diff --git a/.github/workflows/pybind-ci.yml b/.github/workflows/pybind-ci.yml
new file mode 100644
index 00000000..5d94c610
--- /dev/null
+++ b/.github/workflows/pybind-ci.yml
@@ -0,0 +1,22 @@
+name: Cpp
+
+on:
+  push:
+  pull_request:
+    branches: 
+      - main
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        os: [ ubuntu-22.04, ubuntu-20.04 ]
+    runs-on: ${{ matrix.os }}
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        recursive: true
+    - name: Install dependencies
+      run: sudo apt-get install -y build-essential cmake libasio-dev python3-dev
+    - name: Build python package
+      run: python setup.py build_ext --inplace
diff --git a/README.md b/README.md
index 2c1aa0aa..5d40c276 100755
--- a/README.md
+++ b/README.md
@@ -73,6 +73,10 @@ $ cmake .. && make
 
 If you need Python binding, you can build the package with the following command
 
+```bash
+$ sudo apt-get install python3-dev
+```
+
 ```
 $ git clone --recursive https://github.com/westonrobot/ugv_sdk.git
 $ cd ugv_sdk