diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
deleted file mode 100644
index 6494e627a4..0000000000
--- a/.github/workflows/foxy-abi-compatibility.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Foxy - ABI Compatibility Check
-on:
-  workflow_dispatch:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: foxy
-          ROS_REPO: main
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/foxy-binary-build-main.yml b/.github/workflows/foxy-binary-build-main.yml
deleted file mode 100644
index b306d7e44d..0000000000
--- a/.github/workflows/foxy-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Foxy Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-  push:
-    branches:
-      - foxy
-  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: foxy
-      ros_repo: main
-      upstream_workspace: ros2_controllers-not-released.foxy.repos
-      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-binary-build-testing.yml b/.github/workflows/foxy-binary-build-testing.yml
deleted file mode 100644
index 260751abea..0000000000
--- a/.github/workflows/foxy-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Foxy Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-  push:
-    branches:
-      - foxy
-  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: foxy
-      ros_repo: testing
-      upstream_workspace: ros2_controllers-not-released.foxy.repos
-      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-semi-binary-build-main.yml b/.github/workflows/foxy-semi-binary-build-main.yml
deleted file mode 100644
index 75c3295124..0000000000
--- a/.github/workflows/foxy-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Foxy Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-  push:
-    branches:
-      - foxy
-  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: foxy
-      ros_repo: main
-      upstream_workspace: ros2_controllers.foxy.repos
-      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-semi-binary-build-testing.yml b/.github/workflows/foxy-semi-binary-build-testing.yml
deleted file mode 100644
index f6d663cc2c..0000000000
--- a/.github/workflows/foxy-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Foxy Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - foxy
-  pull_request:
-    branches:
-      - foxy
-  push:
-    branches:
-      - foxy
-  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: foxy
-      ros_repo: testing
-      upstream_workspace: ros2_controllers.foxy.repos
-      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
deleted file mode 100644
index a5eb1e66c0..0000000000
--- a/.github/workflows/galactic-abi-compatibility.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: Galactic - ABI Compatibility Check
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: galactic
-          ROS_REPO: main
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/galactic-binary-build-main.yml b/.github/workflows/galactic-binary-build-main.yml
deleted file mode 100644
index 14fe56407c..0000000000
--- a/.github/workflows/galactic-binary-build-main.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Galactic Binary Build - main
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-  push:
-    branches:
-      - galactic
-  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: galactic
-      ros_repo: main
-      upstream_workspace: ros2_controllers-not-released.galactic.repos
-      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-binary-build-testing.yml b/.github/workflows/galactic-binary-build-testing.yml
deleted file mode 100644
index c4b22a3a7a..0000000000
--- a/.github/workflows/galactic-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Galactic Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-  push:
-    branches:
-      - galactic
-  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: galactic
-      ros_repo: testing
-      upstream_workspace: ros2_controllers-not-released.galactic.repos
-      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
deleted file mode 100644
index 132ecb0325..0000000000
--- a/.github/workflows/galactic-rhel-binary-build.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: Galactic RHEL Binary Build
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-  push:
-    branches:
-      - galactic
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  galactic_rhel_binary:
-    name: Galactic RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: galactic
-    container: ghcr.io/ros-controls/ros:galactic-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_controllers
-      - run: |
-          rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
diff --git a/.github/workflows/galactic-semi-binary-build-main.yml b/.github/workflows/galactic-semi-binary-build-main.yml
deleted file mode 100644
index 7e498679cb..0000000000
--- a/.github/workflows/galactic-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Galactic Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-  push:
-    branches:
-      - galactic
-  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: galactic
-      ros_repo: main
-      upstream_workspace: ros2_controllers.galactic.repos
-      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-semi-binary-build-testing.yml b/.github/workflows/galactic-semi-binary-build-testing.yml
deleted file mode 100644
index 82a74a358b..0000000000
--- a/.github/workflows/galactic-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Galactic Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - galactic
-  pull_request:
-    branches:
-      - galactic
-  push:
-    branches:
-      - galactic
-  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: galactic
-      ros_repo: testing
-      upstream_workspace: ros2_controllers.galactic.repos
-      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
new file mode 100644
index 0000000000..e8deb2caa5
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_debian:
+    name: Humble debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: ghcr.io/ros-controls/ros:humble-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 3653d4f0f4..efb1aa7d9e 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,19 +1,13 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
-  push:
-    branches:
-      - humble
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 2 * * *'
 
-
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
@@ -25,9 +19,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
new file mode 100644
index 0000000000..09dbd051b2
--- /dev/null
+++ b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_debian:
+    name: Iron debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000000..b6d0a4193a
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,30 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  rolling_debian:
+    name: Rolling debian build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: ghcr.io/ros-controls/ros:rolling-debian
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_controllers
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index ca29f92ca0..dece43b673 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,14 +1,9 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
-  push:
-    branches:
-      - master
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -25,9 +20,15 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
-          rosdep install -iy --from-path src/ros2_controllers
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+        # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          colcon build
-          colcon test
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose