diff --git a/.circleci/config.yml b/.circleci/config.yml
new file mode 100644
index 00000000..6d7844d2
--- /dev/null
+++ b/.circleci/config.yml
@@ -0,0 +1,91 @@
+version: 2
+
+#  Copyright (C) 2018-2019 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+# 
+
+# Configuration file for Circle CI 
+# CI will report failure if any executed command returns and error status
+# Operations performed are as follows
+# Build source code
+# Run unit tests for C++ and Java
+# Run static code analyzer for SourceCloud
+# Upload test results
+# Every run command should start with source ${INIT_ENV} to ensure all default dependancies are available
+jobs:
+  build:
+    # Pull docker image from docker hub
+    # XTERM used for better catkin_make output
+    docker:
+      - image: usdotfhwastol/carma-base-ci:2.8.4
+        user: carma
+        environment:
+          TERM: xterm
+          INIT_ENV: /home/carma/.base-image/init-env.sh
+    # Set working directory
+    working_directory: "/opt/carma/"
+    # Pull code and execute tests
+    # Name of each run command defines purpose use
+    steps:
+      - run:
+          name: Create src folder
+          command: |
+            source ${INIT_ENV}
+            mkdir src
+            cd src
+            mkdir CARMAAvtVimbaDriver
+            mkdir CARMAMsgs
+      # Checkout PR branch
+      - checkout:
+          path: src/CARMAAvtVimbaDriver
+      - run: 
+          name: Pull CARMAMsgs
+          command: |
+            source ${INIT_ENV}
+            git clone -b develop --depth 1 git@github.com:usdot-fhwa-stol/CARMAMsgs.git src/CARMAMsgs
+      - run:
+          name: Build Driver
+          command: |
+            source ${INIT_ENV}
+            build-wrapper-linux-x86-64 --out-dir /opt/carma/bw-output catkin_make install -j 2
+      - run:
+          name: Run C++ Tests
+          command: |
+            source ${INIT_ENV}
+            catkin_make run_tests
+      # Run SonarCloud analysis
+      # PR Branchs and number extracted from Circle variables and github api
+      # Circle CI seems to make a change to the base branch, so we must fetch --force to ensure correct git file change stats
+      # SONAR_SCANNER_TOKEN MUST be secured as an environment variable in Circle CI NOT in this file. 
+      # The following sonar settings MUST be set in SonarCloud UI NOT in this file
+      # sonar.pullrequest.provider
+      # sonar.pullrequest.github.endpoint
+      # sonar.pullrequest.github.token.secured
+      # sonar.pullrequest.github.repository
+      # Use -X on sonar-scanner to enable debug output
+      - run:
+          name: Run Sonar Scanner
+          command: |
+            source ${INIT_ENV}
+            echo "PR branch ${CIRCLE_BRANCH}"
+            echo "Repo name ${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}"
+            echo "URL ${CIRCLE_PULL_REQUEST}"
+            export PR_NUM=`echo ${CIRCLE_PULL_REQUEST} | cut -d'/' -f7`
+            echo "PR number ${PR_NUM}"
+            export BASE_BRANCH_URL="https://api.github.com/repos/${CIRCLE_PROJECT_USERNAME}/${CIRCLE_PROJECT_REPONAME}/pulls/${PR_NUM}"
+            export TARGET_BRANCH=$(curl "$BASE_BRANCH_URL" | jq '.base.ref' | tr -d '"') 
+            echo "Target Branch = ${TARGET_BRANCH}"
+            cd src/CARMAAvtVimbaDriver
+            git fetch --force origin ${TARGET_BRANCH}:${TARGET_BRANCH}
+            sonar-scanner -Dproject.settings=.sonarqube/sonar-scanner.properties -Dsonar.login=${SONAR_SCANNER_TOKEN} -Dsonar.pullrequest.base=${TARGET_BRANCH} -Dsonar.pullrequest.branch=${CIRCLE_BRANCH} -Dsonar.pullrequest.key=${PR_NUM}
diff --git a/.sonarqube/sonar-scanner.properties b/.sonarqube/sonar-scanner.properties
new file mode 100644
index 00000000..74a272d3
--- /dev/null
+++ b/.sonarqube/sonar-scanner.properties
@@ -0,0 +1,27 @@
+#  Copyright (C) 2018-2019 LEIDOS.
+# 
+#  Licensed under the Apache License, Version 2.0 (the "License"); you may not
+#  use this file except in compliance with the License. You may obtain a copy of
+#  the License at
+# 
+#  http://www.apache.org/licenses/LICENSE-2.0
+# 
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+#  WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+#  License for the specific language governing permissions and limitations under
+#  the License.
+
+# Configuration file for Sonar Scanner used for CI 
+
+sonar.projectKey=usdot-fhwa-stol_CARMAAvtVimbaDriver
+sonar.organization=usdot-fhwa-stol
+sonar.cfamily.build-wrapper-output=/opt/carma/bw-output
+sonar.host.url=https://sonarcloud.io
+sonar.sources=src/
+# TODO Uncomment following line when tests are added
+#sonar.tests=test/
+# Disable SCM sensor as it is unused but generates warning
+sonar.scm.disabled=false
+sonar.scm.enabled=true
+sonar.scm.provider=git