diff --git a/.github/workflows/pythonapp.yml b/.github/workflows/pythonapp.yml
index d9230cb..24a6782 100644
--- a/.github/workflows/pythonapp.yml
+++ b/.github/workflows/pythonapp.yml
@@ -1,11 +1,14 @@
 name: Python application
 
-on: [push]
+on:
+  push:
+  pull_request:
 
 jobs:
   build:
     runs-on: ubuntu-latest
     strategy:
+      fail-fast: false
       matrix:
         python-version:
           - '3.10'
@@ -18,11 +21,35 @@ jobs:
         with:
           python-version: '${{ matrix.python-version }}'
       - name: 'Install dependencies'
-        run: "python -m pip install --upgrade pip\npip install tox tox-gh-actions\n"
+        run: pip install tox tox-gh-actions
       - name: 'Test with tox'
         run: tox
+      - name: 'Upload coverage report'
+        if: matrix.python-version == '3.10'
+        uses: actions/upload-artifact@v4
+        with:
+          name: cobertura-report
+          path: cobertura.xml
       - uses: casperdcl/deploy-pypi@v2
         if: github.event_name == 'push' && startsWith(github.event.ref, 'refs/tags') && matrix.python-version == '3.10'
         with:
           password: ${{ secrets.pypi_token }}
           build: true
+
+  upload-coverage:
+    needs: build
+    if: ${{ !cancelled() && needs.build.result == 'success' && (github.event_name != 'pull_request' || github.event.pull_request.head.repo.full_name == github.repository) }}
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      code-quality: write
+      pull-requests: read
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: cobertura-report
+      - uses: actions/upload-code-coverage@v1
+        with:
+          file: cobertura.xml
+          language: Python
+          label: code-coverage/pytest
diff --git a/tox.ini b/tox.ini
index 6a631bd..07e8bc0 100644
--- a/tox.ini
+++ b/tox.ini
@@ -7,9 +7,10 @@
 envlist = py310, py312, py314, lint
 
 [testenv]
-commands = pytest {posargs}
+commands = pytest --cov=ros_ws --cov-report=xml:cobertura.xml {posargs}
 deps =
     pytest
+    pytest-cov
 
 [testenv:lint]
 basepython=python3.12