diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 9b9f508..5bbf9f8 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index eac4cb2..24b21f8 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -14,6 +14,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 1d1a6c5..f080f17 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -8,6 +8,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     name: coverage build - humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 2d33087..d37fbf1 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -8,15 +8,15 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 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
+      ros_distro: humble
+      upstream_workspace: kinematics_interface.humble.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index e197f70..4c771e0 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
index 3bdc033..00e4a24 100644
--- a/.github/workflows/humble-rhel-semi-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -8,14 +8,15 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '42 4 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 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
+      ros_distro: humble
+      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
index d6b2e5f..6e8e975 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -13,6 +13,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 4dc984a..18f99ed 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -8,15 +8,16 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   source:
     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: ${{ matrix.ROS_DISTRO }}
+      ros_distro: humble
       ref: master
-      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      ros2_repo_branch: humble
       os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index dcf1b9e..c7466cf 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 9a4a21a..e7847f2 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -14,6 +14,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-compatibility-build.yml b/.github/workflows/rolling-compatibility-build.yml
index 61ee058..fc8acdc 100644
--- a/.github/workflows/rolling-compatibility-build.yml
+++ b/.github/workflows/rolling-compatibility-build.yml
@@ -11,6 +11,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 3dd2b02..7d7e0e7 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -8,6 +8,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_rolling:
     name: coverage build - rolling
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 2cabe44..a94e2e4 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 8d63051..3a415c7 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index 239fb01..13c8e9f 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '42 4 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 9d36429..97d0786 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -13,6 +13,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index eb176e3..c0e9bfa 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -8,6 +8,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   source:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master