diff --git a/.github/workflows/BuildAndRun.yaml b/.github/workflows/BuildAndRun.yaml
index fdf30f65e2a..12e53263b1d 100644
--- a/.github/workflows/BuildAndRun.yaml
+++ b/.github/workflows/BuildAndRun.yaml
@@ -18,6 +18,9 @@ on:
   push:
     branches:
       - master
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 jobs:
   job1:
     name: BuildAndRun
@@ -31,6 +34,7 @@ jobs:
       matrix:
         rosdistro: [humble]
         runs_on: [ubuntu-22.04] # macos-14 is added for arm support. See also https://x.com/github/status/1752458943245189120?s=20
+        cmake_build_type: [Debug, RelWithDebInfo, Release]
     steps:
       - name: Suppress warnings
         run: git config --global --add safe.directory '*'
@@ -74,7 +78,7 @@ jobs:
       - name: Build packages
         run: |
           source /opt/ros/${{ matrix.rosdistro }}/setup.bash
-          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }}
+          colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DBUILD_CPP_MOCK_SCENARIOS=ON -DBUILD_TESTING=true -DCMAKE_CXX_FLAGS='-fprofile-arcs -ftest-coverage' -DCMAKE_C_FLAGS='-fprofile-arcs -ftest-coverage' --packages-up-to ${{ steps.list_packages.outputs.package_list }}
         shell: bash
 
       - name: Colcon test