diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index cd50ee2..83d46d3 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -76,6 +76,11 @@ jobs:
       run: sudo apt-get install -y libsdl2-dev
     - name: Build simulator
       run: make build_simulator
+    - name: Run simulator
+      env:
+        GAZEBO_MODEL_PATH: ${{ github.workspace }}/gazebo/models
+        GAZEBO_PLUGIN_PATH: ${{ github.workspace }}/gazebo/build
+      run: timeout --preserve-status 30 gzserver --verbose gazebo/flix.world || [ $? -eq 143 ]
     - uses: actions/upload-artifact@v4
       with:
         name: gazebo-plugin-binary