diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
new file mode 100644
index 00000000..c6580eac
--- /dev/null
+++ b/.github/reviewer-lottery.yml
@@ -0,0 +1,33 @@
+groups:
+  # Default reviewers for all pull requests.
+  # Usually, at least on of the maintainers should approve PR before merging.
+  # The best is if two maintainers do that.
+  - name: maintainers # name of the group
+    reviewers: 2 # how many reviewers do you want to assign?
+    internal_reviewers: 1 # how many reviewers do you want to assign when the PR author belongs to this group?
+    usernames: # github usernames of the reviewers
+      - bmagyar
+      - destogl
+
+  # Reviewers group to get broader feedback.
+  - name: reviewers
+    reviewers: 5
+    usernames:
+      - aprotyas
+      - arne48
+      - bijoua29
+      - christophfroehlich
+      - DasRoteSkelett
+      - duringhof
+      - erickisos
+      - fmauch
+      - jaron-l
+      - livanov93
+      - mcbed
+      - moriarty
+      - olivier-stasse
+      - peterdavidfagan
+      - progtologist
+      - saikishor
+      - VanshGehlot
+      - VX792
diff --git a/.github/workflows/build-binary.yml b/.github/workflows/build-binary.yml
new file mode 100644
index 00000000..1c54e87e
--- /dev/null
+++ b/.github/workflows/build-binary.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: Binary Build
+on:
+  pull_request:
+  push:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '28 6 * * *'
+
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling, iron, humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: control_toolbox-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: ros2-master
diff --git a/.github/workflows/build-coverage_humble.yml b/.github/workflows/build-coverage_humble.yml
deleted file mode 100644
index b05a90c5..00000000
--- a/.github/workflows/build-coverage_humble.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: Coverage Build - Humble
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - ros2-master
-  pull_request:
-    branches:
-      - ros2-master
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: humble
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            control_toolbox
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/control_toolbox.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          token: ${{ secrets.CODECOV_TOKEN }}
-      - uses: actions/upload-artifact@v4.3.0
-        with:
-          name: colcon-logs-coverage-humble
-          path: ros_ws/log
diff --git a/.github/workflows/build-coverage_iron.yml b/.github/workflows/build-coverage_iron.yml
deleted file mode 100644
index 8feda144..00000000
--- a/.github/workflows/build-coverage_iron.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: Coverage Build - Iron
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - ros2-master
-  pull_request:
-    branches:
-      - ros2-master
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: iron
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            control_toolbox
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/control_toolbox.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          token: ${{ secrets.CODECOV_TOKEN }}
-      - uses: actions/upload-artifact@v4.3.0
-        with:
-          name: colcon-logs-coverage-iron
-          path: ros_ws/log
diff --git a/.github/workflows/build-humble.yml b/.github/workflows/build-humble.yml
deleted file mode 100644
index 3ad3578e..00000000
--- a/.github/workflows/build-humble.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-# 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: Build humble
-on:
-  pull_request:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-jobs:
-  binary:
-    name: binary build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-      BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-    steps:
-      - uses: actions/checkout@v4
-      # The target directory cache doesn't include the source directory because
-      # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build-iron.yml b/.github/workflows/build-iron.yml
deleted file mode 100644
index 55c7933d..00000000
--- a/.github/workflows/build-iron.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-# 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: Build iron
-on:
-  pull_request:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-jobs:
-  binary:
-    name: binary build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: iron, ROS_REPO: main}
-          - {ROS_DISTRO: iron, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-      BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-    steps:
-      - uses: actions/checkout@v4
-      # The target directory cache doesn't include the source directory because
-      # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
deleted file mode 100644
index 8119ddd3..00000000
--- a/.github/workflows/build-rolling.yml
+++ /dev/null
@@ -1,55 +0,0 @@
-# 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: Build rolling
-on:
-  pull_request:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-jobs:
-  binary:
-    name: binary build
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: rolling, ROS_REPO: main}
-          - {ROS_DISTRO: rolling, ROS_REPO: testing}
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/.ccache
-      BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-    steps:
-      - uses: actions/checkout@v4
-      # The target directory cache doesn't include the source directory because
-      # that comes from the checkout.  See "prepare target_ws for cache" task below
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/build-source_humble.yml b/.github/workflows/build-source.yml
similarity index 58%
rename from .github/workflows/build-source_humble.yml
rename to .github/workflows/build-source.yml
index 4cf8d966..3a31aa8c 100644
--- a/.github/workflows/build-source_humble.yml
+++ b/.github/workflows/build-source.yml
@@ -1,4 +1,4 @@
-name: Source Build - Humble
+name: Source Build
 on:
   workflow_dispatch:
   push:
@@ -9,9 +9,12 @@ on:
     - cron: '03 3 * * *'
 
 jobs:
-  source:
+  source_build:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling, iron, humble]
     with:
-      ros_distro: humble
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: ros2-master
-      ros2_repo_branch: humble
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/build-source_iron.yml b/.github/workflows/build-source_iron.yml
deleted file mode 100644
index 3ec6feb6..00000000
--- a/.github/workflows/build-source_iron.yml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: Source Build - Iron
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: iron
-      ref: ros2-master
-      ros2_repo_branch: iron
diff --git a/.github/workflows/build-source_rollling.yml b/.github/workflows/build-source_rollling.yml
deleted file mode 100644
index 14dacac0..00000000
--- a/.github/workflows/build-source_rollling.yml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: Source Build - Rolling
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: rolling
-      ref: ros2-master
-      ros2_repo_branch: rolling
diff --git a/.github/workflows/debian-build.yml b/.github/workflows/debian-build.yml
new file mode 100644
index 00000000..bd54edfd
--- /dev/null
+++ b/.github/workflows/debian-build.yml
@@ -0,0 +1,21 @@
+name: Debian Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 5 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ./.github/workflows/reusable-debian-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling, iron, humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: ros2-master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
deleted file mode 100644
index 993fc603..00000000
--- a/.github/workflows/humble-debian-build.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Debian Humble Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 5 * * *'
-
-
-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/control_toolbox
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/control_toolbox/control_toolbox.${{ env.ROS_DISTRO }}.repos
-          colcon build
-          colcon test --packages-skip control_msgs
-          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
deleted file mode 100644
index 4851a834..00000000
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: RHEL Humble Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/control_toolbox
-      - name: Install dependencies
-        run: |
-          rosdep update --rosdistro $ROS_DISTRO
-          rosdep install -iyr --from-path src/control_toolbox || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
deleted file mode 100644
index 73487d82..00000000
--- a/.github/workflows/iron-debian-build.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Debian Iron Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 5 * * *'
-
-
-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/control_toolbox
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/control_toolbox/control_toolbox.${{ env.ROS_DISTRO }}.repos
-          colcon build
-          colcon test --packages-skip control_msgs
-          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
deleted file mode 100644
index be517fb6..00000000
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-name: RHEL Iron Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-
-jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/control_toolbox
-      - name: Install dependencies
-        run: |
-          rosdep update --rosdistro $ROS_DISTRO
-          rosdep install -iyr --from-path src/control_toolbox || true
-      - name: Build and test
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
new file mode 100644
index 00000000..7bf53f57
--- /dev/null
+++ b/.github/workflows/reusable-debian-build.yml
@@ -0,0 +1,78 @@
+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:
+      ROS_DISTRO: ${{ inputs.ros_distro }}
+    container: ghcr.io/ros-controls/ros:${{ inputs.ros_distro }}-debian
+    steps:
+      - name: Get repository name
+        # Extract the repository name from the GITHUB_REPOSITORY environment variable
+        # ${{ github.event.repository.name }} seems to be not working with act
+        run: echo "path=src/${GITHUB_REPOSITORY#*/}" >> $GITHUB_ENV
+      - 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 00000000..4dcdad00
--- /dev/null
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -0,0 +1,82 @@
+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
+    steps:
+      - name: Get repository name
+        # Extract the repository name from the GITHUB_REPOSITORY environment variable
+        # ${{ github.event.repository.name }} seems to be not working with act
+        run: echo "path=src/${GITHUB_REPOSITORY#*/}" >> $GITHUB_ENV
+      - 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/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
new file mode 100644
index 00000000..ed28964e
--- /dev/null
+++ b/.github/workflows/reviewer_lottery.yml
@@ -0,0 +1,14 @@
+name: Reviewer lottery
+on:
+  pull_request_target:
+    types: [opened, ready_for_review, reopened]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
+    steps:
+    - uses: actions/checkout@v4
+    - uses: uesteibar/reviewer-lottery@v3
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rhel-semi-binary-build.yml b/.github/workflows/rhel-semi-binary-build.yml
new file mode 100644
index 00000000..b80f2f6b
--- /dev/null
+++ b/.github/workflows/rhel-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: RHEL Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ./.github/workflows/reusable-rhel-binary-build.yml
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling, iron, humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: control_toolbox.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: ros2-master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
deleted file mode 100644
index efcf3551..00000000
--- a/.github/workflows/rolling-debian-build.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Debian Rolling Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 5 * * *'
-
-
-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/control_toolbox
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/control_toolbox/control_toolbox.${{ env.ROS_DISTRO }}.repos
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
deleted file mode 100644
index c4ec45d4..00000000
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ /dev/null
@@ -1,34 +0,0 @@
-name: RHEL Rolling Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-
-jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/control_toolbox
-      - name: Install dependencies
-        run: |
-          rosdep update --rosdistro $ROS_DISTRO
-          rosdep install -iyr --from-path src/control_toolbox || true
-      - name: Build and test
-        # source also underlay workspace with generate_parameter_library on rhel9
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/control_toolbox-not-released.humble.repos b/control_toolbox-not-released.humble.repos
new file mode 100644
index 00000000..1b3910e7
--- /dev/null
+++ b/control_toolbox-not-released.humble.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/control_toolbox-not-released.iron.repos b/control_toolbox-not-released.iron.repos
new file mode 100644
index 00000000..1b3910e7
--- /dev/null
+++ b/control_toolbox-not-released.iron.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/control_toolbox-not-released.rolling.repos b/control_toolbox-not-released.rolling.repos
new file mode 100644
index 00000000..1b3910e7
--- /dev/null
+++ b/control_toolbox-not-released.rolling.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master