diff --git a/.azure/build_and_test.yml b/.azure/build_and_test.yml
new file mode 100644
index 0000000000..a789416f39
--- /dev/null
+++ b/.azure/build_and_test.yml
@@ -0,0 +1,29 @@
+# azure pipeline config
+# YAML schema reference:
+# https://aka.ms/yaml
+
+# trigger:
+# - master
+
+name: build_and_test
+resources:
+  containers:
+  - container: debug
+    image: ruffsl/navigation2:master.debug
+  - container: release
+    image: ruffsl/navigation2:master.release
+
+variables:
+- template: variables/common.yml
+
+stages:
+  - stage: Build
+    jobs:
+    - template: jobs/build.yml
+      parameters:
+        container: release
+  - stage: Test
+    jobs:
+    - template: jobs/test.yml
+      parameters:
+        container: release
\ No newline at end of file
diff --git a/.azure/jobs/build.yml b/.azure/jobs/build.yml
new file mode 100644
index 0000000000..52a0dd6e21
--- /dev/null
+++ b/.azure/jobs/build.yml
@@ -0,0 +1,11 @@
+parameters:
+  name: 'Build'
+  pool: 'Default'
+  container: ''
+
+jobs:
+- job: ${{ parameters.name }}
+  pool: ${{ parameters.pool }}
+  container: ${{ parameters.container }}
+  steps:
+  - script: echo Building!
\ No newline at end of file
diff --git a/.azure/jobs/test.yml b/.azure/jobs/test.yml
new file mode 100644
index 0000000000..04fa0d9e65
--- /dev/null
+++ b/.azure/jobs/test.yml
@@ -0,0 +1,11 @@
+parameters:
+  name: 'Test'
+  pool: 'Default'
+  container: ''
+
+jobs:
+- job: ${{ parameters.name }}
+  pool: ${{ parameters.pool }}
+  container: ${{ parameters.container }}
+  steps:
+  - script: echo Testing!
\ No newline at end of file
diff --git a/.azure/variables/common.yml b/.azure/variables/common.yml
new file mode 100644
index 0000000000..43a5eae0f4
--- /dev/null
+++ b/.azure/variables/common.yml
@@ -0,0 +1,13 @@
+variables:
+- name: ROS_WS
+  value: "/opt/ros_ws"
+- name: UNDERLAY_WS
+  value: "/opt/underlay_ws"
+- name: OVERLAY_WS
+  value: "/opt/overlay_ws"
+- name: CCACHE_LOGFILE
+  value: "/tmp/ccache.log"
+- name: CCACHE_MAXSIZE
+  value: "200M"
+# - name: MAKEFLAGS
+#   value: "-j 1 -l 2"
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