diff --git a/industrial_ci/CMakeLists.txt b/industrial_ci/CMakeLists.txt
index dbca39770..b9b4b6d72 100644
--- a/industrial_ci/CMakeLists.txt
+++ b/industrial_ci/CMakeLists.txt
@@ -22,7 +22,7 @@ else()
     message(FATAL_ERROR "ROS_VERSION is neither 1 nor 2")
 endif()
 
-install(PROGRAMS scripts/run_ci scripts/rerun_ci scripts/run_travis
+install(PROGRAMS scripts/run_ci scripts/rerun_ci scripts/run_travis scripts/run_gha
     DESTINATION ${${PROJECT_NAME}_BIN_DESTINATION}
 )
 
diff --git a/industrial_ci/python/industrial_ci/common.py b/industrial_ci/python/industrial_ci/common.py
new file mode 100644
index 000000000..90adac226
--- /dev/null
+++ b/industrial_ci/python/industrial_ci/common.py
@@ -0,0 +1,148 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Copyright (c) 2017, Mathias Lüdtke
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+
+import difflib
+import os
+import os.path
+import re
+import subprocess
+import sys
+
+import yaml
+
+# find config file either in first argument or curret working directory
+def find_config_file(args, names):
+    def test_file(dir): # test if one of the file names is present
+        for n in  names:
+            p = os.path.join(dir, n)
+            if os.path.isfile(p):
+                return os.path.abspath(p)
+        return None
+
+    if len(args) >  0: # test first argument if available
+        arg0=args[0]
+        if os.path.isfile(arg0):
+            return os.path.abspath(arg0),args[1:]
+        p = test_file(arg0)
+        if p is not None:
+            return p, args[1:]
+    return test_file(os.getcwd()), args
+
+# parse range tuples from arguments
+def parse_ranges(args, offset=0):
+    r = []
+    def apply_offset(i): # adjust for user offsets
+        ao = int(i) + offset
+        if ao < 0:
+            raise ValueError("%s is not in supported range" % str(i))
+        return ao
+
+    for a in args:
+        if '-' in a: # range string
+            p1, p2 = a.split('-', 2)
+            if p1 == '' and len(r) == 0: # -X
+                p1 = 0
+            else: # X-[Y]
+                p1 = apply_offset(p1)
+            if p2 == '': # [X]-
+                r.append((p1, -1))
+                break
+            r.append((p1, apply_offset(p2)+1)) # X-Y
+        else:
+            i = apply_offset(a)
+            r.append((i, i+1))
+    return r
+
+def apply_ranges(ranges, num):
+    for start,end  in ranges:
+        if end == -1:
+            end = num
+        for i in range(start,end):
+            yield i
+
+
+def read_yaml(p):
+    with open(p) as f:
+        return yaml.safe_load(f)
+
+def read_allow_failures(config):
+    try:
+        af =  config['matrix']['allow_failures']
+    except:
+        return list()
+    return list(x['env'] for x in af)
+
+def read_num_include(config):
+    try:
+        return len(config['matrix']['include'])
+    except:
+        return 0
+
+def parse_extra_args(args):
+    try:
+        extra = args.index('--')
+        return args[0:extra], args[extra+1:]
+    except ValueError:
+        return args, []
+
+env_assigment = re.compile(r"[a-zA-Z_][a-zA-Z0-9_]*=")
+def gen_env(e):
+    if env_assigment.match(e):
+        return e
+    return '%s=%s' % (e, os.getenv(e, ''))
+
+# from https://github.com/travis-ci/travis-build/blob/73bf69a439bb546520a5e5b6b6847fb5424a7c9f/lib/travis/build/env/var.rb#L5
+travis_env = re.compile(r"([\w]+)=((?:[^\"'`\ ]?(\"|'|`).*?((?<!\\)\3))+|(?:[^\$]?\$\(.*?\))+|[^\"'\ ]+|(?=\s)|\Z)")
+def filter_env(e):
+    return ' '.join(map(lambda m: m.group(0), travis_env.finditer(e)))
+
+def highlight_diff(e, n=''):
+    f = filter_env(e)
+    def mark(d):
+        tag, chunk = d[0:2], d[2:]
+        return chunk if tag == "  " or not chunk.strip(' ') else "\033[1;41m%s\033[1;%sm" % (chunk, str(n))
+    return ''.join(mark(d) for d in difflib.ndiff(e, f, None, None))
+
+def print_help(cmd):
+    print("""
+Usage: %s [PATH] [RANGE*] [-- [ENV[=VALUE]*]]
+
+Parses the travis config in the given path or in the current working directory and runs all specified tests sequentially
+If no range is given, the list of jobs will get printed.
+
+The number of tests can be reduced by specifying one or more ranges:
+* single job: 1 (only first)
+* range: 2-3 (only second and third)
+* open start, only as first range: -4 (jobs 1 to 4)
+* open end, only as last range: 7- (job 7 and all following jobs)
+* open range: - (all jobs)
+
+Complex examples for a matrix wih 12 jobs:
+
+* -4 7 8: runs jobs 1 2 3 4 7 8
+* 1 7-9: runs jobs 1 7 8 9
+* 1 7-9 11-: runs jobs 1 7 8 9 11 12
+* -: runs all jobs
+
+The jobs will be run in clean environments.
+Only DOCKER_PORT, SSH_AUTH_SOCK, and TERM will be kept.
+Additional variable names can be passed at the end.
+
+""" % cmd)
diff --git a/industrial_ci/python/industrial_ci/gha.py b/industrial_ci/python/industrial_ci/gha.py
new file mode 100644
index 000000000..1dc6b659b
--- /dev/null
+++ b/industrial_ci/python/industrial_ci/gha.py
@@ -0,0 +1,97 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# Copyright (c) 2017, Mathias Lüdtke
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+
+import difflib
+import os
+import os.path
+import re
+import subprocess
+import sys
+
+import yaml
+
+from industrial_ci.common import *
+
+# read global and job-specific envs from
+def read_env(env):
+    m = []
+    g = ''
+    if isinstance(env, dict):
+        for l in env['strategy']['matrix']['include']:
+            job_env = ''
+            for key, value in l.items():
+                job_env += key+"='"+str(value) + "' " # adds a space to every element
+            job_env = job_env[:-1] # remove space from last element
+            m.append(job_env)
+        for key, value in env['env'].items():
+            g += " "+key+"='"+str(value)+"'"
+    return g, m
+
+def main(scripts_dir, argv):
+    if '--help' in argv:
+        print_help(argv[0])
+        sys.exit(0)
+
+    args, extra_env = parse_extra_args(argv[1:])
+
+    path, args = find_config_file(args, ['.github/workflows/main.yml','.github/workflows/main.yaml'])
+    config = read_yaml(path)
+    global_env, job_envs = read_env(config['jobs']['industrial_ci'])
+    allow_failures = read_allow_failures(config)
+    job_envs =   [ x for x in job_envs if x not in allow_failures ] \
+               + [None] * read_num_include(config) \
+               + [ x for x in job_envs if x in allow_failures ]
+
+    if len(args) == 0:
+        if(len(global_env) > 0):
+            print('Globals: %s' % str(highlight_diff(global_env)))
+        jobs = len(job_envs)
+        digits = len(str(jobs))
+        for i in range(jobs):
+            print('Job %s%s: %s' % ( str(i+1).rjust(digits),
+                                     ' (allow_failures)' if job_envs[i] in allow_failures else '',
+                                     highlight_diff(job_envs[i]) if job_envs[i] is not None else "<unsupported job from 'include' section>"))
+        print("run all with %s -" % sys.argv[0])
+        sys.exit(0)
+
+    ranges = parse_ranges(args, -1)
+
+    run_ci = [os.path.join(scripts_dir, "run_ci"), os.path.dirname(path), filter_env(global_env)]
+    run_ci_diff = [os.path.join(scripts_dir, "run_ci"), os.path.dirname(path), highlight_diff(global_env, 44)]
+
+    bash = ['env', '-i'] +list(map(gen_env, ['DOCKER_PORT', 'HOME', 'PATH', 'SSH_AUTH_SOCK', 'TERM'])) + ['bash','-e']
+
+    selection = set(apply_ranges(ranges, len(job_envs)))
+
+    for i in selection:
+        if job_envs[i] is None:
+            print("\033[1;43mSkipped job %d, because jobs from 'include' section are not supported\033[1;m" %(i+1,))
+            continue
+        cmd = ' '.join(run_ci + [filter_env(job_envs[i])] + list(map(gen_env, extra_env)))
+        cmd_diff = ' '.join(run_ci_diff + [highlight_diff(job_envs[i], 44)] + list(map(gen_env, extra_env)))
+        print('\033[1;44mRunning job %d%s: %s\033[1;m' %(i+1, ' (allow_failures)' if job_envs[i] in allow_failures else '', cmd_diff))
+
+        proc = subprocess.Popen(bash, stdin=subprocess.PIPE)
+        proc.communicate(cmd.encode())
+        if proc.returncode:
+            print('\033[1;41mFailed job %d: %s\033[1;m' %(i+1, cmd))
+            if job_envs[i] not in allow_failures:
+                sys.exit(proc.returncode)
+
diff --git a/industrial_ci/python/industrial_ci/travis.py b/industrial_ci/python/industrial_ci/travis.py
index 8494bb51e..e8ff3daa9 100644
--- a/industrial_ci/python/industrial_ci/travis.py
+++ b/industrial_ci/python/industrial_ci/travis.py
@@ -27,60 +27,7 @@
 
 import yaml
 
-# find config file either in first argument or curret working directory
-def find_config_file(args, names):
-    def test_file(dir): # test if one of the file names is present
-        for n in  names:
-            p = os.path.join(dir, n)
-            if os.path.isfile(p):
-                return os.path.abspath(p)
-        return None
-
-    if len(args) >  0: # test first argument if available
-        arg0=args[0]
-        if os.path.isfile(arg0):
-            return os.path.abspath(arg0),args[1:]
-        p = test_file(arg0)
-        if p is not None:
-            return p, args[1:]
-    return test_file(os.getcwd()), args
-
-# parse range tuples from arguments
-def parse_ranges(args, offset=0):
-    r = []
-    def apply_offset(i): # adjust for user offsets
-        ao = int(i) + offset
-        if ao < 0:
-            raise ValueError("%s is not in supported range" % str(i))
-        return ao
-
-    for a in args:
-        if '-' in a: # range string
-            p1, p2 = a.split('-', 2)
-            if p1 == '' and len(r) == 0: # -X
-                p1 = 0
-            else: # X-[Y]
-                p1 = apply_offset(p1)
-            if p2 == '': # [X]-
-                r.append((p1, -1))
-                break
-            r.append((p1, apply_offset(p2)+1)) # X-Y
-        else:
-            i = apply_offset(a)
-            r.append((i, i+1))
-    return r
-
-def apply_ranges(ranges, num):
-    for start,end  in ranges:
-        if end == -1:
-            end = num
-        for i in range(start,end):
-            yield i
-
-
-def read_yaml(p):
-    with open(p) as f:
-        return yaml.safe_load(f)
+from industrial_ci.common import *
 
 # read global and job-specific envs from
 def read_env(env):
@@ -92,71 +39,6 @@ def read_env(env):
             g = ' '.join(env['global'])
     return g, m
 
-def read_allow_failures(config):
-    try:
-        af =  config['matrix']['allow_failures']
-    except:
-        return list()
-    return list(x['env'] for x in af)
-
-def read_num_include(config):
-    try:
-        return len(config['matrix']['include'])
-    except:
-        return 0
-
-def parse_extra_args(args):
-    try:
-        extra = args.index('--')
-        return args[0:extra], args[extra+1:]
-    except ValueError:
-        return args, []
-
-env_assigment = re.compile(r"[a-zA-Z_][a-zA-Z0-9_]*=")
-def gen_env(e):
-    if env_assigment.match(e):
-        return e
-    return '%s=%s' % (e, os.getenv(e, ''))
-
-# from https://github.com/travis-ci/travis-build/blob/73bf69a439bb546520a5e5b6b6847fb5424a7c9f/lib/travis/build/env/var.rb#L5
-travis_env = re.compile(r"([\w]+)=((?:[^\"'`\ ]?(\"|'|`).*?((?<!\\)\3))+|(?:[^\$]?\$\(.*?\))+|[^\"'\ ]+|(?=\s)|\Z)")
-def filter_env(e):
-    return ' '.join(map(lambda m: m.group(0), travis_env.finditer(e)))
-
-def highlight_diff(e, n=''):
-    f = filter_env(e)
-    def mark(d):
-        tag, chunk = d[0:2], d[2:]
-        return chunk if tag == "  " or not chunk.strip(' ') else "\033[1;41m%s\033[1;%sm" % (chunk, str(n))
-    return ''.join(mark(d) for d in difflib.ndiff(e, f, None, None))
-
-def print_help(cmd):
-    print("""
-Usage: %s [PATH] [RANGE*] [-- [ENV[=VALUE]*]]
-
-Parses the travis config in the given path or in the current working directory and runs all specified tests sequentially
-If no range is given, the list of jobs will get printed.
-
-The number of tests can be reduced by specifying one or more ranges:
-* single job: 1 (only first)
-* range: 2-3 (only second and third)
-* open start, only as first range: -4 (jobs 1 to 4)
-* open end, only as last range: 7- (job 7 and all following jobs)
-* open range: - (all jobs)
-
-Complex examples for a matrix wih 12 jobs:
-
-* -4 7 8: runs jobs 1 2 3 4 7 8
-* 1 7-9: runs jobs 1 7 8 9
-* 1 7-9 11-: runs jobs 1 7 8 9 11 12
-* -: runs all jobs
-
-The jobs will be run in clean environments.
-Only DOCKER_PORT, SSH_AUTH_SOCK, and TERM will be kept.
-Additional variable names can be passed at the end.
-
-""" % cmd)
-
 def main(scripts_dir, argv):
     if '--help' in argv:
         print_help(argv[0])
diff --git a/industrial_ci/scripts/run_gha b/industrial_ci/scripts/run_gha
new file mode 100755
index 000000000..6e36c8be0
--- /dev/null
+++ b/industrial_ci/scripts/run_gha
@@ -0,0 +1,29 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+# Copyright (c) 2017, Mathias Lüdtke
+# All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os.path
+import sys
+
+try:
+    from industrial_ci.gha import main
+except ImportError:
+    sys.path.append(os.path.join(os.path.dirname(__file__), '..', 'python'))
+    from industrial_ci.gha import main
+
+if __name__ == "__main__":
+    main(os.path.abspath(os.path.dirname(__file__)), sys.argv)