diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index aafd67c2..f5e9921f 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -18,10 +18,3 @@ updates:
     schedule:
       interval: "weekly"
     target-branch: "humble"
-  - package-ecosystem: "github-actions"
-    # Workflow files stored in the
-    # default location of `.github/workflows`
-    directory: "/"
-    schedule:
-      interval: "weekly"
-    target-branch: "iron"
diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml
deleted file mode 100644
index 592c9b00..00000000
--- a/.github/workflows/ci-iron.yaml
+++ /dev/null
@@ -1,83 +0,0 @@
-name: gazebo_ros2_control CI - iron
-
-on:
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container:
-      image: osrf/ros:iron-desktop
-    steps:
-    - uses: actions/checkout@v4
-    - name: Setup colcon workspace
-      id: configure
-      run: |
-        cd ..
-        mkdir -p /home/ros2_ws/src
-        cp -r gazebo_ros2_control /home/ros2_ws/src/
-        apt-get update && apt-get upgrade -q -y
-        apt-get update && apt-get install -q -y --no-install-recommends \
-          dirmngr \
-          gnupg2 \
-          lsb-release \
-          python3-colcon-ros
-        cd /home/ros2_ws/src/
-        rosdep update
-        rosdep install --from-paths ./ -i -y --rosdistro iron \
-          --ignore-src
-    - name: Build project
-      id: build
-      run: |
-        cd /home/ros2_ws/
-        . /opt/ros/iron/local_setup.sh
-        colcon build --packages-up-to gazebo_ros2_control_demos
-    - name: Run tests
-      id: test
-      run: |
-        cd /home/ros2_ws/
-        . /opt/ros/iron/local_setup.sh
-        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
-        colcon test-result
-  build_testing:
-    runs-on: ubuntu-latest
-    container:
-      image: osrf/ros:iron-desktop
-    steps:
-    - uses: actions/checkout@v4
-    - name: Setup colcon workspace
-      id: configure
-      run: |
-        cd ..
-        mkdir -p /home/ros2_ws/src
-        cp -r gazebo_ros2_control /home/ros2_ws/src/
-        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-        sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-        apt-get update && apt-get upgrade -q -y
-        apt-get update && apt-get install -q -y --no-install-recommends \
-          dirmngr \
-          gnupg2 \
-          lsb-release \
-          python3-colcon-ros
-        cd /home/ros2_ws/src/
-        rosdep update
-        rosdep install --from-paths ./ -i -y --rosdistro iron \
-          --ignore-src
-    - name: Build project
-      id: build
-      run: |
-        cd /home/ros2_ws/
-        . /opt/ros/iron/local_setup.sh
-        colcon build --packages-up-to gazebo_ros2_control_demos
-    - name: Run tests
-      id: test
-      run: |
-        cd /home/ros2_ws/
-        . /opt/ros/iron/local_setup.sh
-        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
-        colcon test-result
diff --git a/README.md b/README.md
index dbf932f4..910b9c31 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,6 @@ See the [documentation file](doc/index.rst) or [control.ros.org](https://control
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/gazebo_ros2_control/tree/master) | n/a | [Documentation](https://control.ros.org/master/doc/gazebo_ros2_control/doc/index.html)
-**Jazzy** | [`master`](https://github.com/ros-controls/gazebo_ros2_control/tree/master) | n/a | [Documentation](https://control.ros.org/jazzy/doc/gazebo_ros2_control/doc/index.html)
-**Iron** | [`iron`](https://github.com/ros-controls/gazebo_ros2_control/tree/iron) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/doc/gazebo_ros2_control/doc/index.html)
+**Rolling** | [`master`](https://github.com/ros-controls/gazebo_ros2_control/tree/master) |  [![Gazebo ros2 control CI](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-rolling.yaml)  | [Documentation](https://control.ros.org/master/doc/gazebo_ros2_control/doc/index.html)
+**Jazzy** | [`master`](https://github.com/ros-controls/gazebo_ros2_control/tree/master) |  [![Gazebo ros2 control CI](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-rolling.yaml)  | [Documentation](https://control.ros.org/jazzy/doc/gazebo_ros2_control/doc/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/gazebo_ros2_control/tree/humble) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci-humble.yaml) | [Documentation](https://control.ros.org/humble/doc/gazebo_ros2_control/doc/index.html)