diff --git a/.github/mergify.yml b/.github/mergify.yml
index 49d2acedfa..e1f7f21a1e 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -8,6 +8,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+
   - name: Ask to resolve conflict
     conditions:
       - conflict
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
index 5bce340193..20d93f5af1 100644
--- a/.github/workflows/iron-abi-compatibility.yml
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -2,10 +2,10 @@ name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
 
 jobs:
   abi_check:
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
index be225cc0e1..bc2dbd96cc 100644
--- a/.github/workflows/iron-binary-build-main.yml
+++ b/.github/workflows/iron-binary-build-main.yml
@@ -5,13 +5,13 @@ name: Iron Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: iron
       ros_repo: main
       upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
index c44786c7e2..512c4b55e4 100644
--- a/.github/workflows/iron-binary-build-testing.yml
+++ b/.github/workflows/iron-binary-build-testing.yml
@@ -5,13 +5,13 @@ name: Iron Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -23,4 +23,4 @@ jobs:
       ros_distro: iron
       ros_repo: testing
       upstream_workspace: ros2_control-not-released.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
index 1d72d06149..1399e8b32b 100644
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ b/.github/workflows/iron-semi-binary-build-main.yml
@@ -4,13 +4,13 @@ name: Iron Semi-Binary Build - main
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: iron
       ros_repo: main
       upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
index 48707cd914..b29f798931 100644
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ b/.github/workflows/iron-semi-binary-build-testing.yml
@@ -4,13 +4,13 @@ name: Iron Semi-Binary Build - testing
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -22,4 +22,4 @@ jobs:
       ros_distro: iron
       ros_repo: testing
       upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 31eccd1bef..1e9d865c49 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -2,10 +2,10 @@ name: Iron Source Build
 on:
   workflow_dispatch:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,5 +15,5 @@ jobs:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
       ros_distro: iron
-      ref: master
+      ref: iron
       ros2_repo_branch: iron
diff --git a/README.md b/README.md
index 0231a1c0e7..0c26afd184 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@ For more, please check the [documentation](https://control.ros.org/).
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
-**Iron** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build-main.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build-main.yml?branch=iron) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build-main.yml?branch=master) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
 
 [Detailed build status](.github/workflows/README.md)