diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 5bb2b50a..e783ab56 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -23,3 +23,12 @@ jobs:
           cppcheck-enabled: true
           cpplint-enabled: true
           doxygen-enabled: true
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 87e8242e..41c2bdcc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 #============================================================================
 # Initialize the project
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index ad2914c7..dc5050ac 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 project(examples)
 
diff --git a/examples/plugins/CMakeLists.txt b/examples/plugins/CMakeLists.txt
index 9e6237fc..6522eedb 100644
--- a/examples/plugins/CMakeLists.txt
+++ b/examples/plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
 
 # Each source file in this directory is meant to be compiled into a plugin