diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 397c22f..9e27dc9 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -1,8 +1,6 @@
 name: Coverage Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 82a7304..de74e85 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -16,12 +16,14 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
+      fail-fast: false
       matrix:
+        ROS_DISTRO: [humble]
         ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface-not-released.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: kinematics_interface-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 00a2c10..2d33087 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -10,22 +10,13 @@ on:
 
 
 jobs:
-  humble_debian:
-    name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/kinematics_interface/kinematics_interface.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to kinematics_interface kinematics_interface_kdl
-          colcon test --packages-select kinematics_interface kinematics_interface_kdl
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
deleted file mode 100644
index c23deeb..0000000
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-name: RHEL Humble Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '42 4 * * *'
-
-jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/kinematics_interface || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
new file mode 100644
index 0000000..3bdc033
--- /dev/null
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: RHEL Humble Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '42 4 * * *'
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 317235e..843b6eb 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -15,12 +15,14 @@ on:
 
 jobs:
   semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
+      fail-fast: false
       matrix:
+        ROS_DISTRO: [humble]
         ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index a40d53f..2f4407b 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -10,8 +10,12 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
     with:
-      ros_distro: humble
-      ref: humble
-      ros2_repo_branch: humble
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ref: master
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
deleted file mode 100644
index 59bfc11..0000000
--- a/.github/workflows/iron-abi-compatibility.yml
+++ /dev/null
@@ -1,18 +0,0 @@
-name: Iron - ABI Compatibility Check
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v3
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: iron
-          ROS_REPO: main
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
deleted file mode 100644
index ce1336d..0000000
--- a/.github/workflows/iron-binary-build.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-name: Iron Binary Build
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    strategy:
-      matrix:
-        ROS_REPO: [main, testing]
-    with:
-      ros_distro: iron
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface-not-released.iron.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
deleted file mode 100644
index c438946..0000000
--- a/.github/workflows/iron-debian-build.yml
+++ /dev/null
@@ -1,32 +0,0 @@
-name: Debian Iron Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '33 2 * * *'
-
-
-jobs:
-  iron_debian:
-    name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/kinematics_interface/kinematics_interface.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to kinematics_interface kinematics_interface_kdl
-          colcon test --packages-select kinematics_interface kinematics_interface_kdl
-          colcon test-result --verbose
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
deleted file mode 100644
index be09d64..0000000
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ /dev/null
@@ -1,35 +0,0 @@
-name: RHEL Iron Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '42 4 * * *'
-
-
-jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/kinematics_interface || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
deleted file mode 100644
index c9cf488..0000000
--- a/.github/workflows/iron-semi-binary-build.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Iron Semi-Binary Build
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    strategy:
-      matrix:
-        ROS_REPO: [main, testing]
-    with:
-      ros_distro: iron
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface.iron.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
deleted file mode 100644
index 54a17cc..0000000
--- a/.github/workflows/iron-source-build.yml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: Iron Source Build
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
-    with:
-      ros_distro: iron
-      ref: master
-      ros2_repo_branch: iron
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
deleted file mode 100644
index 7a8c8b6..0000000
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-
-      upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
-        type: string
-      ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
-        required: true
-        type: string
-      ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
-        required: false
-        type: string
-      os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-      before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-
-      ccache_dir:
-        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
-        required: false
-        type: string
-      basedir:
-        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
-        required: false
-        type: string
-
-
-jobs:
-  reusable_industrial_ci_with_cache:
-    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
-      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
-    steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env:
-          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
-          ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ inputs.ros_repo }}
-          OS_CODE_NAME: ${{ inputs.os_code_name }}
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index ca8532a..0000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref:
-        description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
-        required: true
-        type: string
-      ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          package-name:
-            kinematics_interface_kdl
-            kinematics_interface
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/kinematics_interface.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index b3d8cb8..0059332 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,4 +1,4 @@
-name: Rolling - ABI Compatibility Check
+name: ABI Compatibility Check
 on:
   workflow_dispatch:
   pull_request:
@@ -8,11 +8,15 @@ on:
 jobs:
   abi_check:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: rolling
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index a5fd89f..54c41fc 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -16,12 +16,14 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
+      fail-fast: false
       matrix:
+        ROS_DISTRO: [rolling, iron]
         ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface-not-released.rolling.repos
+      upstream_workspace: kinematics_interface-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 844ed56..f19ea79 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Rolling Build
+name: Debian Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,23 +10,13 @@ on:
 
 
 jobs:
-  rolling_debian:
-    name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/kinematics_interface/kinematics_interface.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-up-to kinematics_interface kinematics_interface_kdl
-          colcon test --packages-select kinematics_interface kinematics_interface_kdl
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
deleted file mode 100644
index 59ce62d..0000000
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ /dev/null
@@ -1,35 +0,0 @@
-name: RHEL Rolling Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '42 4 * * *'
-
-
-jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-rhel
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/kinematics_interface
-          # default behavior is correct on master branch
-          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
-      - name: Install dependencies
-        run: |
-          rosdep update
-          rosdep install -iyr --from-path src/kinematics_interface || true
-      - name: Build and test
-        run: |
-          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-          source /opt/ros2_ws/install/setup.bash
-          colcon build
-          colcon test
-          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
new file mode 100644
index 0000000..a5accf5
--- /dev/null
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -0,0 +1,22 @@
+name: RHEL Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '42 4 * * *'
+
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 1529776..46a37c6 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Semi-Binary Build
+name: Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
@@ -15,12 +15,14 @@ on:
 
 jobs:
   semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
+      fail-fast: false
       matrix:
+        ROS_DISTRO: [rolling, iron]
         ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: kinematics_interface.rolling.repos
+      upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 475e509..35bf7f8 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Source Build
+name: Source Build
 on:
   workflow_dispatch:
   push:
@@ -10,8 +10,12 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling, iron]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
-      ros2_repo_branch: master
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}