diff --git a/.github/workflows/scan_build.yml b/.github/workflows/scan_build.yml
new file mode 100644
index 0000000..9b14663
--- /dev/null
+++ b/.github/workflows/scan_build.yml
@@ -0,0 +1,163 @@
+name: scan_build
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron:  '0 9 * * 1' # 9:00am UTC, 1:00am PST every Monday.
+
+env:
+  PACKAGE_NAME: dsim-repos-index
+  ROS_DISTRO: dashing
+  ROS_WS: maliput_ws
+
+jobs:
+  compile_and_test:
+    name: Compile and test
+    runs-on: ubuntu-18.04
+    container:
+      image: ubuntu:18.04
+    strategy:
+      matrix:
+        sanitizer: [none, asan, ubsan]
+        include:
+          - sanitizer: none
+            COMPILER_FLAG: ''
+          - sanitizer: asan
+            COMPILER_FLAG: ' -DADDRESS_SANITIZER=On'
+          - sanitizer: ubsan
+            COMPILER_FLAG: ' -DUNDEFINED_SANITIZER=On'
+    env:
+      CC: clang
+      CXX: clang++
+      LINKER_PATH: /usr/bin/llvm-ld
+    steps:
+    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
+    - uses: ros-tooling/setup-ros@0.0.26
+    # install git from ppa since git 2.18+ is needed to fetch all branches from actions/checkout
+    # this step can be removed on 20.04
+    - name: install git from ppa
+      shell: bash
+      run: |
+        apt update;
+        apt install -y software-properties-common;
+        add-apt-repository -y -u ppa:git-core/ppa;
+        apt install -y git;
+    - uses: actions/checkout@v2
+      with:
+        path: dsim-repos-index
+    # clone private dependencies
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-dragway
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_dragway
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-multilane
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_multilane
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput_malidrive
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_malidrive
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/malidrive
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/malidrive
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/delphyne
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/delphyne
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/delphyne-gui
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/delphyne-gui
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/drake-vendor
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/drake_vendor
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-documentation
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_documentation
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-integration
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_integration
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-integration-tests
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_integration_tests
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
+    # install drake_vendor prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install drake_vendor prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/drake_vendor
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t drake .
+    # install delphyne prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    # install delphyne-gui prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne-gui prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne-gui
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    - name: clang 8 install
+      shell: bash
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/.github/clang_suite_installation.sh
+    # clone public dependencies
+    - name: vcs import
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: vcs import src < ${GITHUB_WORKSPACE}/${PACKAGE_NAME}/.github/dependencies.repos
+    - run: colcon graph
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+    - name: rosdep install
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        rosdep update;
+        rosdep install  -i -y --rosdistro ${ROS_DISTRO} \
+          --skip-keys "ignition-transport5 ignition-msgs2 ignition-math6 ignition-common3 ignition-gui0 ignition-rendering2 libqt5multimedia5 pybind11" \
+          --from-paths src
+    - name: scan_build
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        . /opt/ros/${ROS_DISTRO}/setup.bash;
+        ${GITHUB_WORKSPACE}/${PACKAGE_NAME}/tools/run_scan_build.py \
+          --cmake-args -DCMAKE_LINKER=/usr/bin/llvm-ld \
+          --event-handlers=console_direct+;