diff --git a/.github/clang_suite_installation.sh b/.github/clang_suite_installation.sh
new file mode 100755
index 0000000..ca51cd0
--- /dev/null
+++ b/.github/clang_suite_installation.sh
@@ -0,0 +1,63 @@
+#! /bin/bash
+
+#######################################
+# Installs clang suite packages.
+# Arguments:
+#   Version of the clang suite package.
+# Returns:
+#   0 if no error was detected, non-zero otherwise.
+#######################################
+function install_clang_suite() {
+  local version=$1
+
+  apt install -y \
+      clang-${version} \
+      lldb-${version} \
+      lld-${version} \
+      clang-format-${version} \
+      clang-tidy-${version} \
+      libc++-${version}-dev \
+      libc++abi-${version}-dev
+}
+
+#######################################
+# Setups alternatives for clang suite.
+# Arguments:
+#   Version of the clang suite package.
+# Returns:
+#   0 if no error was detected, 2 otherwise.
+#######################################
+function update_clang_suite_alternatives() {
+  local version=$1
+  local priority=$2
+
+  update-alternatives \
+    --install /usr/bin/clang                 clang                 /usr/bin/clang-${version}  ${priority}\
+    --slave   /usr/bin/clang++               clang++               /usr/bin/clang++-${version}  \
+    --slave   /usr/bin/asan_symbolize        asan_symbolize        /usr/bin/asan_symbolize-${version} \
+    --slave   /usr/bin/c-index-test          c-index-test          /usr/bin/c-index-test-${version} \
+    --slave   /usr/bin/clang-check           clang-check           /usr/bin/clang-check-${version} \
+    --slave   /usr/bin/clang-cl              clang-cl              /usr/bin/clang-cl-${version} \
+    --slave   /usr/bin/clang-cpp             clang-cpp             /usr/bin/clang-cpp-${version} \
+    --slave   /usr/bin/clang-format          clang-format          /usr/bin/clang-format-${version} \
+    --slave   /usr/bin/clang-format-diff     clang-format-diff     /usr/bin/clang-format-diff-${version} \
+    --slave   /usr/bin/clang-import-test     clang-import-test     /usr/bin/clang-import-test-${version} \
+    --slave   /usr/bin/clang-include-fixer   clang-include-fixer   /usr/bin/clang-include-fixer-${version} \
+    --slave   /usr/bin/clang-offload-bundler clang-offload-bundler /usr/bin/clang-offload-bundler-${version} \
+    --slave   /usr/bin/clang-query           clang-query           /usr/bin/clang-query-${version} \
+    --slave   /usr/bin/clang-rename          clang-rename          /usr/bin/clang-rename-${version} \
+    --slave   /usr/bin/clang-reorder-fields  clang-reorder-fields  /usr/bin/clang-reorder-fields-${version} \
+    --slave   /usr/bin/clang-tidy            clang-tidy            /usr/bin/clang-tidy-${version} \
+    --slave   /usr/bin/lldb                  lldb                  /usr/bin/lldb-${version} \
+    --slave   /usr/bin/lldb-server           lldb-server           /usr/bin/lldb-server-${version}
+}
+
+
+#######################################
+# Modify clang suite version and priority as required.
+#######################################
+CLANG_SUITE_VERSION=8
+CLANG_SUITE_ALTERNATIVE_PRIORITY=10
+
+install_clang_suite ${CLANG_SUITE_VERSION}
+update_clang_suite_alternatives ${CLANG_SUITE_VERSION} ${CLANG_SUITE_ALTERNATIVE_PRIORITY}
diff --git a/.github/workflows/sanitizers.yml b/.github/workflows/sanitizers.yml
new file mode 100644
index 0000000..6b74f87
--- /dev/null
+++ b/.github/workflows/sanitizers.yml
@@ -0,0 +1,170 @@
+name: clang
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+  schedule:
+    - cron:  '0 9 * * 1' # 9:00am UTC, 1:00am PST every Monday.
+
+env:
+  PACKAGE_NAME: dsim-repos-index
+  ROS_DISTRO: dashing
+  ROS_WS: maliput_ws
+
+jobs:
+  compile_and_test:
+    name: Compile and test
+    runs-on: ubuntu-18.04
+    container:
+      image: ubuntu:18.04
+    strategy:
+      matrix:
+        sanitizer: [none, asan, ubsan]
+        include:
+          - sanitizer: none
+            COMPILER_FLAG: ''
+          - sanitizer: asan
+            COMPILER_FLAG: ' -DADDRESS_SANITIZER=On'
+          - sanitizer: ubsan
+            COMPILER_FLAG: ' -DUNDEFINED_SANITIZER=On'
+    env:
+      CC: clang
+      CXX: clang++
+      LINKER_PATH: /usr/bin/llvm-ld
+    steps:
+    # setup-ros first since it installs git, which is needed to fetch all branches from actions/checkout
+    - uses: ros-tooling/setup-ros@0.0.26
+    # install git from ppa since git 2.18+ is needed to fetch all branches from actions/checkout
+    # this step can be removed on 20.04
+    - name: install git from ppa
+      shell: bash
+      run: |
+        apt update;
+        apt install -y software-properties-common;
+        add-apt-repository -y -u ppa:git-core/ppa;
+        apt install -y git;
+    - uses: actions/checkout@v2
+      with:
+        path: dsim-repos-index
+    # clone private dependencies
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-dragway
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_dragway
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-multilane
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_multilane
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput_malidrive
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_malidrive
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/malidrive
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/malidrive
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/delphyne
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/delphyne
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/delphyne-gui
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/delphyne-gui
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/drake-vendor
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/drake_vendor
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-documentation
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_documentation
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-integration
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_integration
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - uses: actions/checkout@v2
+      with:
+        repository: ToyotaResearchInstitute/maliput-integration-tests
+        fetch-depth: 0
+        path: ${{ env.ROS_WS }}/src/maliput_integration_tests
+        token: ${{ secrets.MALIPUT_TOKEN }}
+    - name: check if dependencies have a matching branch
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/.github/try_vcs_checkout ${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}} .
+    # install drake_vendor prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install drake_vendor prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/drake_vendor
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t drake .
+    # install delphyne prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    # install delphyne-gui prereqs using dsim-repos-index/tools/prereqs.lib
+    - name: install delphyne-gui prereqs
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}/src/delphyne-gui
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/tools/prereqs-install -t ignition .
+    - name: clang 8 install
+      shell: bash
+      run: ${GITHUB_WORKSPACE}/dsim-repos-index/.github/clang_suite_installation.sh
+    # clone public dependencies
+    - name: vcs import
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: vcs import src < ${GITHUB_WORKSPACE}/${PACKAGE_NAME}/.github/dependencies.repos
+    - run: colcon graph
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+    - name: rosdep install
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        rosdep update;
+        rosdep install  -i -y --rosdistro ${ROS_DISTRO} \
+          --skip-keys "ignition-transport5 ignition-msgs2 ignition-math6 ignition-common3 ignition-gui0 ignition-rendering2 libqt5multimedia5 pybind11" \
+          --from-paths src
+    - name: colcon build libraries
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        . /opt/ros/${ROS_DISTRO}/setup.bash;
+        colcon build --cmake-args -DCMAKE_LINKER=${LINKER_PATH} \
+          --event-handlers=console_direct+ \
+          ${COMPILER_FLAG}
+    - name: colcon test
+      shell: bash
+      working-directory: ${{ env.ROS_WS }}
+      run: |
+        . /opt/ros/${ROS_DISTRO}/setup.bash;
+        colcon test --event-handlers=console_direct+;
+        colcon test-result --verbose;