diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 11eeda1..672b592 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -2,7 +2,7 @@ name: CI
 
 on:
   push:
-    branches: [ main]
+    branches: [ main ]
 
   pull_request:
     branches: [ main ]
diff --git a/.github/workflows/integration-test.yml b/.github/workflows/integration-test.yml
new file mode 100644
index 0000000..ffb8f0a
--- /dev/null
+++ b/.github/workflows/integration-test.yml
@@ -0,0 +1,120 @@
+name: Integration Test
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  integration-test:
+    runs-on: ubuntu-latest
+    timeout-minutes: 60
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Free up disk space
+        run: |
+          sudo rm -rf /usr/local/lib/android /usr/share/dotnet /opt/ghc
+          sudo apt-get clean
+          df -h
+
+      - name: Build UE and gNB plugins
+        run: |
+          docker run --rm \
+            -v "${{ github.workspace }}:/workspace" \
+            osrf/ros:humble-desktop \
+            /bin/bash -c '
+              set -e
+              apt-get update && apt-get install -y \
+                python3-colcon-common-extensions \
+                wget lsb-release gnupg2
+
+              # Add Gazebo Ignition key and repo (Fortress)
+              echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+                > /etc/apt/sources.list.d/gazebo-stable.list
+              wget https://packages.osrfoundation.org/gazebo.key -O - | apt-key add -
+              apt-get update && apt-get install -y ignition-fortress
+
+              cd /workspace/phine-plugins
+              source /opt/ros/humble/setup.bash
+              colcon build --event-handlers console_direct+
+
+              # Verify plugins were built
+              ls -la /workspace/phine-plugins/install/phine_plugins/lib/phine_plugins/
+            '
+
+      - name: Copy built plugins to simulation image
+        run: |
+          PLUGIN_SRC=phine-plugins/install/phine_plugins/lib/phine_plugins
+          PLUGIN_DST=demo_containerized/images/simulation/gazebo_launch/src/ign_turtlebot/phine_plugins
+
+          cp "${PLUGIN_SRC}/libgNB_plugin.so" "${PLUGIN_DST}/libgNB_plugin.so"
+          cp "${PLUGIN_SRC}/libUE_plugin.so"  "${PLUGIN_DST}/libUE_plugin.so"
+
+          echo "Plugins copied:"
+          ls -la "${PLUGIN_DST}/"
+
+      - name: Build simulation Docker image
+        run: |
+          cd demo_containerized/images/simulation
+          docker build -t simulation:test .
+
+      - name: Start OAI Core Network
+        run: |
+          cd demo_containerized/oai_setup
+          docker compose up -d
+          ./wait_for_core_network.sh
+
+      - name: Create ros_gz_net network
+        run: |
+          docker network create \
+            --driver bridge \
+            --subnet=192.168.73.128/26 \
+            --opt com.docker.network.bridge.name="ros_gz_net" \
+            ros_gz_net
+
+      - name: Start simulation container (headless)
+        run: |
+          cd tests/integration
+          DEMO_PROJECT_PATH="${{ github.workspace }}/demo_containerized" \
+            docker compose -f docker-compose-test-simulation.yml up -d
+
+      - name: Check gNB and UE registration
+        run: |
+          chmod +x tests/integration/check_registration.sh
+          tests/integration/check_registration.sh 900
+
+      - name: Collect logs on failure
+        if: failure()
+        run: |
+          echo "=== AMF logs ==="
+          docker logs oai-amf 2>&1 | tail -100 || true
+          echo ""
+          echo "=== Simulation container logs ==="
+          docker logs simulation 2>&1 | tail -100 || true
+          echo ""
+          echo "=== gNB container logs ==="
+          docker logs oai-gNB1 2>&1 | tail -50 || true
+          echo ""
+          echo "=== UE container logs ==="
+          docker logs ue_turtlebot 2>&1 | tail -50 || true
+          echo ""
+          echo "=== All running containers ==="
+          docker ps -a --format "table {{.Names}}\t{{.Status}}\t{{.Image}}" || true
+          echo ""
+          echo "=== Docker networks ==="
+          docker network ls || true
+
+      - name: Cleanup
+        if: always()
+        run: |
+          cd tests/integration
+          docker compose -f docker-compose-test-simulation.yml down || true
+          docker stop ue_turtlebot oai-gNB1 2>/dev/null || true
+          docker rm ue_turtlebot oai-gNB1 2>/dev/null || true
+          cd "${{ github.workspace }}/demo_containerized/oai_setup"
+          docker compose down || true
+          docker network rm ros_gz_net 2>/dev/null || true
diff --git a/tests/integration/check_registration.sh b/tests/integration/check_registration.sh
new file mode 100755
index 0000000..46079bc
--- /dev/null
+++ b/tests/integration/check_registration.sh
@@ -0,0 +1,135 @@
+#!/bin/bash
+# Check OAI AMF logs for gNB and UE registration
+# Usage: ./check_registration.sh [timeout_seconds]
+
+set -e
+
+TIMEOUT=${1:-600}
+INTERVAL=15
+ELAPSED=0
+
+GNB_CONTAINER_UP=false
+UE_CONTAINER_UP=false
+GNB_REGISTERED=false
+UE_REGISTERED=false
+
+echo "============================================"
+echo "Integration Test: gNB and UE Registration"
+echo "Timeout: ${TIMEOUT}s"
+echo "============================================"
+
+# Phase 1: Wait for gNB and UE containers to be started by the plugins
+echo ""
+echo "Phase 1: Waiting for gNB and UE containers to appear..."
+echo "(The UE plugin builds a Docker image first, this can take several minutes)"
+echo ""
+
+while [ $ELAPSED -lt $TIMEOUT ]; do
+    # Check if gNB container exists
+    if [ "$GNB_CONTAINER_UP" = false ]; then
+        if docker ps --format '{{.Names}}' 2>/dev/null | grep -q "oai-gNB"; then
+            echo "[OK] gNB container is running (elapsed: ${ELAPSED}s)"
+            GNB_CONTAINER_UP=true
+        fi
+    fi
+
+    # Check if UE container exists (ue_turtlebot from the SDF config)
+    if [ "$UE_CONTAINER_UP" = false ]; then
+        if docker ps --format '{{.Names}}' 2>/dev/null | grep -qE "(ue_turtlebot|robot_1)"; then
+            echo "[OK] UE container is running (elapsed: ${ELAPSED}s)"
+            UE_CONTAINER_UP=true
+        fi
+    fi
+
+    # Both containers running, move to phase 2
+    if [ "$GNB_CONTAINER_UP" = true ] && [ "$UE_CONTAINER_UP" = true ]; then
+        echo ""
+        echo "Phase 2: Checking AMF logs for registration..."
+        echo ""
+        break
+    fi
+
+    # Show what's happening
+    if [ $((ELAPSED % 60)) -eq 0 ] && [ $ELAPSED -gt 0 ]; then
+        echo "  Still waiting... (elapsed: ${ELAPSED}s)"
+        echo "  Running containers:"
+        docker ps --format "    {{.Names}} ({{.Status}})" 2>/dev/null || true
+    else
+        echo "  Waiting... gNB_container=${GNB_CONTAINER_UP} UE_container=${UE_CONTAINER_UP} (elapsed: ${ELAPSED}s)"
+    fi
+
+    sleep $INTERVAL
+    ELAPSED=$((ELAPSED + INTERVAL))
+done
+
+if [ "$GNB_CONTAINER_UP" = false ] || [ "$UE_CONTAINER_UP" = false ]; then
+    echo "============================================"
+    echo "[FAILURE] Timeout waiting for containers to start"
+    echo "  gNB container running: ${GNB_CONTAINER_UP}"
+    echo "  UE container running:  ${UE_CONTAINER_UP}"
+    echo "============================================"
+    echo ""
+    echo "--- Running containers ---"
+    docker ps --format "table {{.Names}}\t{{.Status}}\t{{.Image}}" 2>/dev/null || true
+    echo ""
+    echo "--- Simulation container logs (last 50 lines) ---"
+    docker logs simulation 2>&1 | tail -50 || true
+    exit 1
+fi
+
+# Phase 2: Check AMF logs for registration
+while [ $ELAPSED -lt $TIMEOUT ]; do
+    AMF_LOGS=$(docker logs oai-amf 2>&1 || echo "")
+
+    # Check for gNB registration
+    if echo "$AMF_LOGS" | grep -qiE "(gNB.*associated|NG_SETUP.*SUCCESS|Connected.*gNB|gNodeB.*context)"; then
+        if [ "$GNB_REGISTERED" = false ]; then
+            echo "[PASS] gNB registered with AMF (elapsed: ${ELAPSED}s)"
+            GNB_REGISTERED=true
+        fi
+    fi
+
+    # Check for UE registration
+    if echo "$AMF_LOGS" | grep -qiE "(registration.*accept|5GMM-REGISTERED|UE.*registered|InitialUEMessage|REGISTRATION_COMPLETE)"; then
+        if [ "$UE_REGISTERED" = false ]; then
+            echo "[PASS] UE registered with AMF (elapsed: ${ELAPSED}s)"
+            UE_REGISTERED=true
+        fi
+    fi
+
+    # Both registered - success
+    if [ "$GNB_REGISTERED" = true ] && [ "$UE_REGISTERED" = true ]; then
+        echo ""
+        echo "============================================"
+        echo "[SUCCESS] Both gNB and UE are registered with the AMF"
+        echo "============================================"
+        echo ""
+        echo "--- Relevant AMF log lines ---"
+        docker logs oai-amf 2>&1 | grep -iE "(gNB|UE|registration|associated|connected|NGAP)" | tail -20 || true
+        exit 0
+    fi
+
+    echo "  Checking AMF... gNB=${GNB_REGISTERED} UE=${UE_REGISTERED} (elapsed: ${ELAPSED}s)"
+    sleep $INTERVAL
+    ELAPSED=$((ELAPSED + INTERVAL))
+done
+
+echo ""
+echo "============================================"
+echo "[FAILURE] Timeout after ${TIMEOUT}s"
+echo "  gNB registered: ${GNB_REGISTERED}"
+echo "  UE registered:  ${UE_REGISTERED}"
+echo "============================================"
+echo ""
+echo "--- AMF logs (last 80 lines) ---"
+docker logs oai-amf 2>&1 | tail -80 || true
+echo ""
+echo "--- gNB container logs ---"
+docker logs oai-gNB1 2>&1 | tail -30 || true
+echo ""
+echo "--- UE container logs ---"
+docker logs ue_turtlebot 2>&1 | tail -30 || true
+echo ""
+echo "--- Running containers ---"
+docker ps --format "table {{.Names}}\t{{.Status}}\t{{.Image}}" 2>/dev/null || true
+exit 1
diff --git a/tests/integration/docker-compose-test-simulation.yml b/tests/integration/docker-compose-test-simulation.yml
new file mode 100644
index 0000000..3dcee73
--- /dev/null
+++ b/tests/integration/docker-compose-test-simulation.yml
@@ -0,0 +1,44 @@
+version: '3.8'
+services:
+    simulation:
+        image: simulation:test
+        privileged: true
+        container_name: simulation
+        environment:
+            - PROJECT_PATH=/app
+            - DEMO_PROJECT_PATH=${DEMO_PROJECT_PATH}
+            - ROS_DISCOVERY_SERVER=192.168.70.159:11811
+            - IGN_IP=192.168.73.151
+            - ROS_DOMAIN_ID=10
+            - IGN_PARTITION=domain1
+        volumes:
+            - /var/run/docker.sock:/var/run/docker.sock
+        stdin_open: true
+        tty: true
+        networks:
+            public_net:
+                ipv4_address: 192.168.70.152
+            ros_gz_net:
+                ipv4_address: 192.168.73.151
+        entrypoint:
+            - /bin/bash
+            - -c
+            - |
+                source /opt/ros/humble/setup.bash
+                source /app/gazebo_launch/install/setup.bash
+                export FASTRTPS_DEFAULT_PROFILES_FILE=/app/dds.xml
+                PACKAGE_PATH=$$(ros2 pkg prefix ign_turtlebot --share)
+                export IGN_GAZEBO_RESOURCE_PATH=$${PACKAGE_PATH}/models:/opt/ros/humble/share
+                export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$${PACKAGE_PATH}/phine_plugins:/usr/lib/x86_64-linux-gnu/ign-gazebo-6/plugins:/opt/ros/humble/lib
+                export IGN_GUI_PLUGIN_PATH=$${PACKAGE_PATH}/gui_plugins
+                ip route add 10.0.0.0/16 via 192.168.70.134 dev eth0 || true
+                echo "Starting Gazebo in headless (server-only) mode..."
+                ign gazebo -s -r -v 3 $${PACKAGE_PATH}/worlds/world_only.sdf &
+                tail -f /dev/null
+networks:
+    public_net:
+        external:
+            name: phine-net
+    ros_gz_net:
+        external:
+            name: ros_gz_net