diff --git a/.github/workflows/build_linux.yaml b/.github/workflows/build_linux.yaml
new file mode 100644
index 00000000..6083af74
--- /dev/null
+++ b/.github/workflows/build_linux.yaml
@@ -0,0 +1,37 @@
+name: Build Linux
+  
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04]
+        architecture: ["x64"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up APT
+      if: ${{ matrix.os == 'ubuntu-20.04' || matrix.os == 'ubuntu-22.04' }}
+      run: |
+        sudo apt-get update -y
+        sudo apt-get -y install g++ cmake-data cmake ninja-build libzmq3-dev liblog4cxx-dev libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-date-time-dev libboost-program-options-dev libcurl4-openssl-dev
+    - name: Install RapidJSON
+      run: |
+        set -e
+        git clone https://github.com/Tencent/rapidjson.git && mkdir rapidjson/build
+        cd rapidjson/build
+        # there are no stable version available
+        cmake .. -GNinja -DRAPIDJSON_HAS_STDSTRING=ON -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ../..
+    - name: Install
+      run: |
+        set -e
+        mkdir -p build
+        cd build
+        cmake .. -GNinja -DOPT_SAMPLES=OFF -DOPT_BUILD_TESTS=OFF
+        ninja -j4 && sudo ninja install
+        cd ..
diff --git a/.github/workflows/build_windows.yaml b/.github/workflows/build_windows.yaml
new file mode 100644
index 00000000..7388c497
--- /dev/null
+++ b/.github/workflows/build_windows.yaml
@@ -0,0 +1,48 @@
+name: Build Windows
+  
+on:
+  push:
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [windows-2022]
+        architecture: ["x64"]
+
+    steps:
+    - uses: actions/checkout@v3
+    - uses: microsoft/setup-msbuild@v1.1
+    - name: Set up Boost
+      run: |
+        choco install boost-msvc-14.3 -f -y
+    - name: Set up curl
+      run: |
+        curl -O -L https://curl.se/windows/dl-8.5.0_1/curl-8.5.0_1-win64-mingw.zip
+        7z x -y curl-8.5.0_1-win64-mingw.zip
+    - name: Install RapidJSON
+      run: |
+        git clone https://github.com/Tencent/rapidjson.git && mkdir rapidjson\build
+        cd rapidjson\build
+        # there are no stable version available
+        # but take the last version without -targets.cmake
+        git checkout 516d0473949fdcf0a6dc9fbb40fa92b3b85db184
+        cmake .. -G 'Visual Studio 17 2022' -A x64 -DRAPIDJSON_HAS_STDSTRING=ON -DRAPIDJSON_BUILD_DOC=OFF -DRAPIDJSON_BUILD_EXAMPLES=OFF -DRAPIDJSON_BUILD_TESTS=OFF
+        msbuild ALL_BUILD.vcxproj /p:Configuration=Release
+        cd ..\..
+    - name: Install libzmq
+      run: |
+        git clone https://github.com/zeromq/libzmq.git && mkdir libzmq\build
+        cd libzmq\build
+        git checkout v4.3.5
+        cmake .. -G 'Visual Studio 17 2022' -A x64 -DBUILD_TESTS=OFF
+        msbuild ALL_BUILD.vcxproj /p:Configuration=Release
+        cd ..\..
+    - name: Install
+      run: |
+        mkdir -p build
+        cd build
+        cmake .. -G 'Visual Studio 17 2022' -A x64 -DCMAKE_CXX_STANDARD=17 "-DZeroMQ_DIR=${PWD}\..\libzmq\build" "-DCURL_INCLUDE_DIR=${PWD}\..\curl-8.5.0_1-win64-mingw\include" "-DCURL_LIBRARY=${PWD}\..\curl-8.5.0_1-win64-mingw\lib\libcurl.dll.a" -DCMAKE_CONFIGURATION_TYPES=Release -DOPT_SAMPLES=OFF -DOPT_BUILD_TESTS=OFF
+        msbuild ALL_BUILD.vcxproj /p:Configuration=Release
+        cd ..
diff --git a/include/mujincontrollerclient/mujincontrollerclient.h b/include/mujincontrollerclient/mujincontrollerclient.h
index c0aa3499..7ca9f662 100644
--- a/include/mujincontrollerclient/mujincontrollerclient.h
+++ b/include/mujincontrollerclient/mujincontrollerclient.h
@@ -20,6 +20,7 @@
 
 #ifdef _MSC_VER
 
+#define NOMINMAX
 #pragma warning(disable:4251)// needs to have dll-interface to be used by clients of class
 #pragma warning(disable:4190)// C-linkage specified, but returns UDT 'boost::shared_ptr<T>' which is incompatible with C
 #pragma warning(disable:4819)//The file contains a character that cannot be represented in the current code page (932). Save the file in Unicode format to prevent data loss using native typeof
diff --git a/include/mujincontrollerclient/mujinjson.h b/include/mujincontrollerclient/mujinjson.h
index cc8dd659..960d7d6c 100644
--- a/include/mujincontrollerclient/mujinjson.h
+++ b/include/mujincontrollerclient/mujinjson.h
@@ -461,6 +461,7 @@ inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v,
     }
 }
 
+#ifndef _MSC_VER
 template <typename Encoding=rapidjson::UTF8<>, typename Allocator=rapidjson::MemoryPoolAllocator<> >
 inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v, uint64_t& t) {
     if (v.IsUint64()) {
@@ -486,6 +487,7 @@ inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v,
         throw MujinJSONException("Cannot convert json type " + GetJsonString(v) + " to Int64");
     }
 }
+#endif
 
 template <typename Encoding=rapidjson::UTF8<>, typename Allocator=rapidjson::MemoryPoolAllocator<> >
 inline void LoadJsonValue(const rapidjson::GenericValue<Encoding, Allocator>& v, double& t) {
@@ -802,10 +804,12 @@ inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const
     v.SetInt64(t);
 }
 
+#ifndef _MSC_VER
 template <typename Encoding, typename Allocator, typename Allocator2>
 inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const int64_t& t, Allocator2& alloc) {
     v.SetInt64(t);
 }
+#endif
 
 template <typename Encoding, typename Allocator, typename Allocator2>
 inline void SaveJsonValue(rapidjson::GenericValue<Encoding, Allocator>& v, const unsigned long long& t, Allocator2& alloc) {
diff --git a/src/controllerclientimpl.cpp b/src/controllerclientimpl.cpp
index 43f32345..6be81002 100644
--- a/src/controllerclientimpl.cpp
+++ b/src/controllerclientimpl.cpp
@@ -2289,7 +2289,7 @@ GraphSubscriptionWebSocketHandler::GraphSubscriptionWebSocketHandler(const Contr
         MUJIN_LOG_INFO(boost::format("Create TCP socket connected to host %s") % host);
         
         boost::asio::ip::tcp::socket socket(*ioContext);
-        boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::address::from_string(host), port);
+        boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::make_address(host), port);
         socket.connect(endpoint);
         _tcpStream = boost::make_shared<boost::beast::websocket::stream<boost::asio::ip::tcp::socket>>(std::move(socket));
     } else {
diff --git a/src/mujincontrollerclient.cpp b/src/mujincontrollerclient.cpp
index 295d9dcf..07a36fc7 100644
--- a/src/mujincontrollerclient.cpp
+++ b/src/mujincontrollerclient.cpp
@@ -15,8 +15,6 @@
 #include "controllerclientimpl.h"
 #include <boost/thread.hpp> // for sleep
 #include <boost/algorithm/string.hpp>
-#include <netdb.h>
-#include <arpa/inet.h>
 
 #include <mujincontrollerclient/binpickingtask.h>
 
diff --git a/src/mujinjson.cpp b/src/mujinjson.cpp
index 1f2e4aca..50113e24 100644
--- a/src/mujinjson.cpp
+++ b/src/mujinjson.cpp
@@ -4,7 +4,17 @@
 
 #include <fcntl.h>
 #include <sys/stat.h>
+
+#if defined(_WIN32)
+#include <io.h>
+#else
 #include <unistd.h>
+#endif
+
+#if defined(_MSC_VER)
+#include <BaseTsd.h>
+typedef SSIZE_T ssize_t;
+#endif
 
 namespace mujinjson {