diff --git a/.github/workflows/build_test.yml b/.github/workflows/build_test.yml
index 3b3ed619..07924f76 100644
--- a/.github/workflows/build_test.yml
+++ b/.github/workflows/build_test.yml
@@ -3,13 +3,16 @@ name: Build and Test
 on:
   push:
     branches:
-      - 'ros2'
+      - 'main'
   pull_request:
     branches:
-      - 'ros2/*'
-      - 'ros2'
+      - 'main/*'
+      - 'main'
   workflow_dispatch:
 
+env:
+  ROS_WORKSPACE_PATH: colcon_ws/src
+
 jobs:
   get_ros_distros:
     runs-on: ubuntu-latest
@@ -74,34 +77,44 @@ jobs:
       image: rostooling/setup-ros-docker:${{ matrix.docker_image }}
     steps:
       - name: Setup Directories
-        run: mkdir -p ros_ws/src
+        run: mkdir -p $ROS_WORKSPACE_PATH
       - name: checkout
         uses: actions/checkout@v4
         with:
-          path: ros_ws/src
-      - name: Build and Test ROS 2
-        id: build_and_test_step
-        uses: ros-tooling/action-ros-ci@master
+          path: $ROS_WORKSPACE_PATH/usb_cam
+      - name: build
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon build --packages-select usb_cam
+      - name: unit tests
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon test --packages-select usb_cam
+      # Compile again, this time enabling integration tests
+      - name: Build integration tests
+        shell: bash
+        run: |
+          source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+          cd $ROS_WORKSPACE_PATH
+          colcon build --packages-select usb_cam --cmake-args -DSANITIZE=1 -DINTEGRATION_TESTS=1
+      - name: Run integration tests
+        uses: antmicro/renode-linux-runner-action@v1
         with:
-          package-name: usb_cam
-          target-ros2-distro: ${{ matrix.ros_distro }}
-          vcs-repo-file-url: ""
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          # If possible, pin the repository in the workflow to a specific commit to avoid
-          # changes in colcon-mixin-repository from breaking your tests.
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/1ddb69bedfd1f04c2f000e95452f7c24a4d6176b/index.yaml
-      - uses: actions/upload-artifact@v1
+          shared-dirs: |
+            $ROS_WORKSPACE_PATH/build/usb_cam
+          renode-run: ./test_usb_cam_lib
+          devices: vivid
+      - uses: actions/upload-artifact@v4
         with:
           name: colcon-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/log
         if: always()
         continue-on-error: true
-      - uses: actions/upload-artifact@v1
+      - uses: actions/upload-artifact@v4
         with:
           name: lcov-logs-${{ matrix.ros_distro }}
           path: ${{ steps.build_and_test_step.outputs.ros-workspace-directory-name }}/lcov