diff --git a/.downstream_ci.rosinstall b/.downstream_ci.rosinstall
new file mode 100644
index 0000000..a612a65
--- /dev/null
+++ b/.downstream_ci.rosinstall
@@ -0,0 +1,10 @@
+- git: {local-name: rosparam_handler, uri: 'https://github.com/cbandera/rosparam_handler.git', version: master}
+- git: {local-name: laser_odometry_csm, uri: 'https://github.com/artivis/laser_odometry_csm', version: master}
+- git: {local-name: libnabo, uri: 'https://github.com/ethz-asl/libnabo', version: master}
+- git: {local-name: libpointmatcher, uri: 'https://github.com/ethz-asl/libpointmatcher', version: master}
+- git: {local-name: laser_odometry_libpointmatcher, uri: 'https://github.com/artivis/laser_odometry_libpointmatcher', version: master}
+- git: {local-name: laser_odometry_polar, uri: 'https://github.com/artivis/laser_odometry_polar', version: master}
+- git: {local-name: rf2o_laser_odometry, uri: 'https://github.com/artivis/rf2o_laser_odometry.git', version: devel}
+- git: {local-name: laser_odometry_rf2o, uri: 'https://github.com/artivis/laser_odometry_rf2o', version: master}
+- git: {local-name: srf_laser_odometry, uri: 'https://github.com/artivis/srf_laser_odometry.git', version: devel}
+- git: {local-name: laser_odometry_srf, uri: 'https://github.com/artivis/laser_odometry_srf', version: master}
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 4beaedf..c6ee31b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,13 +15,27 @@ jobs:
   industrial_ci:
     strategy:
       matrix:
+        ros_distro: [ melodic, noetic ]
+        ros_repo: [ main, testing ]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v1
+      - uses: 'ros-industrial/industrial_ci@master'
         env:
-          - {ROS_DISTRO: melodic, ROS_REPO: testing}
-          - {ROS_DISTRO: melodic, ROS_REPO: main}
-          - {ROS_DISTRO: noetic, ROS_REPO: testing}
-          - {ROS_DISTRO: noetic, ROS_REPO: main}
+          ROS_DISTRO: ${{ matrix.ros_distro }}
+          ROS_REPO: ${{ matrix.ros_repo }}
+
+  downstream_ci:
+    needs: [industrial_ci]
+    strategy:
+      matrix:
+        ros_distro: [ melodic, noetic ]
+        ros_repo: [ main, testing ]
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v1
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+        env:
+          ROS_DISTRO: ${{ matrix.ros_distro }}
+          ROS_REPO: ${{ matrix.ros_repo }}
+          DOWNSTREAM_WORKSPACE: .downstream_ci.rosinstall