diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build.yml
new file mode 100644
index 0000000..d49775b
--- /dev/null
+++ b/.github/workflows/foxy-binary-build.yml
@@ -0,0 +1,50 @@
+name: Foxy Binary Build
+
+on:
+  push:
+    branches: [ develop ]
+  pull_request:
+    branches: [ develop ]
+
+jobs:
+  foxy_binary:
+    name: Foxy binary job
+    runs-on: ubuntu-20.04
+    container:
+      image: osrf/ros:foxy-desktop
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: foxy
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          sudo apt-get update && sudo apt-get install -y \
+          libeigen3-dev \
+          ros-foxy-xacro \
+          ros-foxy-tinyxml2-vendor \
+          ros-foxy-ros2-control \
+          ros-foxy-realtime-tools \
+          ros-foxy-control-toolbox \
+          ros-foxy-moveit \
+          ros-foxy-ros2-controllers \
+          ros-foxy-test-msgs \
+          ros-foxy-joint-state-publisher \
+          ros-foxy-joint-state-publisher-gui \
+          ros-foxy-robot-state-publisher
+      - name: Build and run tests
+        id: action-ros-ci
+        uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          package-name: |
+            flexiv_bringup
+            flexiv_controllers
+            flexiv_description
+            flexiv_hardware
+            flexiv_moveit_config
+            flexiv_msgs
+            flexiv_test_nodes
+          skip-tests: true
diff --git a/.github/workflows/build.yml b/.github/workflows/foxy-source-build.yml
similarity index 100%
rename from .github/workflows/build.yml
rename to .github/workflows/foxy-source-build.yml