diff --git a/.github/workflows/bionic_build.yml b/.github/workflows/bionic_build.yml
new file mode 100644
index 00000000..928f84e3
--- /dev/null
+++ b/.github/workflows/bionic_build.yml
@@ -0,0 +1,54 @@
+name: Bionic-Build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  industrial_ci:
+    name: Melodic
+    runs-on: ubuntu-latest
+    env:
+      CI_NAME: Bionic-Build
+      OS_NAME: ubuntu
+      OS_CODE_NAME: bionic
+      ROS_DISTRO: melodic
+      ROS_REPO: main
+      NOT_TEST_BUILD: true
+      UPSTREAM_WORKSPACE: 'dependencies_ros1.rosinstall'
+      ROSDEP_SKIP_KEYS: "iwyu cmake_common_scripts"
+      CCACHE_DIR: "/home/runner/work/noether/noether/Bionic-Build/.ccache"
+      TARGET_CMAKE_ARGS: "-DNURBS_FOUND=TRUE"
+      DOCKER_IMAGE: "rosindustrial/noether:melodic"
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Free Disk Space
+        run: |
+          sudo swapoff -a
+          sudo rm -f /swapfile
+          sudo apt clean
+          docker rmi $(docker image ls -aq)
+          df -h
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+
+      - name: ccache cache files
+        uses: actions/cache@v1.1.0
+        with:
+          path: ${{ env.CI_NAME }}/.ccache
+          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ env.CI_NAME }}-ccache-
+
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{env}}
diff --git a/.github/workflows/focal_build.yml b/.github/workflows/focal_build.yml
new file mode 100644
index 00000000..172492ab
--- /dev/null
+++ b/.github/workflows/focal_build.yml
@@ -0,0 +1,54 @@
+name: Focal-Build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  industrial_ci:
+    name: Noetic
+    runs-on: ubuntu-latest
+    env:
+      CI_NAME: Focal-Build
+      OS_NAME: ubuntu
+      OS_CODE_NAME: focal
+      ROS_DISTRO: noetic
+      ROS_REPO: main
+      NOT_TEST_BUILD: true
+      UPSTREAM_WORKSPACE: 'dependencies_ros1.rosinstall'
+      ROSDEP_SKIP_KEYS: "iwyu cmake_common_scripts"
+      CCACHE_DIR: "/home/runner/work/noether/noether/Focal-Build/.ccache"
+      TARGET_CMAKE_ARGS: "-DNURBS_FOUND=TRUE"
+      DOCKER_IMAGE: "rosindustrial/noether:noetic"
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Free Disk Space
+        run: |
+          sudo swapoff -a
+          sudo rm -f /swapfile
+          sudo apt clean
+          docker rmi $(docker image ls -aq)
+          df -h
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+
+      - name: ccache cache files
+        uses: actions/cache@v1.1.0
+        with:
+          path: ${{ env.CI_NAME }}/.ccache
+          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ env.CI_NAME }}-ccache-
+
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{env}}
diff --git a/.github/workflows/xenial_build.yml b/.github/workflows/xenial_build.yml
new file mode 100644
index 00000000..3d612031
--- /dev/null
+++ b/.github/workflows/xenial_build.yml
@@ -0,0 +1,54 @@
+name: Xenial-Build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron: '0 5 * * *'
+
+jobs:
+  industrial_ci:
+    name: Kinetic
+    runs-on: ubuntu-latest
+    env:
+      CI_NAME: Xenial-Build
+      OS_NAME: ubuntu
+      OS_CODE_NAME: xenial
+      ROS_DISTRO: kinetic
+      ROS_REPO: main
+      NOT_TEST_BUILD: true
+      UPSTREAM_WORKSPACE: 'dependencies_ros1.rosinstall'
+      ROSDEP_SKIP_KEYS: "iwyu cmake_common_scripts"
+      CCACHE_DIR: "/home/runner/work/noether/noether/Xenial-Build/.ccache"
+      TARGET_CMAKE_ARGS: "-DNURBS_FOUND=TRUE"
+      DOCKER_IMAGE: "rosindustrial/noether:kinetic"
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Free Disk Space
+        run: |
+          sudo swapoff -a
+          sudo rm -f /swapfile
+          sudo apt clean
+          docker rmi $(docker image ls -aq)
+          df -h
+
+      - name: Prepare ccache timestamp
+        id: ccache_cache_timestamp
+        shell: cmake -P {0}
+        run: |
+          string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+          message("::set-output name=timestamp::${current_date}")
+
+      - name: ccache cache files
+        uses: actions/cache@v1.1.0
+        with:
+          path: ${{ env.CI_NAME }}/.ccache
+          key: ${{ env.CI_NAME }}-ccache-${{ steps.ccache_cache_timestamp.outputs.timestamp }}
+          restore-keys: |
+            ${{ env.CI_NAME }}-ccache-
+
+      - uses: 'ros-industrial/industrial_ci@master'
+        env: ${{env}}
diff --git a/.travis.yml b/.travis.yml
deleted file mode 100644
index 96a94e52..00000000
--- a/.travis.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-language: generic
-services:
-  - docker
-
-notifications:
-  email:
-    on_success: never
-    on_failure: never
-
-env:
-  global:
-    - NOT_TEST_BUILD=true
-    - UPSTREAM_WORKSPACE='dependencies_ros1.rosinstall'
-    - ROSDEP_SKIP_KEYS='iwyu cmake_common_scripts'
-    - ADDITIONAL_DEBS='iwyu'
-
-matrix:
-  include:
-    - env: ROS_DISTRO=kinetic DOCKER_IMAGE=rosindustrial/noether:kinetic
-    - env: ROS_DISTRO=melodic DOCKER_IMAGE=rosindustrial/noether:melodic TARGET_CMAKE_ARGS="-DNURBS_FOUND=true"
-    - env: ROS_DISTRO=noetic DOCKER_IMAGE=rosindustrial/noether:noetic
-    - env: ROS_DISTRO=noetic
-  allow_failures:
-    - env: ROS_DISTRO=kinetic DOCKER_IMAGE=rosindustrial/noether:kinetic
-
-install:
-  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci.git .industrial_ci -b master
-script:
-  - .industrial_ci/travis.sh
diff --git a/README.md b/README.md
index 766006ae..68c16431 100644
--- a/README.md
+++ b/README.md
@@ -2,6 +2,14 @@
 
 Tool path planning and surface segmenter
 
+## Build Status
+
+Platform             | CI Status
+---------------------|:---------
+Linux (Focal)        | [![Build Status](https://github.com/ros-industrial/noether/workflows/Focal-Build/badge.svg)](https://github.com/ros-industrial/noether/actions)
+Linux (Bionic)       | [![Build Status](https://github.com/ros-industrial/noether/workflows/Bionic-Build/badge.svg)](https://github.com/ros-industrial/noether/actions)
+Linux (Xenial)       | [![Build Status](https://github.com/ros-industrial/noether/workflows/Xenial-Build/badge.svg)](https://github.com/ros-industrial/noether/actions)
+
 ---
 ## Prerequisites
 - These packages run on Ubuntu 16.04 and ROS