diff --git a/.github/workflows/build_noetic.yml b/.github/workflows/build_noetic.yml
new file mode 100644
index 0000000..ca915ad
--- /dev/null
+++ b/.github/workflows/build_noetic.yml
@@ -0,0 +1,17 @@
+name: Builder Noetic
+
+on:
+  workflow_dispatch:
+  push:
+    paths:
+      - ros1.repos
+jobs:
+  build_testing:
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: qiayuanl/ros-deb-builder-action@main
+        with:
+          DEB_DISTRO: focal
+          ROS_DISTRO: noetic
+          REPOS_FILE: ros1.repos
+          SQUASH_HISTORY: true
diff --git a/ros1.repos b/ros1.repos
new file mode 100644
index 0000000..2ee6d61
--- /dev/null
+++ b/ros1.repos
@@ -0,0 +1,9 @@
+repositories:
+  rm_control:
+    type: git
+    url: https://github.com/rm-controls/rm_control.git
+    version: master
+  rm_controllers:
+    type: git
+    url: https://github.com/rm-controls/rm_controllers.git
+    version: master