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If not running your own infrastructure is an option (similar to option A suggested by @nuclearsandwich) you could setup Travis CI (or any other CI provider) to build and test your code. The ros_buildfarm docs contain some example and snippets how to do so: e.g. https://github.com/ros-infrastructure/ros_buildfarm/blob/master/doc/jobs/prerelease_jobs.rst#run-the-prerelease-job-on-travis

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