diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
new file mode 100644
index 0000000..c6580ea
--- /dev/null
+++ b/.github/reviewer-lottery.yml
@@ -0,0 +1,33 @@
+groups:
+  # Default reviewers for all pull requests.
+  # Usually, at least on of the maintainers should approve PR before merging.
+  # The best is if two maintainers do that.
+  - name: maintainers # name of the group
+    reviewers: 2 # how many reviewers do you want to assign?
+    internal_reviewers: 1 # how many reviewers do you want to assign when the PR author belongs to this group?
+    usernames: # github usernames of the reviewers
+      - bmagyar
+      - destogl
+
+  # Reviewers group to get broader feedback.
+  - name: reviewers
+    reviewers: 5
+    usernames:
+      - aprotyas
+      - arne48
+      - bijoua29
+      - christophfroehlich
+      - DasRoteSkelett
+      - duringhof
+      - erickisos
+      - fmauch
+      - jaron-l
+      - livanov93
+      - mcbed
+      - moriarty
+      - olivier-stasse
+      - peterdavidfagan
+      - progtologist
+      - saikishor
+      - VanshGehlot
+      - VX792
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 397c22f..9e27dc9 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -1,8 +1,6 @@
 name: Coverage Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index 41d5638..844be25 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -5,11 +5,13 @@ on:
 jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
           linter: [cppcheck, copyright, lint_cmake]
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
     - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
@@ -19,11 +21,12 @@ jobs:
         linter: ${{ matrix.linter }}
         package-name:
           kinematics_interface_kdl
+          kinematics_interface
 
 
   ament_lint_100:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-20.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
       matrix:
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index fe7f32f..9b9f508 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -1,11 +1,9 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
-      - master
+      - humble
 
 jobs:
   abi_check:
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
deleted file mode 100644
index 10f4e2c..0000000
--- a/.github/workflows/humble-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: kinematics_interface-not-released.humble.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
deleted file mode 100644
index a6a0c9d..0000000
--- a/.github/workflows/humble-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: kinematics_interface-not-released.humble.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
new file mode 100644
index 0000000..de74e85
--- /dev/null
+++ b/.github/workflows/humble-binary-build.yml
@@ -0,0 +1,29 @@
+name: Humble Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: kinematics_interface-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
new file mode 100644
index 0000000..2d33087
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,22 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
deleted file mode 100644
index 95a08da..0000000
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: Humble RHEL Binary Build
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/kinematics_interface
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
new file mode 100644
index 0000000..3bdc033
--- /dev/null
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: RHEL Humble Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '42 4 * * *'
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
deleted file mode 100644
index 8bcc061..0000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: kinematics_interface.humble.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
deleted file mode 100644
index 8a58973..0000000
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: kinematics_interface.humble.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
new file mode 100644
index 0000000..843b6eb
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -0,0 +1,28 @@
+name: Humble Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 6ab9281..2f4407b 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -1,19 +1,21 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
-      - master
+      - humble
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
     with:
-      ros_distro: humble
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
-      ros2_repo_branch: master-humble
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
deleted file mode 100644
index 7a8c8b6..0000000
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-
-      upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
-        type: string
-      ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
-        required: true
-        type: string
-      ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
-        required: false
-        type: string
-      os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-      before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-
-      ccache_dir:
-        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
-        required: false
-        type: string
-      basedir:
-        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
-        required: false
-        type: string
-
-
-jobs:
-  reusable_industrial_ci_with_cache:
-    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
-      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
-    steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env:
-          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
-          ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ inputs.ros_repo }}
-          OS_CODE_NAME: ${{ inputs.os_code_name }}
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index 1901c5b..0000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref:
-        description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
-        required: true
-        type: string
-      ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble, galactic, foxy.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          package-name:
-            kinematics_interface_kdl
-            kinematics_interface
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/kinematics_interface.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
new file mode 100644
index 0000000..ed28964
--- /dev/null
+++ b/.github/workflows/reviewer_lottery.yml
@@ -0,0 +1,14 @@
+name: Reviewer lottery
+on:
+  pull_request_target:
+    types: [opened, ready_for_review, reopened]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
+    steps:
+    - uses: actions/checkout@v4
+    - uses: uesteibar/reviewer-lottery@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 3911434..0059332 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
-name: Rolling - ABI Compatibility Check
+name: ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -10,11 +8,15 @@ on:
 jobs:
   abi_check:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: rolling
+          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/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build-main.yml
deleted file mode 100644
index 3a753f4..0000000
--- a/.github/workflows/rolling-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Rolling Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: kinematics_interface-not-released.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
deleted file mode 100644
index a46a866..0000000
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Rolling Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: kinematics_interface-not-released.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
new file mode 100644
index 0000000..d30cf6c
--- /dev/null
+++ b/.github/workflows/rolling-binary-build.yml
@@ -0,0 +1,29 @@
+name: Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: kinematics_interface-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000..f19ea79
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,22 @@
+name: Debian Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
deleted file mode 100644
index 2937b59..0000000
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: Rolling RHEL Binary Build
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: jaronl/ros:rolling-alma
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/kinematics_interface
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
new file mode 100644
index 0000000..a5accf5
--- /dev/null
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -0,0 +1,22 @@
+name: RHEL Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '42 4 * * *'
+
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build-main.yml
deleted file mode 100644
index 1ed47c7..0000000
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Rolling Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: kinematics_interface.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
deleted file mode 100644
index 0fac362..0000000
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Rolling Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: kinematics_interface.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
new file mode 100644
index 0000000..46a37c6
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -0,0 +1,28 @@
+name: Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 1a137a7..35bf7f8 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,8 +1,6 @@
-name: Rolling Source Build
+name: Source Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -12,8 +10,12 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
-      ros2_repo_branch: master-rolling
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
diff --git a/README.md b/README.md
index 84226af..c468730 100644
--- a/README.md
+++ b/README.md
@@ -5,8 +5,9 @@ This is a ROS 2 package for using C++ kinematics frameworks in the context of RO
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) |   | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
-**Humble** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build-main.yml?branch=master) |   | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
+**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/rolling/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
+**Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/humble/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 
 ### Explanation of different build types
 
diff --git a/kinematics_interface-not-released.iron.repos b/kinematics_interface-not-released.iron.repos
new file mode 100644
index 0000000..1b3910e
--- /dev/null
+++ b/kinematics_interface-not-released.iron.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/kinematics_interface.humble.repos b/kinematics_interface.humble.repos
index 1b3910e..f2fc4ec 100644
--- a/kinematics_interface.humble.repos
+++ b/kinematics_interface.humble.repos
@@ -1,6 +1,5 @@
 repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble
diff --git a/kinematics_interface.iron.repos b/kinematics_interface.iron.repos
new file mode 100644
index 0000000..6aadb77
--- /dev/null
+++ b/kinematics_interface.iron.repos
@@ -0,0 +1,5 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: iron
diff --git a/kinematics_interface.rolling.repos b/kinematics_interface.rolling.repos
index 1b3910e..e22717b 100644
--- a/kinematics_interface.rolling.repos
+++ b/kinematics_interface.rolling.repos
@@ -1,6 +1,5 @@
 repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master