diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index de6a98c..dd06d4d 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,26 +1,44 @@
-image: rduweston/ubuntu-ci:melodic-bionic
-
-build:
+## Build and test as catkin package
+melodic-catkin-build:
   stage: build
+  image: rduweston/ubuntu-ci:melodic-bionic
   before_script:
-    - apt update && apt -y install libasio-dev ros-$ROS_DISTRO-teleop-twist-keyboard
+    - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
   script:
     - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
-    - cd /catkin_ws/src && git clone https://github.com/westonrobot/wrp_sdk.git
-    - cd /catkin_ws/src && cp -r $CI_BUILDS_DIR .
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
     - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
-#   artifacts:
-#     paths:
-#       - build/bin
-      # depending on your build setup it's most likely a good idea to cache outputs to reduce the build time
-      # cache:
-      #   paths:
-      #     - "*.o"
 
-# run tests using the binary built before
-# test:
-#   stage: test
-#   script:
-#     - ./build/bin/gtest_all
-#   dependencies:
-#     - build
+melodic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:melodic-bionic
+  before_script:
+    - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
+  script:
+    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
+
+noetic-catkin-build:
+  stage: build
+  image: rduweston/ubuntu-ci:noetic-focal
+  before_script:
+    - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
+  script:
+    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make"
+
+noetic-catkin-isolated-build:
+  stage: build
+  image: rduweston/ubuntu-ci:noetic-focal
+  before_script:
+    - apt update && apt -y install ros-$ROS_DISTRO-teleop-twist-keyboard
+  script:
+    - mkdir -p /catkin_ws/src && cd /catkin_ws/src && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_init_workspace"
+    - cd /catkin_ws/src && git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@gitlab.com/westonrobot/core/wrp_sdk.git
+    - cp -r /builds/$CI_PROJECT_PATH /catkin_ws/src/scout_base
+    - cd /catkin_ws && /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin_make_isolated --install"
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