diff --git a/.github/workflows/build-downstream.yml b/.github/workflows/build-downstream.yml
new file mode 100644
index 00000000..d6588993
--- /dev/null
+++ b/.github/workflows/build-downstream.yml
@@ -0,0 +1,26 @@
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: Downstream Build
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, jazzy, humble]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: ros2-master
+      not_test_build: true
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: true
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 23d06c7e..97a557c9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v19.1.3
+    rev: v19.1.4
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -132,7 +132,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.4
+    rev: 0.30.0
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
diff --git a/ros_controls.humble.repos b/ros_controls.humble.repos
new file mode 100644
index 00000000..5fa5755f
--- /dev/null
+++ b/ros_controls.humble.repos
@@ -0,0 +1,21 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: humble
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: humble
diff --git a/ros_controls.jazzy.repos b/ros_controls.jazzy.repos
new file mode 100644
index 00000000..c550ce63
--- /dev/null
+++ b/ros_controls.jazzy.repos
@@ -0,0 +1,21 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
diff --git a/ros_controls.rolling.repos b/ros_controls.rolling.repos
new file mode 100644
index 00000000..c550ce63
--- /dev/null
+++ b/ros_controls.rolling.repos
@@ -0,0 +1,21 @@
+repositories:
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master