diff --git a/.github/workflows/coverage.yml b/.github/workflows/coverage.yml
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+# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+
+name: Coverage
+
+on:
+  push:
+    branches: [ main, 'release/*.*.x' ]
+  pull_request:
+  workflow_dispatch:
+
+# For PRs, cancel superseded coverage runs. For main/release pushes, let each
+# published signal complete.
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.event_name == 'pull_request' }}
+
+jobs:
+  ctest-coverage-ubuntu:
+    name: CTest coverage (Ubuntu)
+    runs-on: ubuntu-22.04
+    permissions:
+      contents: read
+    timeout-minutes: 45
+
+    steps:
+    - name: Checkout code
+      # actions/checkout@v6
+      uses: actions/checkout@df4cb1c069e1874edd31b4311f1884172cec0e10
+      with:
+        fetch-depth: 0
+        persist-credentials: false
+
+    - name: Install uv
+      uses: ./.github/actions/setup-uv
+
+    - name: Install Apt dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y build-essential cmake ninja-build ccache gcovr clang-format-14 \
+          libx11-dev libvulkan-dev glslang-tools libxrandr-dev libxinerama-dev libxcursor-dev \
+          libxi-dev libxext-dev libxkbcommon-dev libwayland-dev wayland-protocols \
+          autoconf automake libtool pkg-config libudev-dev
+
+    - name: Configure coverage build
+      run: |
+        set -euo pipefail
+        cmake -S . -B build-coverage -G Ninja \
+          -DCMAKE_BUILD_TYPE=Debug \
+          -DISAAC_TELEOP_PYTHON_VERSION=3.11 \
+          -DBUILD_VIZ=OFF \
+          -DBUILD_PLUGINS=OFF \
+          -DBUILD_EXAMPLES=OFF \
+          -DBUNDLE_ROBOTIC_GROUNDING=OFF \
+          -DENABLE_CLOUDXR_BUNDLE_CHECK=OFF \
+          -DENABLE_CLANG_FORMAT_CHECK=OFF \
+          -DCMAKE_C_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_CXX_COMPILER_LAUNCHER=ccache \
+          -DCMAKE_C_FLAGS="--coverage -O0 -g" \
+          -DCMAKE_CXX_FLAGS="--coverage -O0 -g" \
+          -DCMAKE_EXE_LINKER_FLAGS="--coverage" \
+          -DCMAKE_SHARED_LINKER_FLAGS="--coverage" \
+          -DCMAKE_MODULE_LINKER_FLAGS="--coverage"
+
+    - name: Build
+      run: cmake --build build-coverage --parallel 4
+
+    - name: Run CTest
+      run: ctest --test-dir build-coverage --output-on-failure --parallel 4
+
+    - name: Generate coverage report
+      run: |
+        set -euo pipefail
+        mkdir -p coverage/html
+
+        gcovr_args=(
+          --root "${GITHUB_WORKSPACE}"
+          --object-directory build-coverage/src
+          --filter "src/"
+          --exclude "src/.*/.*_tests/.*"
+          --exclude "src/.*/tests/.*"
+          --exclude "src/.*/python_tests/.*"
+        )
+
+        gcovr "${gcovr_args[@]}" --txt --output coverage/summary.txt --print-summary | tee coverage/totals.txt
+        gcovr "${gcovr_args[@]}" --xml-pretty --output coverage/cobertura.xml
+        gcovr "${gcovr_args[@]}" --html-details --output coverage/html/index.html
+
+    - name: Publish coverage summary
+      run: |
+        set -euo pipefail
+        {
+          echo "## CTest coverage"
+          echo
+          echo "Native coverage was generated from the Debug CTest build with plugins, examples, and Televiz disabled."
+          echo
+          echo "### Totals"
+          echo '```'
+          cat coverage/totals.txt
+          echo '```'
+          echo
+          echo "Download the \`isaacteleop-coverage\` artifact for the HTML report and \`coverage/cobertura.xml\`."
+        } >> "${GITHUB_STEP_SUMMARY}"
+
+    - name: Upload coverage artifact
+      if: ${{ always() }}
+      # actions/upload-artifact@v6
+      uses: actions/upload-artifact@b7c566a772e6b6bfb58ed0dc250532a479d7789f
+      with:
+        name: isaacteleop-coverage
+        path: |
+          coverage/summary.txt
+          coverage/totals.txt
+          coverage/cobertura.xml
+          coverage/html
+        if-no-files-found: error
+        retention-days: 14