diff --git a/.github/workflows/build_linux.yml b/.github/workflows/build_linux.yml
index adbc2d07..a7c7b785 100644
--- a/.github/workflows/build_linux.yml
+++ b/.github/workflows/build_linux.yml
@@ -12,13 +12,17 @@ jobs:
         os: ['ubuntu-20.04', 'ubuntu-22.04']
         include:
           - os: ubuntu-20.04
+            test_target_framework: netcoreapp2.0
             ros_distribution: foxy
             ros_version: 2
           - os: ubuntu-22.04
+            test_target_framework: net6
             ros_distribution: humble
             ros_version: 2
 
     runs-on: ${{ matrix.os }}
+    env:
+      RCLDOTNET_TEST_TARGET_FRAMEWORK: ${{ matrix.test_target_framework }}
 
     steps:
     - name: Checkout source
diff --git a/rcldotnet/CMakeLists.txt b/rcldotnet/CMakeLists.txt
index 30b01cc6..c8d6866e 100644
--- a/rcldotnet/CMakeLists.txt
+++ b/rcldotnet/CMakeLists.txt
@@ -97,6 +97,11 @@ if(BUILD_TESTING)
       ${builtin_interfaces_ASSEMBLIES_DLL}
   )
 
+  # Used by CI to test the different target frameworks in a matrix.
+  if(DEFINED ENV{RCLDOTNET_TEST_TARGET_FRAMEWORK})
+    set(CSHARP_TARGET_FRAMEWORK ENV{RCLDOTNET_TEST_TARGET_FRAMEWORK})
+  endif()
+
   add_dotnet_test(test_messages
     ${CS_SOURCES}
     test/test_messages.cs