diff --git a/.cmake-format.py b/.cmake-format.py
new file mode 100644
index 0000000..3a7c5f5
--- /dev/null
+++ b/.cmake-format.py
@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+with section("format"):
+    command_case = "lower"
+
+with section("markup"):
+    enable_markup = False
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
new file mode 100644
index 0000000..6acd47b
--- /dev/null
+++ b/.github/workflows/test.yaml
@@ -0,0 +1,43 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+name: Test
+on:
+  push:
+    branches:
+      - '**'
+      - '!dependabot/**'
+    tags:
+      - '**'
+  pull_request:
+concurrency:
+  group: ${{ github.head_ref || github.sha }}-${{ github.workflow }}
+  cancel-in-progress: true
+jobs:
+  lint:
+    name: Lint
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install pre-commit
+        run: |
+          python -m pip install pre-commit
+      - uses: actions/cache@v4
+        with:
+          path: ~/.cache/pre-commit
+          key: pre-commit-${{ hashFiles('.pre-commit-config.yaml') }}
+      - name: Run pre-commit
+        run: |
+          pre-commit run --show-diff-on-failure --color=always --all-files
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..53805c3
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,19 @@
+# Copyright 2025 Enactic, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+repos:
+  - repo: https://github.com/cheshirekow/cmake-format-precommit
+    rev: v0.6.13
+    hooks:
+      - id: cmake-format
diff --git a/CMakeLists.txt b/CMakeLists.txt
index d56a33b..44de5f8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,14 +29,7 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY 
-launch
-meshes 
-rviz 
-urdf 
-# worlds 
-config
-DESTINATION share/${PROJECT_NAME}
-)
+install(DIRECTORY launch meshes rviz urdf config
+        DESTINATION share/${PROJECT_NAME})
 
 ament_package()