diff --git a/.github/workflows/codeql.yml b/.github/workflows/codeql.yml
new file mode 100644
index 00000000..85166085
--- /dev/null
+++ b/.github/workflows/codeql.yml
@@ -0,0 +1,64 @@
+name: "CodeQL"
+
+on:
+  push:
+    branches: [main, humble, jazzy]
+  pull_request:
+    branches: [main, humble, jazzy]
+  schedule:
+    - cron: '16 21 * * 6'
+permissions: read-all
+jobs:
+  analyze:
+    name: Analyze (${{ matrix.language }})
+    runs-on: ${{ (matrix.language == 'swift' && 'macos-latest') || 'ubuntu-latest' }}
+    container:
+      image:  osrf/ros:humble-desktop-full
+    timeout-minutes: ${{ (matrix.language == 'swift' && 120) || 360 }}
+    permissions:
+      # required for all workflows
+      security-events: write
+
+      # required to fetch internal or private CodeQL packs
+      packages: read
+
+      # only required for workflows in private repositories
+      actions: read
+      contents: read
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - language: c-cpp
+          build-mode: manual
+        - language: python
+          build-mode: none
+    steps:
+    - name: Checkout repository
+      uses: actions/checkout@v4
+
+    # Initializes the CodeQL tools for scanning.
+    - name: Initialize CodeQL
+      uses: github/codeql-action/init@v3
+      with:
+        languages: ${{ matrix.language }}
+        build-mode: ${{ matrix.build-mode }}
+    - if: matrix.build-mode == 'manual'
+      shell: bash
+      run: |
+        source /opt/ros/humble/setup.bash
+        colcon build --packages-up-to scenario_execution_interfaces
+        source install/setup.bash
+        apt update
+        rosdep update --rosdistro=humble
+        rosdep install --rosdistro=humble --from-paths scenario_execution_rviz --ignore-src -r -y;
+        mkdir build_rviz
+        cd build_rviz
+        cmake ../scenario_execution_rviz
+        make
+
+    - name: Perform CodeQL Analysis
+      uses: github/codeql-action/analyze@v3
+      with:
+        category: "/language:${{matrix.language}}"