diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index 148ccb0d..57f5e83f 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -2,7 +2,7 @@
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** <br />**Iron** <br />**Humble** | [`rolling`](https://github.com/ros-controls/realtime_tools/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Rolling** <br />**Jazzy**<br />**Iron** <br />**Humble** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
 
 
 
@@ -14,11 +14,4 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
 
 1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
 
-   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
-
-1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
-   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
-
-   Uses repos file: `$NAME$.repos`
-
 1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
diff --git a/.github/workflows/abi-compatibility.yml b/.github/workflows/abi-compatibility.yml
index 97f168c7..b1207bbc 100644
--- a/.github/workflows/abi-compatibility.yml
+++ b/.github/workflows/abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/binary-build.yml b/.github/workflows/binary-build.yml
index 317ed943..446acc62 100644
--- a/.github/workflows/binary-build.yml
+++ b/.github/workflows/binary-build.yml
@@ -20,10 +20,9 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: realtime_tools-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 2aa8606c..5a5cc611 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -15,4 +15,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      container: ubuntu:24.04
diff --git a/.github/workflows/ci-pre-commit.yml b/.github/workflows/ci-pre-commit.yml
index adb6694b..0d886e70 100644
--- a/.github/workflows/ci-pre-commit.yml
+++ b/.github/workflows/ci-pre-commit.yml
@@ -12,13 +12,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
-
-  pre-commit-rolling:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    with:
-      ros_distro: rolling
-      container: ubuntu:24.04
diff --git a/.github/workflows/debian-build.yml b/.github/workflows/debian-build.yml
index 741bd1c4..c556287c 100644
--- a/.github/workflows/debian-build.yml
+++ b/.github/workflows/debian-build.yml
@@ -15,8 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      upstream_workspace: realtime_tools.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rhel-semi-binary-build.yml b/.github/workflows/rhel-semi-binary-build.yml
index 6ec6399b..10f22ffe 100644
--- a/.github/workflows/rhel-semi-binary-build.yml
+++ b/.github/workflows/rhel-semi-binary-build.yml
@@ -15,8 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron, humble]
+        ROS_DISTRO: [humble, iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      upstream_workspace: realtime_tools.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/semi-binary-build.yml b/.github/workflows/semi-binary-build.yml
deleted file mode 100644
index 532ff9e2..00000000
--- a/.github/workflows/semi-binary-build.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: 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: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [rolling, iron, humble]
-        ROS_REPO: [main, testing]
-    with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: realtime_tools.${{ matrix.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/source-build.yml b/.github/workflows/source-build.yml
index 0ec32c79..95985948 100644
--- a/.github/workflows/source-build.yml
+++ b/.github/workflows/source-build.yml
@@ -14,20 +14,22 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron, humble]
+        include:
+        - ROS_DISTRO: humble
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: iron
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: jazzy
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
+        - ROS_DISTRO: rolling
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
-  source-rolling:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [rolling]
-    with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ref: master
-      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
-      container: ubuntu:24.04
+      os_name: ${{ matrix.OS_NAME }}
+      container: ${{ matrix.CONTAINER }}
diff --git a/README.md b/README.md
index 1c0a65f7..4428aba8 100644
--- a/README.md
+++ b/README.md
@@ -8,27 +8,18 @@ Contains a set of tools that can be used from a hard realtime thread, without br
 ## Build status
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/semi-binary-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/realtime_tools/)  | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/)  | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above | [API](http://docs.ros.org/en/jazzy/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#jazzy)
 **Iron** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above | [API](http://docs.ros.org/en/iron/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#iron)
 **Humble** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above | [API](http://docs.ros.org/en/humble/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
 
 
 ### Explanation of different build types
 
-**NOTE**: There are three build stages checking current and future compatibility of the package.
+**NOTE**: There are different build stages checking current and future compatibility of the package.
 
 [Detailed build status](.github/workflows/README.md)
 
-1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
-
-   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
-
-1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
-   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
-
-   Uses repos file: `$NAME$.repos`
-
-
 ## Publication
 
 If you find this work useful please give credits to the authors by citing:
diff --git a/realtime_tools-not-released.humble.repos b/realtime_tools-not-released.humble.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools-not-released.humble.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/realtime_tools-not-released.iron.repos b/realtime_tools-not-released.iron.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools-not-released.iron.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/realtime_tools-not-released.rolling.repos b/realtime_tools-not-released.rolling.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools-not-released.rolling.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/realtime_tools.humble.repos b/realtime_tools.humble.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools.humble.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/realtime_tools.iron.repos b/realtime_tools.iron.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools.iron.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/realtime_tools.rolling.repos b/realtime_tools.rolling.repos
deleted file mode 100644
index 1b3910e7..00000000
--- a/realtime_tools.rolling.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master