diff --git a/.github/workflows/abi-compatibility.yml b/.github/workflows/abi-compatibility.yml
new file mode 100644
index 00000000..a5719664
--- /dev/null
+++ b/.github/workflows/abi-compatibility.yml
@@ -0,0 +1,22 @@
+name: ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-master
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, jazzy, iron, humble]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/build-binary.yml b/.github/workflows/build-binary.yml
index 657a1799..c6df8877 100644
--- a/.github/workflows/build-binary.yml
+++ b/.github/workflows/build-binary.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, iron, humble]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/build-source.yml b/.github/workflows/build-source.yml
index 662a3338..7033cea8 100644
--- a/.github/workflows/build-source.yml
+++ b/.github/workflows/build-source.yml
@@ -14,8 +14,22 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        include:
+        - ROS_DISTRO: humble
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: iron
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: jazzy
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
+        - ROS_DISTRO: rolling
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: ros2-master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ${{ matrix.OS_NAME }}
+      container: ${{ matrix.CONTAINER }}
diff --git a/.github/workflows/ci-pre-commit.yml b/.github/workflows/ci-pre-commit.yml
index 676f1f46..2288ed56 100644
--- a/.github/workflows/ci-pre-commit.yml
+++ b/.github/workflows/ci-pre-commit.yml
@@ -10,6 +10,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/debian-build.yml b/.github/workflows/debian-build.yml
index ff3e5f66..c768c33d 100644
--- a/.github/workflows/debian-build.yml
+++ b/.github/workflows/debian-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, iron, humble]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rhel-semi-binary-build.yml b/.github/workflows/rhel-semi-binary-build.yml
index ce84552f..ebf05edf 100644
--- a/.github/workflows/rhel-semi-binary-build.yml
+++ b/.github/workflows/rhel-semi-binary-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [rolling, jazzy, iron, humble]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos
diff --git a/README.md b/README.md
index 846c4a7e..5e6880c3 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,7 @@ See the documentation of [ros2_control](http://control.ros.org) and release info
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/control_toolbox/tree/master) | [![Binary Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-binary.yml?branch=ros2-master) <br /> [![Rolling Source Build](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml/badge.svg?branch=ros2-master)](https://github.com/ros-controls/control_toolbox/actions/workflows/build-source.yml?branch=ros2-master) | [API](http://docs.ros.org/en/rolling/p/control_toolbox/)  | [control_toolbox](https://index.ros.org/p/control_toolbox/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/control_toolbox/tree/master) | see above | [API](http://docs.ros.org/en/jazzy/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#jazzy)
 **Iron** | [`master`](https://github.com/ros-controls/control_toolbox/tree/master) | see above | [API](http://docs.ros.org/en/iron/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#iron)
 **Humble** | [`master`](https://github.com/ros-controls/control_toolbox/tree/master) | see above | [API](http://docs.ros.org/en/humble/p/control_toolbox/) | [control_toolbox](https://index.ros.org/p/control_toolbox/#humble)
 
diff --git a/control_toolbox-not-released.jazzy.repos b/control_toolbox-not-released.jazzy.repos
new file mode 100644
index 00000000..1b3910e7
--- /dev/null
+++ b/control_toolbox-not-released.jazzy.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/control_toolbox.jazzy.repos b/control_toolbox.jazzy.repos
new file mode 100644
index 00000000..f8ef4ecb
--- /dev/null
+++ b/control_toolbox.jazzy.repos
@@ -0,0 +1,9 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools
+    version: master