diff --git a/.github/workflows/ci-humble.yaml b/.github/workflows/ci-humble.yaml
new file mode 100644
index 00000000..21bf42ab
--- /dev/null
+++ b/.github/workflows/ci-humble.yaml
@@ -0,0 +1,72 @@
+name: ign_ros2_control CI - Humble
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches: [ humble ]
+  push:
+    branches: [ humble ]
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 5 * * *'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - version: fortress
+            ros-repo-packages: ""
+          - version: fortress
+            ros-repo-packages: "-testing"
+    env:
+      IGNITION_VERSION: ${{ matrix.version }}
+      ROS_REPO_PACKAGES: ${{ matrix.ros-repo-packages }}
+    container:
+      image: ubuntu:22.04
+    steps:
+    - name: Checkout code
+      if: github.event_name != 'schedule'
+      uses: actions/checkout@v4
+    - name: Checkout code for scheduled workflow
+      if: github.event_name == 'schedule'
+      uses: actions/checkout@v4
+      with:
+        ref: humble
+    - name: Setup colcon workspace
+      id: configure
+      run: |
+        export DEBIAN_FRONTEND=noninteractive
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2
+        cd ..
+        mkdir -p /home/ros2_ws/src
+        cp -r gz_ros2_control /home/ros2_ws/src/
+        sh -c 'echo "deb http://packages.ros.org/ros2$ROS_REPO_PACKAGES/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-testing.list'
+        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+        apt-get update && apt-get upgrade -q -y
+        apt-get update && apt-get install -qq -y \
+          dirmngr \
+          python3-colcon-ros \
+          python3-colcon-common-extensions \
+          python3-rosdep \
+          build-essential
+        cd /home/ros2_ws/src/
+        rosdep init
+        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 ign_ros2_control_demos gz_ros2_control_tests
+    - name: Run tests
+      id: test
+      run: |
+        cd /home/ros2_ws/
+        . /opt/ros/humble/local_setup.sh
+        colcon test --event-handlers console_direct+ --packages-select ign_ros2_control ign_ros2_control_demos gz_ros2_control_tests
+        colcon test-result
diff --git a/README.md b/README.md
index 3e4c7399..85facc54 100644
--- a/README.md
+++ b/README.md
@@ -24,8 +24,8 @@ Rolling | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tr
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **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=master)](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)
+**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=master)](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/gz_ros2_control/doc/index.html)