diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci-humble.yaml
similarity index 94%
rename from .github/workflows/ci.yaml
rename to .github/workflows/ci-humble.yaml
index 5c40c0ca..cc93a069 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci-humble.yaml
@@ -1,7 +1,10 @@
-name: Ignition ros2 control CI
+name: ign_ros2_control CI - Humble
 
 on:
   pull_request:
+    branches: [ humble ]
+  push:
+    branches: [ humble ]
 
 jobs:
   build:
diff --git a/README.md b/README.md
index e7368afd..528ac53f 100644
--- a/README.md
+++ b/README.md
@@ -15,18 +15,24 @@ Foxy | Citadel | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/fox
 Foxy | Edifice | [foxy](https://github.com/ros-controls/gz_ros2_control/tree/foxy) | only from source
 Galactic | Edifice | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | https://packages.ros.org
 Galactic | Fortress | [galactic](https://github.com/ros-controls/gz_ros2_control/tree/galactic) | only from source
-Humble | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Rolling | Edifice | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
-Rolling | Fortress | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
-Rolling | Garden (not released) | [ros2](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Humble | Fortress | [humble](https://github.com/ros-controls/gz_ros2_control/tree/humble) | https://packages.ros.org
+Iron | Edifice | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Fortress | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | https://packages.ros.org
+Iron | Garden (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Iron | Harmonic (not released) | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source
+Rolling | Edifice | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Fortress | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org
+Rolling | Garden (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
+Rolling | Harmonic (not released) | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | only from source
 
 ## Build status
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_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/gz_ros2_control/tree/master) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_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/gz_ros2_control/tree/humble) | [![Gazebo ros2 control CI](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_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/gz_ros2_control/tree/master) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_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/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gz_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/gz_ros2_control/tree/humble) | [![ign_ros2_control CI - Humble](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_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)
+
 ## Documentation
 See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/simulators/gz_ros2_control/doc/index.html)