diff --git a/.github/workflows/build_and_test_galactic.yaml b/.github/workflows/build_and_test_galactic.yaml
new file mode 100644
index 0000000000..7c0a35546b
--- /dev/null
+++ b/.github/workflows/build_and_test_galactic.yaml
@@ -0,0 +1,74 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Build and Test (galactic)
+
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - main
+
+jobs:
+  industrial_ci:
+    strategy:
+      matrix:
+        env:
+          - ROS_DISTRO: galactic
+            ROS_REPO: main
+          - ROS_DISTRO: galactic
+            ROS_REPO: testing
+    env:
+      UPSTREAM_WORKSPACE: moveit2_galactic.repos
+      AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
+      TARGET_CMAKE_ARGS: -DCMAKE_BUILD_TYPE=Release
+      CCACHE_DIR: ${{ github.workspace }}/.ccache
+      BASEDIR: ${{ github.workspace }}/.work
+      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      CLANG_TIDY_BASE_REF: ${{ github.base_ref || github.ref }}
+
+    name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v2
+      - name: cache upstream_ws
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/upstream_ws
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_galactic.repos') }}-${{ github.run_id }}
+          restore-keys: |
+            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2_galactic.repos') }}
+      # The target directory cache doesn't include the source directory because
+      # that comes from the checkout.  See "prepare target_ws for cache" task below
+      - name: cache target_ws
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.BASEDIR }}/target_ws
+          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
+          restore-keys: |
+            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
+      - name: cache ccache
+        uses: pat-s/always-upload-cache@v2.1.3
+        with:
+          path: ${{ env.CCACHE_DIR }}
+          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          restore-keys: |
+            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
+            ccache-${{ env.CACHE_PREFIX }}
+      - name: industrial_ci
+        uses: 'ros-industrial/industrial_ci@master'
+        env: ${{ matrix.env }}
+      - name: upload test artifacts (on failure)
+        uses: actions/upload-artifact@v2
+        if: failure()
+        with:
+          name: test-results
+          path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
+      - name: prepare target_ws for cache
+        if: always()
+        run: |
+          du -sh ${{ env.BASEDIR }}/target_ws
+          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
+          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
+          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build_and_test_rolling.yaml b/.github/workflows/build_and_test_rolling.yaml
index 5891abd605..a447c5340e 100644
--- a/.github/workflows/build_and_test_rolling.yaml
+++ b/.github/workflows/build_and_test_rolling.yaml
@@ -19,8 +19,6 @@ jobs:
             ROS_REPO: main
           - ROS_DISTRO: rolling
             ROS_REPO: testing
-          # galactic is not yet supported by industrial_ci
-          # - ROS_DISTRO: galactic
     env:
       UPSTREAM_WORKSPACE: moveit2_rolling.repos
       AFTER_SETUP_UPSTREAM_WORKSPACE: vcs pull $BASEDIR/upstream_ws/src
diff --git a/moveit2_galactic.repos b/moveit2_galactic.repos
new file mode 100644
index 0000000000..752be96563
--- /dev/null
+++ b/moveit2_galactic.repos
@@ -0,0 +1,49 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs
+    version: galactic-devel
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox
+    version: ros2-master
+  geometric_shapes:
+    type: git
+    url: https://github.com/ros-planning/geometric_shapes
+    version: ros2
+  moveit_msgs:
+    type: git
+    url: https://github.com/ros-planning/moveit_msgs
+    version: ros2
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources
+    version: ros2
+  object_recognition_msgs:
+    type: git
+    url: https://github.com/wg-perception/object_recognition_msgs
+    version: ros2
+  random_numbers:
+    type: git
+    url: https://github.com/ros-planning/random_numbers
+    version: ros2
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control
+    version: master
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers
+    version: master
+  srdfdom:
+    type: git
+    url: https://github.com/ros-planning/srdfdom
+    version: ros2
+  warehouse_ros:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros
+    version: ros2
+  warehouse_ros_mongo:
+    type: git
+    url: https://github.com/ros-planning/warehouse_ros_mongo
+    version: ros2
diff --git a/moveit2_rolling.repos b/moveit2_rolling.repos
index f8ddf690a7..275d436c0f 100644
--- a/moveit2_rolling.repos
+++ b/moveit2_rolling.repos
@@ -1,4 +1,8 @@
 repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs
+    version: galactic-devel
   control_toolbox:
     type: git
     url: https://github.com/ros-controls/control_toolbox
@@ -15,30 +19,6 @@ repositories:
     type: git
     url: https://github.com/ros-planning/moveit_resources
     version: ros2
-  object_recognition_msgs:
-    type: git
-    url: https://github.com/wg-perception/object_recognition_msgs
-    version: ros2
-  octomap:
-    type: git
-    url: https://github.com/octomap/octomap
-    version: devel
-  octomap_msgs:
-    type: git
-    url: https://github.com/OctoMap/octomap_msgs
-    version: ros2
-  ompl:
-    type: git
-    url: https://github.com/ompl/ompl
-    version: 1.5.0
-  random_numbers:
-    type: git
-    url: https://github.com/ros-planning/random_numbers
-    version: ros2
-  realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools
-    version: foxy-devel
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index 36d58c1829..1639813ad8 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -203,6 +203,7 @@ if(BUILD_TESTING)
   set(ament_cmake_cppcheck_FOUND TRUE)
   set(ament_cmake_cpplint_FOUND TRUE)
   set(ament_cmake_uncrustify_FOUND TRUE)
+  set(ament_cmake_lint_cmake_FOUND TRUE)
 
   # Run all lint tests in package.xml except those listed above
   ament_lint_auto_find_test_dependencies()
diff --git a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
index 270258fd19..43eb45c912 100644
--- a/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
+++ b/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp
@@ -39,6 +39,7 @@
 #include <stdexcept>
 #include <sstream>
 #include <memory>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #include <moveit/warehouse/constraints_storage.h>
 #include <moveit/kinematic_constraints/utils.h>
 #include <moveit/move_group/capability_names.h>
diff --git a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
index 7ab9ac3e95..ac0bb4b447 100644
--- a/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
+++ b/moveit_ros/planning_interface/moveit_cpp/src/moveit_cpp.cpp
@@ -38,7 +38,8 @@
 #include <moveit/moveit_cpp/moveit_cpp.h>
 #include <moveit/planning_scene_monitor/current_state_monitor.h>
 #include <moveit/common_planning_interface_objects/common_objects.h>
-
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <geometry_msgs/msg/quaternion_stamped.h>
 #include <tf2/utils.h>
 #include <tf2_ros/transform_listener.h>
 #include <rclcpp/rclcpp.hpp>
diff --git a/moveit_ros/robot_interaction/src/robot_interaction.cpp b/moveit_ros/robot_interaction/src/robot_interaction.cpp
index 64d8112765..bea4b74223 100644
--- a/moveit_ros/robot_interaction/src/robot_interaction.cpp
+++ b/moveit_ros/robot_interaction/src/robot_interaction.cpp
@@ -572,10 +572,13 @@ void RobotInteraction::toggleMoveInteractiveMarkerTopic(bool enable)
       {
         std::string topic_name = int_marker_move_topics_[i];
         std::string marker_name = int_marker_names_[i];
-        int_marker_move_subscribers_.push_back(node_->create_subscription<geometry_msgs::msg::PointStamped>(
-            topic_name, 1, [this, marker_name](const geometry_msgs::msg::PoseStamped::ConstSharedPtr msg) {
+        std::function<void(const geometry_msgs::msg::PoseStamped::SharedPtr)> subscription_callback =
+            [this, marker_name](const geometry_msgs::msg::PoseStamped::SharedPtr msg) {
               moveInteractiveMarker(marker_name, msg);
-            }));
+            };
+        auto subscription =
+            node_->create_subscription<geometry_msgs::msg::PoseStamped>(topic_name, 1, subscription_callback);
+        int_marker_move_subscribers_.push_back(subscription);
       }
     }
   }