diff --git a/.github/workflows/rclrs_humble.yml b/.github/workflows/rclrs_humble.yml
index 5a1f759..7ac4349 100644
--- a/.github/workflows/rclrs_humble.yml
+++ b/.github/workflows/rclrs_humble.yml
@@ -19,4 +19,3 @@ jobs:
     - uses: actions/checkout@v2
     - run: docker build . --file ./tests/Dockerfile_rclrs_humble --tag rclrs_humble
     - run: docker run rclrs_humble cargo test
-    - run: docker run rclrs_humble cargo clippy --all-targets -- -D warnings
diff --git a/.github/workflows/rclrs_iron.yml b/.github/workflows/rclrs_iron.yml
new file mode 100644
index 0000000..d9ac7cf
--- /dev/null
+++ b/.github/workflows/rclrs_iron.yml
@@ -0,0 +1,21 @@
+name: rclrs_iron
+
+on:
+  push:
+    branches:
+      - rclrs
+  pull_request:
+    branches:
+      - rclrs
+  workflow_dispatch:
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  tests_iron:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - run: docker build . --file ./tests/Dockerfile_rclrs_iron --tag rclrs_iron
+    - run: docker run rclrs_iron cargo test
diff --git a/tests/Dockerfile_rclrs_iron b/tests/Dockerfile_rclrs_iron
new file mode 100644
index 0000000..e6a3457
--- /dev/null
+++ b/tests/Dockerfile_rclrs_iron
@@ -0,0 +1,34 @@
+# syntax=docker/dockerfile:1
+FROM ros:iron
+
+# Update default packages
+RUN apt-get update
+
+# Get Ubuntu packages
+RUN apt-get install -y \
+    build-essential \
+    curl \
+    libclang-dev \
+    git \
+    python3-pip \
+    python3-vcstool
+
+# Get Rust
+RUN curl --proto '=https' --tlsv1.2 https://sh.rustup.rs -sSf | bash -s -- -y
+RUN echo 'source $HOME/.cargo/env' >> $HOME/.bashrc
+RUN . $HOME/.cargo/env && cargo install --debug cargo-ament-build
+RUN pip install git+https://github.com/colcon/colcon-cargo.git
+RUN pip install git+https://github.com/colcon/colcon-ros-cargo.git
+
+WORKDIR /ros2_rust_build
+RUN git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
+RUN vcs import src < src/ros2_rust/ros2_rust_iron.repos
+
+WORKDIR /ros2_rust_build/src/ros_pointcloud2_tests
+COPY . .
+
+WORKDIR /ros2_rust_build
+RUN . $HOME/.cargo/env && . /opt/ros/iron/setup.sh && colcon build
+
+RUN chmod +x /ros2_rust_build/src/ros_pointcloud2_tests/tests/rclrs_test.bash
+ENTRYPOINT [ "/ros2_rust_build/src/ros_pointcloud2_tests/tests/rclrs_test.bash" ]