diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..05a48fc
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,13 @@
+# To get started with Dependabot version updates, you'll need to specify which
+# package ecosystems to update and where the package manifests are located.
+# Please see the documentation for all configuration options:
+# https://docs.github.com/github/administering-a-repository/configuration-options-for-dependency-updates
+
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
new file mode 100644
index 0000000..a03f398
--- /dev/null
+++ b/.github/workflows/ci-format.yml
@@ -0,0 +1,23 @@
+# This is a format job. Pre-commit has a first-party GitHub action, so we use
+# that: https://github.com/pre-commit/action
+
+name: Format
+
+on:
+  workflow_dispatch:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Format
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: actions/setup-python@v4.7.0
+      with:
+        python-version: '3.10'
+    - name: Install system hooks
+      run: sudo apt install -qq clang-format-14 cppcheck
+    - uses: pre-commit/action@v3.0.0
+      with:
+        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..7f587a1
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,67 @@
+name: CI
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+jobs:
+  CI:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      issues: read
+      checks: write
+      pull-requests: write
+    steps:
+      - name: Prepare
+        run: |
+          mkdir -p ${{github.workspace}}/src
+      - uses: actions/checkout@v4
+        with:
+          path: src/ft_tools_ros2
+
+      - name: Build Docker Image
+        uses: docker/build-push-action@v5
+        with:
+          tags: ft_tools_ros2:humble
+          file: .docker/ci/Dockerfile
+          push: false
+
+      - name: Build
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ft_tools_ros2:humble
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros # structure = <...>/ros/src/ft_tools_ros2/<...>
+            . /opt/ros/humble/setup.sh
+            # vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+
+      - name: Tests
+        uses: addnab/docker-run-action@v3
+        with:
+          image: ft_tools_ros2:humble
+          options: -v ${{github.workspace}}/:/ros/
+          run: |
+            cd /ros
+            . /opt/ros/humble/setup.sh
+            # vcs import src < src/ft_tools_ros2/ft_tools_ros2.repos
+            rosdep install --ignore-src --from-paths . -y -r
+            colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --symlink-install
+            colcon test
+            colcon test-result
+
+      - name: Upload Tests to Artifacts
+        uses: actions/upload-artifact@v3
+        if: always()
+        with:
+          name: test-results
+          path: build/*/test_results/*/*.xml
+
+      - name: Publish Unit Test Results
+        uses: EnricoMi/publish-unit-test-result-action@v2
+        if: always()
+        with:
+          files: build/*/test_results/*/*.xml
diff --git a/README.md b/README.md
index bde903a..20e2d87 100644
--- a/README.md
+++ b/README.md
@@ -1,2 +1,7 @@
 # ft_tools_ros2
 Wrench estimation and calibration of F/T sensor for ROS2 applications.
+
+
+***The current devs are based on the humble ROS 2 distribution (Ubuntu 22.04 LTS)***
+
+[![CI](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml/badge.svg)](https://github.com/tpoignonec/ft_tools_ros2/actions/workflows/ci.yml)
diff --git a/ft_tools/config/config_ft_estimation_node.yaml b/ft_tools/config/config_ft_estimation_node.yaml
new file mode 100644
index 0000000..e535ad9
--- /dev/null
+++ b/ft_tools/config/config_ft_estimation_node.yaml
@@ -0,0 +1,30 @@
+wrench_estimator_node:
+  ros__parameters:
+    topic_raw_wrench: raw_wrench
+    topic_joint_state: joint_states
+    topic_estimated_wrench: ft_sensor_wrench
+    topic_interaction_wrench: ft_interaction_wrench
+
+    reference_frame: world
+    sensor_frame: ft_sensor
+    interaction_frame: tool0
+
+    raw_torque_is_in_mm: true
+    gravity_in_robot_base_frame:
+      - 0.0
+      - 0.0
+      - -9.81
+
+    wrench_deadband:
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+      - 0.0
+
+    ft_calibration:
+      mass: 0.0
+      sensor_frame_to_com: [0.0, 0.0, 0.0]
+      force_offset: [0.0, 0.0, 0.0]
+      torque_offset: [0.0, 0.0, 0.0]
diff --git a/ft_tools/launch/.gitkeep b/ft_tools/launch/.gitkeep
new file mode 100644
index 0000000..e69de29