diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 2828786a..7df2f710 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -1,69 +1,24 @@
-name: SROS2 CI
+name: Test action-ros-ci
 on:
   pull_request:
   push:
-  schedule:
-    # Run daily
-    - cron:  '0 20 * * *'
 
 jobs:
-  # test_latest:
-  #   runs-on: ubuntu-latest
-  #   # 'osrf/ros2:devel' does *not* include RTI Connext or its' security plugins
-  #   # the former gets installed via rosdep in 'action-ros-ci' but the latter do *not* get installed
-  #   container: osrf/ros2:devel
-  #   steps:
-  #   - name: Install prerequisites for action-ros-ci and FastRTPS
-  #     run: |
-  #       apt-get -qq update
-  #       apt-get -qq upgrade -y
-  #       apt-get -qq install -y curl libasio-dev libssl-dev libtinyxml2-dev python3-colcon-coveragepy-result
-  #   - uses: ros-tooling/action-ros-ci@v0.3
-  #     with:
-  #       package-name: |
-  #         sros2
-  #         sros2_cmake
-  #         test_security
-  #       extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
-  #       target-ros2-distro: rolling
-  #       rosdep-skip-keys: rti-connext-dds-6.0.1
-  #   - name: Upload coverage to Codecov
-  #     uses: codecov/codecov-action@v1
-  #     if: github.event_name == 'pull_request' || (github.event_name == 'push' && github.ref == 'refs/heads/rolling')
-  #     with:
-  #       file: ros_ws/build/sros2/coverage.xml
-  #       flags: unittests
-  #       name: sros2-coverage
-  #       fail_ci_if_error: true
-  #   - name: Upload Logs
-  #     uses: actions/upload-artifact@v1
-  #     if: failure()
-  #     with:
-  #       name: colcon-logs
-  #       path: ros_ws/log
-  test_nightly:
+  test_latest:
     runs-on: ubuntu-latest
-    # 'osrf/ros2:nightly-rmw-nonfree' includes RTI Connext but
-    # does *not* include the security plugins or a license allowing the use of Security
-    container: osrf/ros2:nightly-rmw-nonfree
     steps:
-    - uses: actions/checkout@v2
-    - name: Installing dependencies
+    - uses: ros-tooling/setup-ros@v0.7
+    - name: Install prerequisites for action-ros-ci and FastRTPS
       run: |
         apt-get -qq update
         apt-get -qq upgrade -y
-        . /opt/ros/$ROS_DISTRO/setup.sh
-        rosdep update
-        DEBIAN_FRONTEND=noninteractive rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
-    - name: Build workspace
-      run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon build
-    - name: Test workspace
-      run: . /opt/ros/$ROS_DISTRO/setup.sh && colcon test --executor sequential --event-handlers console_direct+
-    - name: Check test results
-      run: colcon test-result
-    - name: Upload Logs
-      uses: actions/upload-artifact@v1
-      if: failure()
+        apt-get -qq install -y curl libasio-dev libssl-dev libtinyxml2-dev python3-colcon-coveragepy-result
+    - uses: ros-tooling/action-ros-ci@v0.3
       with:
-        name: colcon-logs
-        path: ros_ws/log
+        package-name: |
+          sros2
+          sros2_cmake
+          test_security
+        extra-cmake-args: '-DSECURITY=ON --no-warn-unused-cli'
+        target-ros2-distro: rolling
+        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos