diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 6fa3261..09fdb17 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -4,6 +4,11 @@ name: Humble Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index dfc3f90..2ba939f 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -4,6 +4,11 @@ name: Iron Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/iron-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 85f7895..50a5595 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -1,9 +1,14 @@
-name: Rolling Stack Build
-# author: Denis Štogl <denis@stoglrobotics.de>
+name: Jazzy Stack Build
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index daf434d..1febf4b 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -4,6 +4,11 @@ name: Rolling Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-binary-build.yml'
+      - './.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index a5a4d8a..2871118 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Humble
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-iron-binary-build.yml b/.github/workflows/rolling-compatibility-iron-binary-build.yml
index 04f39bb..ef58113 100644
--- a/.github/workflows/rolling-compatibility-iron-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-iron-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Iron
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-iron-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index c3d0d19..29ce625 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Jazzy
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/README.md b/README.md
index 9c7e20d..74f411d 100644
--- a/README.md
+++ b/README.md
@@ -9,13 +9,18 @@ It also builds the full ros2_control stack once per day.
 ## Released versions
 
 [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml)
+
 [![Jazzy Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml)
+
 [![Iron Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml)
+
 [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml)
 
 ## Compatibility versions
 We thrive to make the rolling development version of the ros2_control stack compatible with earlier releases of ROS2. This is done by building the rolling version of the stack from source with the earlier releases of ROS2.
 
-[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
 [![Check Rolling Compatibility on Jazzy with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml)
+
+[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
+
 [![Check Rolling Compatibility on Humble with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml)
diff --git a/ros_controls.rolling-on-jazzy.repos b/ros_controls.rolling-on-jazzy.repos
index 01d3aba..97cc475 100644
--- a/ros_controls.rolling-on-jazzy.repos
+++ b/ros_controls.rolling-on-jazzy.repos
@@ -7,10 +7,6 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
     version: ros2-master
-  ros-controls/gazebo_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
-    version: master
   ros-controls/gz_ros2_control:
     type: git
     url: https://github.com/ros-controls/gz_ros2_control.git