diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 482504c59a9..461e3cfd765 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,14 @@ on:
 
 
 jobs:
-  humble_debian:
-    name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 9d3b095e39d..d1c08e78603 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Humble Binary Build
+name: RHEL Humble Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,34 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 35db1eb8d95..5934064de90 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,14 @@ on:
 
 
 jobs:
-  iron_debian:
-    name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages-build: rqt_controller_manager
-      skip-packages-test: rqt_controller_manager controller_manager_msgs
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-build }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages-test }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index 435c3e93160..8ac5bdd954c 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Iron Binary Build
+name: RHEL Iron Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,35 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
new file mode 100644
index 00000000000..6fca63e7677
--- /dev/null
+++ b/.github/workflows/reusable-debian-build.yml
@@ -0,0 +1,75 @@
+name: Reusable Debian Source Build
+# Reusable action to simplify dealing with debian source builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      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: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+      skip_packages_test:
+        description: 'Packages to skip from test additionally to skip_packages'
+        default: ''
+        required: false
+        type: string
+
+
+jobs:
+  debian_source:
+    name: ${{ inputs.ros_distro }} debian build
+    runs-on: ubuntu-latest
+    env:
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Import upstream workspace
+        shell: bash
+        run: |
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+      - name: Get list of packages
+        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
+        run: |
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+      - name: Build workspace
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test-result --verbose
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
new file mode 100644
index 00000000000..d123fd933a4
--- /dev/null
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -0,0 +1,81 @@
+name: Reusable RHEL Binary Build
+# Reusable action to simplify dealing with RHEL binary builds
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_call:
+    inputs:
+      ros_distro:
+        description: 'ROS2 distribution name'
+        required: true
+        type: string
+      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: 'Path to local .repos file.'
+        default: ''
+        required: false
+        type: string
+      skip_packages:
+        description: 'Packages to skip from build and test'
+        default: ''
+        required: false
+        type: string
+      skip_packages_test:
+        description: 'Packages to skip from test additionally to skip_packages'
+        default: ''
+        required: false
+        type: string
+
+jobs:
+  rhel_binary:
+    name: ${{ inputs.ros_distro }} RHEL binary build
+    runs-on: ubuntu-latest
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-rhel
+    env:
+      # this will be src/{repo-owner}/{repo-name}
+      path: src/${{ github.repository }}
+    steps:
+      - name: Checkout default ref when build is not scheduled
+        if: ${{ github.event_name != 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          path: ${{ env.path }}
+      - name: Checkout ${{ inputs.ref_for_scheduled_build }} on scheduled build
+        if: ${{ github.event_name == 'schedule' }}
+        uses: actions/checkout@v4
+        with:
+          ref: ${{ inputs.ref_for_scheduled_build }}
+          path: ${{ env.path }}
+      - name: Install dependencies
+        shell: bash
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
+            vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
+          fi
+          rosdep update
+          rosdep install -iyr --from-path src || true
+      - name: Get list of packages
+        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
+        run: |
+          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only) $(colcon list --paths ${{ env.path }}/* --names-only)" >> $GITHUB_ENV
+      - name: Build workspace
+        shell: bash
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+      - name: Test workspace
+        shell: bash
+        continue-on-error: true
+        run: |
+          source /opt/ros/${{ inputs.ros_distro }}/setup.bash
+          source /opt/ros2_ws/install/local_setup.bash
+          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index efe1422404d..a6de78ff513 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Rolling Build
+name: Debian Rolling Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,29 +10,13 @@ on:
 
 
 jobs:
-  rolling_debian:
-    name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build workspace
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 8f2638405b1..b511883b77b 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Rolling Binary Build
+name: RHEL Rolling Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,36 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-      skip-packages: rqt_controller_manager
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Install dependencies
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          rosdep update
-          rosdep install -iyr --from-path src/ros2_control || true
-      - name: Build workspace
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon build  --packages-up-to $(colcon list --paths src/ros2_control/* --names-only) --packages-skip ${{ env.skip-packages }}
-      - name: Test workspace
-        shell: bash
-        continue-on-error: true
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select $(colcon list --paths src/ros2_control/* --names-only) --packages-skip  ${{ env.skip-packages }}
-          colcon test-result --verbose
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager