diff --git a/circle.yml b/circle.yml
new file mode 100644
index 0000000..041b59c
--- /dev/null
+++ b/circle.yml
@@ -0,0 +1,40 @@
+machine:
+  services:
+    - docker
+  environment:
+    HOME_BUILD: ${HOME}/build
+    ROS2WS: ${HOME_BUILD}/ros2_java_ws
+
+dependencies:
+  cache_directories:
+    - .autoconf
+    - $HOME/.m2
+    - $HOME/.gradle
+  override:
+    - docker login -u ${DOCKER_USERNAME} -p ${DOCKER_PASSWORD} -e ${DOCKER_EMAIL}
+    - docker pull theosakamg7/ros2java:latest
+    - mkdir ${HOME_BUILD} && cd ${HOME_BUILD}
+    #- env | grep -E '^CIRCLE_' > .env
+    #- env | grep -E '^COVERALLS_' >> .env
+    #- env | grep -E '^CI_' >> .env
+    - echo -e "CI_BUILD_NUMBER=$TRAVIS_BUILD_NUMBER\nCI_PULL_REQUEST=$TRAVIS_PULL_REQUEST\nCI_BRANCH=$TRAVIS_BRANCH\nCI_BUILD_URL=$" >> .env
+    - echo "INSTALL/BUILD ROS2 AMENT..."
+    - cd ${HOME_BUILD} && mkdir -p ${HOME_BUILD}/ament_ws/src && cd ${HOME_BUILD}/ament_ws
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "ls -lFa && /usr/bin/wget https://gist.githubusercontent.com/Theosakamg/e6084cfafa6b7ea690104424cef970a2/raw/ament_java.repos"
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "ls -lFa && /usr/bin/vcs import src < ament_java.repos"
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "src/ament/ament_tools/scripts/ament.py build --symlink-install --isolated"
+    - echo "INSTALL ROS2 WS..."
+    - cd ${HOME_BUILD} && mkdir -p ${ROS2WS}/src && cd ${ROS2WS}
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/wget https://gist.githubusercontent.com/Theosakamg/d9259bbc708c5145255fbdeb25e65e19/raw/ros2_java_desktop.repos"
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` -w `pwd` theosakamg7/ros2java:latest sh -c "/usr/bin/vcs import src < ros2_java_desktop.repos"
+    - cd ${ROS2WS}/src/ros2/rosidl_typesupport && patch -p1 < ../../ros2_java/ros2_java/rosidl_ros2_java.diff
+    - cd ${ROS2WS}/src/eProsima/Fast-RTPS && git submodule init && git submodule update
+    - rm -rf ${ROS2WS}/src/ros2_java/ros2_java_utils && ln -s ${HOME_BUILD}/ros2java-alfred/ros2_java_utils ${ROS2WS}/src/ros2_java/ros2_java_utils
+    - echo "BUILD ROS2 WS..."
+    - cd ${HOME_BUILD} && docker run -u "$UID" -it --rm -v `pwd`:`pwd` --env-file .env -w `pwd` theosakamg7/ros2java:latest sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && ament build --symlink-install --isolated --skip-packages ${PKG_EXCLUDE} --ament-gradle-args --parallel --daemon --configure-on-demand"
+
+test:
+  override:
+    - cd $HOME_BUILD
+    - docker run -u "$UID" -it --rm -v `pwd`:`pwd` --env-file .env -w `pwd` theosakamg7/ros2java:latest sh -c ". ament_ws/install_isolated/local_setup.sh && cd /home/travis/build/ros2_java_ws && . ./install_isolated/local_setup.sh && ament test --symlink-install --isolated --only-packages rcljava_utils --ament-gradle-args --parallel --daemon --configure-on-demand"
+