diff --git a/.github/workflows/moma.yml b/.github/workflows/cd.yml
similarity index 97%
rename from .github/workflows/moma.yml
rename to .github/workflows/cd.yml
index 3eb1f751..08bc95e2 100644
--- a/.github/workflows/moma.yml
+++ b/.github/workflows/cd.yml
@@ -1,4 +1,4 @@
-name: moma CI & Docker
+name: moma CD
 
 on:
   push:
@@ -11,7 +11,6 @@ env:
   REGISTRY: ghcr.io
   # github.repository as <account>/<repo>
   IMAGE_NAME: ${{ github.repository }}
-  CATKIN_WS_PATH: /__w/moma/moma/moma_ws
 
 jobs:
   build-docker:
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 00000000..c62ac460
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,125 @@
+name: moma CI
+
+on:
+  push:
+    branches: [ "master" ]
+  pull_request:
+    branches: [ "master" ]
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+  CATKIN_WS_PATH: moma_ws
+
+jobs:
+  build-dev:
+    name: Build dev docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=dev
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/dev.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  build-robot:
+    name: Build robot docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=robot
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/robot.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max
+
+  # Checks out the demo branch and builds a docker image of that.
+  build-demo:
+    name: Build robot docker image
+    runs-on: ubuntu-latest
+    outputs:
+      docker_image_name: ${{ steps.meta.outputs.tags }}
+    steps:
+    - name: Check out moma repo
+      uses: actions/checkout@v3
+      with:
+        ref: demo
+        path: moma_ws/src/moma
+        submodules: recursive
+    - name: Set up Docker Buildx
+      uses: docker/setup-buildx-action@v2
+    - name: Log into registry ${{ env.REGISTRY }}
+      uses: docker/login-action@v2
+      with:
+        registry: ${{ env.REGISTRY }}
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    - name: Extract Docker metadata
+      id: meta
+      uses: docker/metadata-action@v4
+      with:
+        images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+        flavor: prefix=demo
+    - name: Build and push docker
+      uses: docker/build-push-action@v4
+      with:
+        context: ./moma_ws/src/moma/docker/
+        file: ./moma_ws/src/moma/docker/demo.Dockerfile
+        push: true
+        tags: ${{ steps.meta.outputs.tags }}
+        labels: ${{ steps.meta.outputs.labels }}
+        cache-from: type=gha
+        cache-to: type=gha,mode=max