diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 05a48fc6..aafd67c2 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -11,3 +11,17 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    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-humble.yaml b/.github/workflows/ci-humble.yaml
new file mode 100644
index 00000000..54a3b990
--- /dev/null
+++ b/.github/workflows/ci-humble.yaml
@@ -0,0 +1,82 @@
+name: gazebo_ros2_control CI - Humble
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: osrf/ros:humble-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 humble \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/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:humble-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/
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] 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 humble \
+          --ignore-src
+    - name: Build project
+      id: build
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon build --packages-up-to gazebo_ros2_control_demos
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select gazebo_ros2_control gazebo_ros2_control_demos
+        colcon test-result
diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml
new file mode 100644
index 00000000..12fb68cc
--- /dev/null
+++ b/.github/workflows/ci-iron.yaml
@@ -0,0 +1,82 @@
+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/
+        sh -c 'echo "deb [arch=$(dpkg --print-architecture)] 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/.github/workflows/ci.yaml b/.github/workflows/ci-rolling.yaml
similarity index 97%
rename from .github/workflows/ci.yaml
rename to .github/workflows/ci-rolling.yaml
index 99ca38aa..1c8f95ce 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci-rolling.yaml
@@ -1,11 +1,12 @@
-name: Gazebo ros2 control CI
+name: gazebo_ros2_control - Rolling
 
 on:
   pull_request:
+    branches:
+      - master
   push:
     branches:
       - master
-      - humble
 
 jobs:
   build:
diff --git a/README.md b/README.md
index ca4ea7b4..de2e262b 100644
--- a/README.md
+++ b/README.md
@@ -11,6 +11,6 @@ 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) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Iron** | [`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.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/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.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gazebo_ros2_control/actions/workflows/ci.yaml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/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/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/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/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/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/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)