diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index be8c84b05..5bb240857 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
index 60ad26d07..a12895803 100644
--- a/.github/workflows/iron-pre-commit.yml
+++ b/.github/workflows/iron-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 6ee9eb369..09bcc02b6 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-docker-build.yaml b/.github/workflows/rolling-docker-build.yaml
index 02e234a6d..bd056a7ac 100644
--- a/.github/workflows/rolling-docker-build.yaml
+++ b/.github/workflows/rolling-docker-build.yaml
@@ -16,9 +16,13 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, jazzy]
     steps:
     - uses: actions/checkout@v4
       with:
         ref: master
     - name: Build the Docker image
-      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling --build-arg ROS_DISTRO=rolling .
+      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_${{ matrix.ROS_DISTRO }} --build-arg ROS_DISTRO=${{ matrix.ROS_DISTRO }} .
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 4d91d1910..aba2208fa 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -9,6 +9,9 @@ on:
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, jazzy]
     with:
-      ros_distro: rolling
-      container: ubuntu:24.04
+      ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 737f35e9d..6277fe6d4 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [rolling, jazzy]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/README.md b/README.md
index 6061c2c1b..f276dbbe5 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # ros2_control Demos
 
-[![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 
 This repository provides examples for functionalities and capabilities of `ros2_control` framework.
 It consists of simple implementations that demonstrate different concepts. Choose the right branch of this repository matching you ROS 2 distribution as well as the full documentation on [control.ros.org](https://control.ros.org), see [this table](#build-status).
@@ -102,10 +102,10 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_control_demos/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=iron) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br />[API Reference](https://control.ros.org/humble/doc/api/index.html)
 
 ### Explanation of different build types
 
diff --git a/ros2_control_demos-not-released.jazzy.repos b/ros2_control_demos-not-released.jazzy.repos
new file mode 100644
index 000000000..56f46b6f7
--- /dev/null
+++ b/ros2_control_demos-not-released.jazzy.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/ros2_control_demos.jazzy.repos b/ros2_control_demos.jazzy.repos
new file mode 100644
index 000000000..e2024e5ee
--- /dev/null
+++ b/ros2_control_demos.jazzy.repos
@@ -0,0 +1,21 @@
+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.git
+    version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master