diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8a2b7be7a7..11e1811739 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -204,6 +204,32 @@ jobs:
               -DCMAKE_POSITION_INDEPENDENT_CODE=ON ..
         cmake --build . --config ${{ matrix.build_type }} --target install
 
+    - name: CasADi [Ubuntu/macOS]
+      if: matrix.os == 'ubuntu-latest' || matrix.os == 'macOS-latest'
+      shell: bash
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/casadi/casadi.git -b master casadi
+        cd casadi
+        mkdir build
+        cd build
+        cmake -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
+
+    - name: CasADi [Windows]
+      if: matrix.os == 'windows-latest'
+      shell: bash
+      run: |
+        cd ${GITHUB_WORKSPACE}
+        git clone https://github.com/casadi/casadi.git -b master casadi
+        cd casadi
+        mkdir build
+        cd build
+        cmake -A x64 -DCMAKE_TOOLCHAIN_FILE=${VCPKG_INSTALLATION_ROOT}/scripts/buildsystems/vcpkg.cmake \
+                     -DCMAKE_PREFIX_PATH=${GITHUB_WORKSPACE}/install/deps \
+                     -DCMAKE_BUILD_TYPE=${{ matrix.build_type }} \
+                     -DCMAKE_INSTALL_PREFIX=${GITHUB_WORKSPACE}/install/deps ..
+        cmake --build . --config ${{ matrix.build_type }} --target install
 
     # ===================
     # CMAKE-BASED PROJECT