clones should be disabled for a better relevancy of analysis
+      - name: Install Build Wrapper
+        uses: SonarSource/sonarqube-scan-action/install-build-wrapper@v4
+
+      - name: Install Dependencies
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y libzmq3-dev libsqlite3-dev
+
+      - name: Install googletest
+        uses: Bacondish2023/setup-googletest@v1
+
+      - name: Run Build Wrapper
+        run: |
+          mkdir build
+          cmake -S . -B build
+          build-wrapper-linux-x86-64 --out-dir ${{ env.BUILD_WRAPPER_OUT_DIR }} cmake --build build/ --config Release
+      - name: SonarQube Scan
+        uses: SonarSource/sonarqube-scan-action@v4
+        env:
+          SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }} # Put the name of your token here
+        with:
+          args: >
+            --define sonar.cfamily.compile-commands="${{ env.BUILD_WRAPPER_OUT_DIR }}/compile_commands.json"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 722e102b7..54451c6a9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,6 +22,9 @@ else()
     add_definitions(-Wpedantic -fno-omit-frame-pointer)
 endif()
 
+# create compile_commands.json
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
 
 #---- project configuration ----
 option(BTCPP_SHARED_LIBS "Build shared libraries" ON)
diff --git a/sonar-project.properties b/sonar-project.properties
new file mode 100644
index 000000000..6e0eb2293
--- /dev/null
+++ b/sonar-project.properties
@@ -0,0 +1,13 @@
+sonar.projectKey=BehaviorTree_BehaviorTree.CPP
+sonar.organization=behaviortree
+
+# This is the name and version displayed in the SonarCloud UI.
+#sonar.projectName=BehaviorTree.CPP
+#sonar.projectVersion=1.0
+
+
+# Path is relative to the sonar-project.properties file. Replace "\" by "/" on Windows.
+#sonar.sources=.
+
+# Encoding of the source code. Default is default system encoding
+#sonar.sourceEncoding=UTF-8