diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 0000000..a85b791
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,27 @@
+## Jira Link: 
+
+## Description
+
+Describe problems, if any, clearly and concisely.
+Describe any changes that have been made in this pull request.
+
+## Type of Change
+
+- [ ] Bugfix
+- [ ] Enhancement
+- [ ] New feature
+- [ ] Breaking change (fix or feature that would cause the existing functionality to not work as expected)
+
+## How Has This Been Tested?
+
+- [ ] New unit tests added.
+- [ ] Manual tested.
+
+## Checklist:
+
+- [ ] Using Branch Name Convention
+    - `feature/JIRA-ID-SHORT-DESCRIPTION` if has a JIRA ticket
+    - `enhancement/SHORT-DESCRIPTION` if has/has no JIRA ticket and contain enhancement
+    - `hotfix/SHORT-DESCRIPTION` if the change doesn't need to be tested (urgent)
+- [ ] I have commented on my code, particularly in hard-to-understand areas.
+- [ ] I have made the documentation for the corresponding changes.
\ No newline at end of file
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 0000000..c0bef04
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,21 @@
+name: CI
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches: [master]
+jobs:
+  build-and-test:
+    name: Build and Test
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4.1.1
+        with:
+          path: hurocup
+
+      - name: Setup workspace
+        uses: ichiro-its/ros2-ws-action/setup@v1.0.1
+
+      - name: Build workspace
+        uses: ichiro-its/ros2-ws-action/build@v1.0.1
diff --git a/.github/workflows/dispatch-pr-bot.yml b/.github/workflows/dispatch-pr-bot.yml
new file mode 100644
index 0000000..016b0cb
--- /dev/null
+++ b/.github/workflows/dispatch-pr-bot.yml
@@ -0,0 +1,21 @@
+name: Dispatch Discord PR Bot
+
+on:
+  pull_request:
+    types: [opened, closed, reopened]
+  workflow_dispatch:
+
+jobs:
+  dispatch-discord-pr-bot:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: peter-evans/repository-dispatch@v3
+        with:
+          token: ${{ secrets.GH_TOKEN }}
+          repository: ichiro-its/${{ vars.DISCORD_PR_BOT_REPO }}
+          event-type: pull_request
+          client-payload: |
+            {
+              "repository": "${{ github.event.repository.name }}",
+              "pr_type": "${{ github.event.action || 'opened' }}"
+            }
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..ba1dde4
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.8)
+project(gyakuenki_cpp)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/include/gyakuenki_cpp/gyakuenki_cpp.hpp b/include/gyakuenki_cpp/gyakuenki_cpp.hpp
new file mode 100644
index 0000000..e69de29
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..eb27a66
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>gyakuenki_cpp</name>
+  <version>0.0.0</version>
+  <description>Inverse Perspective Mapping</description>
+  <maintainer email="faaizhaikal@gmail.com">faaiz</maintainer>
+  <license>MIT License</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/gyakuenki_cpp_main.cpp b/src/gyakuenki_cpp_main.cpp
new file mode 100644
index 0000000..e69de29