diff --git a/.github/workflows/binary-build-win.yml b/.github/workflows/binary-build-win.yml
new file mode 100644
index 00000000..2e3dc826
--- /dev/null
+++ b/.github/workflows/binary-build-win.yml
@@ -0,0 +1,32 @@
+name: Windows Binary Build
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test all dependencies from released (binary) windows packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - ros2-master
+    # types:
+    #   - labeled
+  push:
+    branches:
+      - ros2-master
+  # issue_comment:
+  #   types:
+  #     - created
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@windows_ci_boost
+    with:
+      ros_distro: jazzy
+      ref_for_scheduled_build: ros2-master
+      os_name: windows-2019
+      install_boost: true
+      install_vcpkg: true
+      windows_dependencies: control_toolbox.windows.jazzy.repos
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4f144e88..c8783247 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,11 +7,16 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 if(WIN32)
-  # Enable Math Constants
-  # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
   add_compile_definitions(
+    # For math constants
+    # https://docs.microsoft.com/en-us/cpp/c-runtime-library/math-constants?view=vs-2019
     _USE_MATH_DEFINES
+    # Minimize Windows namespace collision
+    NOMINMAX
+    WIN32_LEAN_AND_MEAN
   )
+  # set the same behavior for windows as it is on linux
+  set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
diff --git a/control_toolbox.windows.jazzy.repos b/control_toolbox.windows.jazzy.repos
new file mode 100644
index 00000000..4b4f31b3
--- /dev/null
+++ b/control_toolbox.windows.jazzy.repos
@@ -0,0 +1,17 @@
+repositories:
+  filters:
+    type: git
+    url: https://github.com/christophfroehlich/filters.git
+    version: ros2-boost
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version:  main
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version:  main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version:  main