diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index ffe0a5a2db4a8b3d213656e56e6ac287a102c0be..e64ddbe152296fcd9cfc59d9fcf4defeaf406e29 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -42,3 +42,8 @@ simple_ros_core_with_noetic_test:
   extends: .simple_ros_test
   variables:
     TEMPLATE_TO_USE: test/core_with_noetic.yml
+
+simple_ros_auto_rules_melodic_noetic_test:
+  extends: .simple_ros_test
+  variables:
+    TEMPLATE_TO_USE: test/auto_rules_melodic_noetic.yml
diff --git a/test/auto_rules_melodic_noetic.yml b/test/auto_rules_melodic_noetic.yml
new file mode 100644
index 0000000000000000000000000000000000000000..a3301c4af884b6a5df46289ccbc221304d8ac517
--- /dev/null
+++ b/test/auto_rules_melodic_noetic.yml
@@ -0,0 +1,5 @@
+include: ci-templates/auto-rules/no-default.yml
+
+variables:
+  BUILD_MELODIC: true
+  BUILD_NOETIC: true