diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release.yml
new file mode 100644
index 0000000000..c7b8304fde
--- /dev/null
+++ b/.github/workflows/pre-release.yml
@@ -0,0 +1,49 @@
+# This adds "pre-release" builds for Github Actions. These:
+#   - check if the package builds, installs without issues
+#   - if unit/system tests are defined, runs them
+# If these pass, we cover the general requirements of ROS-based repositories.
+#
+# These builds run on Github machines, but in the same environment and using the same flow as actual ROS
+# distro build farm releases, hence "pre-release".
+#
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the ros2-beta branch
+  push:
+    branches:
+      - ros2-beta
+  pull_request:
+    branches:
+      - ros2-beta
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+
+jobs:
+  build:
+    name: Build pre-release tests for ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [foxy, galactic]
+        include:
+        - ros_distro: 'foxy'
+          os: ubuntu-20.04
+        - ros_distro: 'galactic'
+          os: ubuntu-20.04
+          
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+
+    steps:
+      - uses: actions/checkout@v2
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
diff --git a/realsense2_camera/CMakeLists.txt b/realsense2_camera/CMakeLists.txt
index e55490d28c..d8f4edc027 100644
--- a/realsense2_camera/CMakeLists.txt
+++ b/realsense2_camera/CMakeLists.txt
@@ -238,27 +238,7 @@ install(DIRECTORY
 
 # Test
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  find_package(OpenCV REQUIRED)
-
-  ament_lint_auto_find_test_dependencies()
-
-  set(REALSENSE_DEVICE_PLUGIN FALSE)
-  if(${REALSENSE_DEVICE_PLUGIN})
-    ament_add_gtest(test_api test/test_api.cpp)
-  endif()
-  if(TARGET test_api)
-    target_include_directories(test_api PUBLIC
-      ${${PROJECT_NAME}_INCLUDE_DIRS}
-    )
-  ament_target_dependencies(test_api
-    OpenCV
-    rclcpp
-    sensor_msgs
-    nav_msgs
-    tf2
-    tf2_ros)
-  endif()
+# This does nothing for now, note that ROS build farm build with BUILD_TESTING=1
 endif()
 
 # Ament exports
diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
index 981421c90f..6c35dbde29 100644
--- a/realsense2_camera/package.xml
+++ b/realsense2_camera/package.xml
@@ -30,10 +30,6 @@
   <depend>diagnostic_updater</depend>
 
   <exec_depend>launch_ros</exec_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>libopencv-dev</test_depend>
   <build_depend>ros_environment</build_depend>
 
   <export>