diff --git a/.github/first_test.py b/.github/first_test.py
new file mode 100644
index 00000000..e473bc00
--- /dev/null
+++ b/.github/first_test.py
@@ -0,0 +1,55 @@
+from selenium import webdriver
+from selenium.webdriver.common.by import By
+from selenium.webdriver.support.ui import WebDriverWait
+from selenium.webdriver.support import expected_conditions as EC
+import time
+
+try:
+    # Set up the webdriver to connect to the remote Selenium server
+    options = webdriver.ChromeOptions()
+    options.add_argument('--no-sandbox')
+    options.add_argument('--disable-dev-shm-usage')
+    
+    # Disable headless mode to show the Chrome UI
+    # options.add_argument('--headless=false')
+
+    # Remote WebDriver URL (provided by the selenium/standalone-chrome service)
+    driver = webdriver.Remote(
+        command_executor='http://localhost:4444/wd/hub',
+        options=options
+    )
+
+    # Open the browser and go to the URL
+    driver.get('http://IP:4000')
+
+    # time.sleep(120)
+
+
+    # Wait for the "File" button to be clickable and click it
+    basic_button = WebDriverWait(driver, 20).until(
+        EC.element_to_be_clickable((By.XPATH, "//button[contains(@class, 'menu-button') and .//span[text()='File']]"))
+    )
+    basic_button.click()
+
+
+    # Wait for the dropdown menu to be visible
+    dropdown_menu = WebDriverWait(driver, 10).until(
+        EC.visibility_of_element_located((By.XPATH, "//ul[@role='menu' and @aria-label='File']"))
+    )
+
+    # Wait for the "Open" menu item to be clickable and click it
+    code_menu_item = WebDriverWait(driver, 20).until(
+        EC.element_to_be_clickable((By.XPATH, "//ul[@role='menu' and @aria-label='File']//li[text()='Open']"))
+    )
+    code_menu_item.click()
+
+    time.sleep(20)  
+
+
+    # Capture a screenshot
+    driver.get_screenshot_as_file('screenshot.png')
+
+finally:
+    # Close the browser
+    if driver:
+        driver.quit()
diff --git a/.github/workflows/CI_Workflow.yml b/.github/workflows/CI_Workflow.yml
new file mode 100644
index 00000000..3ff45e6a
--- /dev/null
+++ b/.github/workflows/CI_Workflow.yml
@@ -0,0 +1,93 @@
+name: CI Workflow
+
+on:
+  pull_request:
+    branches:
+      - 'master'
+
+jobs:
+  setup:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Set up Node.js
+        uses: actions/setup-node@v4
+        with:
+          node-version: '18'
+
+      - name: Install frontend dependencies
+        if: steps.cache-node-modules.outputs.cache-hit != 'true'
+        working-directory: frontend
+        run: npm ci --legacy-peer-deps
+
+      - name: Cache Node modules
+        if: steps.cache-node-modules.outputs.cache-hit != 'true'
+        uses: actions/cache@v4
+        with:
+          path: frontend/node_modules
+          key: ${{ runner.os }}-node-${{ hashFiles('**/frontend/package-lock.json') }}
+          restore-keys: |
+            ${{ runner.os }}-node-
+
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: '3.x' 
+
+      - name: Create virtual environment
+        run: python -m venv .venv
+
+      - name: Activate virtual environment
+        run: source .venv/bin/activate
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r backend/requirements.txt
+
+      - name: Add .env file
+        run: cp backend/.env.template backend/.env
+
+      - name: Generate static files
+        run: python backend/manage.py collectstatic
+
+      - name: Save venv
+        uses: actions/upload-artifact@v4
+        with:
+          name: venv
+          path: .venv
+
+  frontend-tests:
+    runs-on: ubuntu-latest
+    needs: setup
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+
+      - name: Restore Node modules cache
+        id: restore-node-modules
+        uses: actions/cache@v4
+        with:
+          path: frontend/node_modules
+          key: ${{ runner.os }}-node-${{ hashFiles('**/frontend/package-lock.json') }}
+
+      - name: Install frontend dependencies
+        if: steps.restore-node-modules.outputs.cache-hit != 'true'
+        working-directory: frontend
+        run: npm ci --legacy-peer-deps
+  
+      - name: Permissions for node_modules
+        run: chmod -R +x frontend/node_modules/.bin
+
+      - name: Verify node_modules restoration
+        run: |
+          ls -la frontend/node_modules
+          ls -la frontend/node_modules/.bin
+
+      - name: Run frontend test
+        run: npm test -- --watchAll=false
+        working-directory: frontend
\ No newline at end of file
diff --git a/frontend/src/App.test.tsx b/frontend/src/App.test.tsx
index 2a68616d..e9d70bf6 100644
--- a/frontend/src/App.test.tsx
+++ b/frontend/src/App.test.tsx
@@ -2,8 +2,8 @@ import React from 'react';
 import { render, screen } from '@testing-library/react';
 import App from './App';
 
-test('renders learn react link', () => {
+test('renders App for test', () => {
   render(<App />);
-  const linkElement = screen.getByText(/learn react/i);
+  const linkElement = screen.getByText(/File/i);
   expect(linkElement).toBeInTheDocument();
 });
diff --git a/frontend/src/components/blocks/collection/collection-factory.tsx b/frontend/src/components/blocks/collection/collection-factory.tsx
index 45104f6e..19b69676 100644
--- a/frontend/src/components/blocks/collection/collection-factory.tsx
+++ b/frontend/src/components/blocks/collection/collection-factory.tsx
@@ -109,7 +109,8 @@ export const collectionBlocks: { 'blocks': CollectionBlockType,
             'children': {
                 'cameraRos': {'label': 'CameraROS'},
                 'odometer': {'label': 'Odometer'},
-                'imu': {'label': 'IMU'}
+                'imu': {'label': 'IMU'},
+                'laserRos':{'label':'LaserROS'}
             }
         },
         'ros2sensors': {
@@ -170,12 +171,15 @@ export function getCollectionBlock(name: string) {
             return import('./ros-sensors/Odometer.json');
         case 'drivers.rossensors.imu':
             return import('./ros-sensors/IMU.json');
+        case 'drivers.rossensors.laserRos':
+            return import('./ros-sensors/ROSLaserScan.json');
         case 'drivers.ros2sensors.cameraRos2':
             return import('./ros-sensors/ROS2Camera.json');
         case 'drivers.ros2sensors.laserRos2':
             return import('./ros-sensors/ROS2LaserScan.json');
         case 'processing.tensorflow.objectDetector':
             return import('./tensorflow/ObjectDetector.json');
+
         
         default:
             break;
diff --git a/frontend/src/components/blocks/collection/ros-sensors/ROSLaserScan.json b/frontend/src/components/blocks/collection/ros-sensors/ROSLaserScan.json
new file mode 100644
index 00000000..552fcf60
--- /dev/null
+++ b/frontend/src/components/blocks/collection/ros-sensors/ROSLaserScan.json
@@ -0,0 +1,396 @@
+{
+    "editor": {
+        "id": "6168472f-f6d8-45cf-bc98-3051074065d5",
+        "locked": false,
+        "offsetX": -254.49013919915978,
+        "offsetY": -42.460178287148096,
+        "zoom": 86.87812499999998,
+        "gridSize": 0,
+        "layers": [
+            {
+                "id": "4ed5b2c0-ea15-4800-aa27-5a6509869898",
+                "type": "diagram-links",
+                "isSvg": true,
+                "transformed": true,
+                "models": {
+                    "89196a6e-d40b-4b8f-b499-96a43299657c": {
+                        "id": "89196a6e-d40b-4b8f-b499-96a43299657c",
+                        "type": "default",
+                        "selected": false,
+                        "source": "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad",
+                        "sourcePort": "8563511b-b3d0-4833-9426-a929f9d72a85",
+                        "target": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "targetPort": "7c302710-552a-4be3-aa87-47143ad3442e",
+                        "points": [
+                            {
+                                "id": "9cab4f63-8c44-4be8-ba68-8cdaefe623a2",
+                                "type": "point",
+                                "x": 983.8381516626423,
+                                "y": 137.42643805645446
+                            },
+                            {
+                                "id": "d47a6102-e816-4e13-90ef-c8b655d8e62f",
+                                "type": "point",
+                                "x": 1317.2937968058027,
+                                "y": 363.1449356346666
+                            }
+                        ],
+                        "labels": [],
+                        "width": 3,
+                        "color": "gray",
+                        "curvyness": 50,
+                        "selectedColor": "rgb(0,192,255)"
+                    },
+                    "2cfa2c28-af53-4daf-a364-162e74775831": {
+                        "id": "2cfa2c28-af53-4daf-a364-162e74775831",
+                        "type": "default",
+                        "selected": false,
+                        "source": "c9fda9bb-631f-45dd-9551-47f856966126",
+                        "sourcePort": "03136f30-35dd-4713-bac2-afc19626ed88",
+                        "target": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "targetPort": "258fd7ac-4b13-468f-b5bf-5bfb84e6b1ba",
+                        "points": [
+                            {
+                                "id": "4855eb9e-572a-47d6-a99f-0a56107014b0",
+                                "type": "point",
+                                "x": 677.1633130776993,
+                                "y": 497.3750864161133
+                            },
+                            {
+                                "id": "47449955-47be-407c-850d-a9ac04bcd565",
+                                "type": "point",
+                                "x": 1018.8105124252947,
+                                "y": 609.5437274946717
+                            }
+                        ],
+                        "labels": [],
+                        "width": 3,
+                        "color": "gray",
+                        "curvyness": 50,
+                        "selectedColor": "rgb(0,192,255)"
+                    },
+                    "556ded65-b41d-41e5-a4ab-7b97400ab48c": {
+                        "id": "556ded65-b41d-41e5-a4ab-7b97400ab48c",
+                        "type": "default",
+                        "selected": false,
+                        "source": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "sourcePort": "64c11722-3520-4eee-a740-b3311361d269",
+                        "target": "d69e6f41-3d18-4e5d-b747-69dd613dd6ef",
+                        "targetPort": "75040235-29aa-460e-9cb4-623ccd47a144",
+                        "points": [
+                            {
+                                "id": "d6b79658-7bae-44af-9555-a630f2860f9c",
+                                "type": "point",
+                                "x": 1615.7962341197708,
+                                "y": 609.5437274946717
+                            },
+                            {
+                                "id": "4d31b78b-7efb-4ddb-ba14-9bfc89d96476",
+                                "type": "point",
+                                "x": 1777.1141916432186,
+                                "y": 520.1848690003728
+                            }
+                        ],
+                        "labels": [],
+                        "width": 3,
+                        "color": "gray",
+                        "curvyness": 50,
+                        "selectedColor": "rgb(0,192,255)"
+                    }
+                }
+            },
+            {
+                "id": "d392083a-f18f-44c0-92da-fd7de9ccfef9",
+                "type": "diagram-nodes",
+                "isSvg": false,
+                "transformed": true,
+                "models": {
+                    "0d952efb-e25e-41dc-8ee1-6ca00db1a831": {
+                        "id": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "type": "basic.code",
+                        "selected": false,
+                        "x": 1010.4923703139029,
+                        "y": 285.95298846293565,
+                        "ports": [
+                            {
+                                "id": "258fd7ac-4b13-468f-b5bf-5bfb84e6b1ba",
+                                "type": "port.input",
+                                "x": 1011.3095878857098,
+                                "y": 602.0427941733658,
+                                "name": "Enable",
+                                "alignment": "left",
+                                "parentNode": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                                "links": [
+                                    "2cfa2c28-af53-4daf-a364-162e74775831"
+                                ],
+                                "in": true,
+                                "label": "Enable",
+                                "hideLabel": false
+                            },
+                            {
+                                "id": "64c11722-3520-4eee-a740-b3311361d269",
+                                "type": "port.output",
+                                "x": 1608.295300798465,
+                                "y": 602.0427941733658,
+                                "name": "Out",
+                                "alignment": "right",
+                                "parentNode": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                                "links": [
+                                    "556ded65-b41d-41e5-a4ab-7b97400ab48c"
+                                ],
+                                "in": false,
+                                "label": "Out",
+                                "hideLabel": false
+                            },
+                            {
+                                "id": "7c302710-552a-4be3-aa87-47143ad3442e",
+                                "type": "port.parameter",
+                                "x": 1309.7928722662177,
+                                "y": 355.6440023133607,
+                                "name": "ROSTopic",
+                                "alignment": "top",
+                                "parentNode": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                                "links": [
+                                    "89196a6e-d40b-4b8f-b499-96a43299657c"
+                                ],
+                                "in": true,
+                                "label": "ROSTopic",
+                                "hideLabel": false
+                            }
+                        ],
+                        "data": {
+                            "code": "#!/usr/bin/env python\n\nimport rospy\nfrom sensor_msgs.msg import LaserScan\n\nmeasure = None\n\ndef callback(msg):\n    global measure\n\n    measure = []\n    for i in range(len(msg.ranges)):\n        measure.extend((str(msg.ranges[i]),))\n\ndef main(inputs, outputs, parameters, synchronise):\n    global measure\n\n    try:\n        rospy.init_node('laser_subscriber', anonymous=True)\n        topic = parameters.read_string(\"ROSTopic\")\n        rospy.Subscriber(topic, LaserScan, callback)\n\n        auto_enable = False\n        try:\n            enable = inputs.read_number(\"Enable\")\n        except Exception:\n            auto_enable = True\n\n        while (auto_enable or inputs.read_number('Enable') and not rospy.is_shutdown():\n            if measure is not None:\n                outputs.share_array(\"Out\", measure)\n                measure = None  \n\n            synchronise()\n\n    finally:\n       synchronise()\n",
+                            "frequency": "30",
+                            "params": [
+                                {
+                                    "name": "ROSTopic"
+                                }
+                            ],
+                            "ports": {
+                                "in": [
+                                    {
+                                        "name": "Enable"
+                                    }
+                                ],
+                                "out": [
+                                    {
+                                        "name": "Out"
+                                    }
+                                ]
+                            },
+                            "size": {
+                                "width": "809px",
+                                "height": "300px"
+                            }
+                        }
+                    },
+                    "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad": {
+                        "id": "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad",
+                        "type": "basic.constant",
+                        "selected": false,
+                        "x": 923.0280066509573,
+                        "y": 21.93498493324092,
+                        "ports": [
+                            {
+                                "id": "8563511b-b3d0-4833-9426-a929f9d72a85",
+                                "type": "port.output",
+                                "x": 976.3372271230573,
+                                "y": 129.92551351686953,
+                                "name": "constant-out",
+                                "alignment": "bottom",
+                                "parentNode": "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad",
+                                "links": [
+                                    "89196a6e-d40b-4b8f-b499-96a43299657c"
+                                ],
+                                "in": false,
+                                "label": "ROSTopic",
+                                "hideLabel": true
+                            }
+                        ],
+                        "data": {
+                            "name": "ROSTopic",
+                            "value": "/scan",
+                            "local": true
+                        }
+                    },
+                    "c9fda9bb-631f-45dd-9551-47f856966126": {
+                        "id": "c9fda9bb-631f-45dd-9551-47f856966126",
+                        "type": "basic.input",
+                        "selected": false,
+                        "x": 583.8709677419363,
+                        "y": 470.9677419354845,
+                        "ports": [
+                            {
+                                "id": "03136f30-35dd-4713-bac2-afc19626ed88",
+                                "type": "port.output",
+                                "x": 669.6623885381143,
+                                "y": 489.8741530948074,
+                                "name": "input-out",
+                                "alignment": "right",
+                                "parentNode": "c9fda9bb-631f-45dd-9551-47f856966126",
+                                "links": [
+                                    "2cfa2c28-af53-4daf-a364-162e74775831"
+                                ],
+                                "in": false,
+                                "label": "Enable",
+                                "hideLabel": true
+                            }
+                        ],
+                        "data": {
+                            "name": "Enable"
+                        }
+                    },
+                    "d69e6f41-3d18-4e5d-b747-69dd613dd6ef": {
+                        "id": "d69e6f41-3d18-4e5d-b747-69dd613dd6ef",
+                        "type": "basic.output",
+                        "selected": false,
+                        "x": 1768.8229478865371,
+                        "y": 493.7829458443716,
+                        "ports": [
+                            {
+                                "id": "75040235-29aa-460e-9cb4-623ccd47a144",
+                                "type": "port.input",
+                                "x": 1769.6132671036337,
+                                "y": 512.683935679067,
+                                "name": "output-in",
+                                "alignment": "left",
+                                "parentNode": "d69e6f41-3d18-4e5d-b747-69dd613dd6ef",
+                                "links": [
+                                    "556ded65-b41d-41e5-a4ab-7b97400ab48c"
+                                ],
+                                "in": true,
+                                "label": "output-in",
+                                "hideLabel": true
+                            }
+                        ],
+                        "data": {
+                            "name": "Out"
+                        }
+                    }
+                }
+            }
+        ]
+    },
+    "version": "3.0",
+    "package": {
+        "name": "LaserROS1",
+        "version": "1.0",
+        "description": "Reads laser data and shares an array with its measures",
+        "author": "Pankaj Borade",
+        "image": 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"
+    },
+    "design": {
+        "board": "Python3-Noetic",
+        "graph": {
+            "blocks": [
+                {
+                    "id": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                    "type": "basic.code",
+                    "data": {
+                        "code": "#!/usr/bin/env python\n\nimport rospy\nfrom sensor_msgs.msg import LaserScan\n\nmeasure = None\n\ndef callback(msg):\n    global measure\n\n    measure = []\n    for i in range(len(msg.ranges)):\n        measure.extend((str(msg.ranges[i]),))\n\ndef main(inputs, outputs, parameters, synchronise):\n    global measure\n\n    try:\n        rospy.init_node('laser_subscriber', anonymous=True)\n        topic = parameters.read_string(\"ROSTopic\")\n        rospy.Subscriber(topic, LaserScan, callback)\n\n        auto_enable = False\n        try:\n            enable = inputs.read_number(\"Enable\")\n        except Exception:\n            auto_enable = True\n\n        while (auto_enable or inputs.read_number('Enable') and not rospy.is_shutdown()):\n            if measure is not None:\n                outputs.share_array(\"Out\", measure)\n                measure = None  \n\n            synchronise()\n\n    finally:\n       synchronise()\n",
+                        "frequency": "30",
+                        "params": [
+                            {
+                                "name": "ROSTopic"
+                            }
+                        ],
+                        "ports": {
+                            "in": [
+                                {
+                                    "name": "Enable"
+                                }
+                            ],
+                            "out": [
+                                {
+                                    "name": "Out"
+                                }
+                            ]
+                        },
+                        "size": {
+                            "width": "809px",
+                            "height": "300px"
+                        }
+                    },
+                    "position": {
+                        "x": 1010.4923703139029,
+                        "y": 285.95298846293565
+                    }
+                },
+                {
+                    "id": "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad",
+                    "type": "basic.constant",
+                    "data": {
+                        "name": "ROSTopic",
+                        "value": "/scan",
+                        "local": true
+                    },
+                    "position": {
+                        "x": 923.0280066509573,
+                        "y": 21.93498493324092
+                    }
+                },
+                {
+                    "id": "c9fda9bb-631f-45dd-9551-47f856966126",
+                    "type": "basic.input",
+                    "data": {
+                        "name": "Enable"
+                    },
+                    "position": {
+                        "x": 583.8709677419363,
+                        "y": 470.9677419354845
+                    }
+                },
+                {
+                    "id": "d69e6f41-3d18-4e5d-b747-69dd613dd6ef",
+                    "type": "basic.output",
+                    "data": {
+                        "name": "Out"
+                    },
+                    "position": {
+                        "x": 1768.8229478865371,
+                        "y": 493.7829458443716
+                    }
+                }
+            ],
+            "wires": [
+                {
+                    "source": {
+                        "block": "0005-248b709f-e6c6-4b8d-94f1-d986193b7cad",
+                        "port": "constant-out",
+                        "name": "ROSTopic"
+                    },
+                    "target": {
+                        "block": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "port": "ROSTopic",
+                        "name": "ROSTopic"
+                    }
+                },
+                {
+                    "source": {
+                        "block": "c9fda9bb-631f-45dd-9551-47f856966126",
+                        "port": "input-out",
+                        "name": "Enable"
+                    },
+                    "target": {
+                        "block": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "port": "Enable",
+                        "name": "Enable"
+                    }
+                },
+                {
+                    "source": {
+                        "block": "0d952efb-e25e-41dc-8ee1-6ca00db1a831",
+                        "port": "Out",
+                        "name": "Out"
+                    },
+                    "target": {
+                        "block": "d69e6f41-3d18-4e5d-b747-69dd613dd6ef",
+                        "port": "output-in",
+                        "name": "output-in"
+                    }
+                }
+            ]
+        }
+    },
+    "dependencies": {}
+}
\ No newline at end of file