diff --git a/.ci/build.sh b/.ci/build.sh
new file mode 100755
index 0000000000..b901a85502
--- /dev/null
+++ b/.ci/build.sh
@@ -0,0 +1,94 @@
+#!/bin/bash
+
+set -e
+
+trap 'last_command=$current_command; current_command=$BASH_COMMAND' DEBUG
+trap 'echo "$0: \"${last_command}\" command failed with exit code $?"' ERR
+
+VARIANT=$1
+WORKSPACE=/tmp/workspace
+ARCH=$(uname -m)
+YAML_FILE=packages.yaml
+ARTIFACTS_FOLDER=/tmp/artifacts
+
+./.ci_scripts/package_build/install_ros.sh
+
+if [[ "$VARIANT" == "stable" ]]; then
+  ./.ci_scripts/package_build/add_ctu_mrs_stable_ppa.sh
+else
+  ./.ci_scripts/package_build/add_ctu_mrs_unstable_ppa.sh
+fi
+
+# dependencies need for build the deb package
+sudo apt-get -y install ros-noetic-catkin python3-catkin-tools
+sudo apt-get -y install fakeroot dpkg-dev debhelper
+sudo pip3 install -U bloom
+
+REPOS=$(./.ci/parse_yaml.py $YAML_FILE $VARIANT $ARCH)
+
+[ -d $WORKSPACE ] && rm -rf $WORKSPACE
+[ -d $ARTIFACTS_FOLDER ] && rm -rf $ARTIFACTS_FOLDER
+
+mkdir -p $WORKSPACE
+mkdir -p $ARTIFACTS_FOLDER
+
+cd $WORKSPACE
+mkdir src
+catkin init
+
+cd src
+
+# clone and checkout
+echo "$REPOS" | while IFS= read -r REPO; do
+
+  PACKAGE=$(echo "$REPO" | awk '{print $1}')
+  URL=$(echo "$REPO" | awk '{print $2}')
+  BRANCH=$(echo "$REPO" | awk '{print $3}')
+
+  git clone $URL $PACKAGE
+  cd $PACKAGE
+  git checkout $BRANCH
+  git submodule update --init --recursive
+
+  cd $WORKSPACE/src
+
+done
+
+BUILD_ORDER=$(catkin list -u)
+
+echo ""
+echo "$0: catking reported following topological build order:"
+echo "$BUILD_ORDER"
+echo ""
+
+touch $ARTIFACTS_FOLDER/generated.yaml
+
+for PACKAGE in $BUILD_ORDER; do
+
+  PKG_PATH=$(catkin locate $PACKAGE)
+
+  echo "$0: cding to '$PKG_PATH'"
+  cd $PKG_PATH
+
+  rosdep install -y -v --rosdistro=noetic --from-paths ./
+
+  export DEB_BUILD_OPTIONS="parallel=`nproc`"
+  bloom-generate rosdebian --os-name ubuntu --os-version focal --ros-distro noetic
+
+  fakeroot debian/rules "binary --parallel"
+
+  sudo apt-get -y install ../*.deb
+  DEB_NAME=$(dpkg --field ../*.deb | grep Package | awk '{print $2}')
+  mv ../*.deb $ARTIFACTS_FOLDER
+
+  echo "$PACKAGE:
+  ubuntu: [$DEB_NAME]
+" >> $ARTIFACTS_FOLDER/generated.yaml
+
+done
+
+echo ""
+echo "$0: the generated rosdep file follows:"
+echo ""
+cat $ARTIFACTS_FOLDER/generated.yaml
+echo ""
diff --git a/.ci/parse_yaml.py b/.ci/parse_yaml.py
new file mode 100755
index 0000000000..edc1ceb56c
--- /dev/null
+++ b/.ci/parse_yaml.py
@@ -0,0 +1,40 @@
+#!/usr/bin/env python
+
+import yaml
+import sys
+
+def main():
+
+    if len(sys.argv) == 4:
+        file_path = sys.argv[1]
+        variant = sys.argv[2]
+        build_for = sys.argv[3]
+    else:
+        return
+
+    with open(file_path, "r") as file:
+
+        try:
+            data = yaml.safe_load(file)
+        except yaml.YAMLError as exc:
+            print(exc)
+
+        for package in data:
+
+            properties = data[package]
+
+            architecture = properties['architecture']
+
+            url = properties['source']
+
+            if build_for in architecture:
+
+                if variant == "stable":
+                    ref = properties['stable_ref'] 
+                else:
+                    ref = properties['unstable_ref'] 
+
+                print("{} {} {}".format(package, url, ref))
+
+if __name__ == '__main__':
+    main()
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000000..59e54960fd
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,40 @@
+name: ros_package_build
+
+on:
+
+  push:
+    branches: [ master ]
+
+  pull_request:
+    branches: [ master ]
+
+  workflow_dispatch:
+
+jobs:
+
+  build_amd64:
+    runs-on: ubuntu-20.04
+
+    env:
+      PUSH_TOKEN: ${{ secrets.PUSH_TOKEN }}
+
+    steps:
+
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 1
+          submodules: 'recursive'
+
+      - name: Checkout CI scripts
+        uses: actions/checkout@v3
+        with:
+          repository: ctu-mrs/ci_scripts
+          ref: master
+          path: .ci_scripts
+          token: ${{ secrets.PUSH_TOKEN }}
+
+      - name: Build
+        run: .ci/build.sh unstable
+
+      - name: Deploy
+        run: .ci_scripts/package_build/push_to_ppa.sh unstable /tmp/artifacts
diff --git a/act.sh b/act.sh
new file mode 100755
index 0000000000..dc40d806bd
--- /dev/null
+++ b/act.sh
@@ -0,0 +1,5 @@
+#!/bin/bash
+
+act -s RELEASE_KEY="$(cat ~/.gpg/ctu-mrs.key)" -s PUSH_TOKEN="$GITHUB_TOKEN2"
+# act -s RELEASE_KEY="$(cat ~/.gpg/ctu-mrs.key)" -j build
+# act -j build
diff --git a/packages.yaml b/packages.yaml
new file mode 100644
index 0000000000..bb3feb974d
--- /dev/null
+++ b/packages.yaml
@@ -0,0 +1,119 @@
+mrs_uav_core:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_core
+  unstable_ref: master
+  stable_ref: release
+
+mrs_uav_gazebo_simulation:
+  architecture: [x86_64]
+  source: https://github.com/ctu-mrs/mrs_uav_gazebo_simulation
+  unstable_ref: master
+  stable_ref: release
+
+mrs_msgs:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_msgs
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_lib:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_lib
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_managers:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_managers
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_bumper:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_bumper
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_multirotor_simulator:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_multirotor_simulator
+  unstable_ref: master
+  stable_ref: release
+
+mrs_uav_controllers:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_controllers
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_general:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_general
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_hw_api:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_hw_api
+  unstable_ref: master
+  stable_ref: release
+
+mrs_uav_state_estimators:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_state_estimators
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_status:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_status
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_testing:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_testing
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_trackers:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_trackers
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_trajectory_generation:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_trajectory_generation
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_rviz_plugins:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_rviz_plugins
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_testing:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_testing
+  unstable_ref: hw_api_ci
+  stable_ref: release
+
+mrs_uav_px4_api:
+  architecture: [x86_64, aarch64]
+  source: https://github.com/ctu-mrs/mrs_uav_px4_api
+  unstable_ref: master
+  stable_ref: release
+
+mavlink_sitl_gazebo:
+  architecture: [x86_64]
+  source: https://github.com/ctu-mrs/mavlink_sitl_gazebo
+  unstable_ref: firmware_1.13.2-deb
+  stable_ref: release
+
+mavlink_gazebo_common_resources:
+  architecture: [x86_64]
+  source: https://github.com/ctu-mrs/mavlink_gazebo_common_resources
+  unstable_ref: hw_api
+  stable_ref: release