diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
new file mode 100644
index 0000000..494718e
--- /dev/null
+++ b/.github/workflows/humble-binary-build.yml
@@ -0,0 +1,23 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  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:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
new file mode 100644
index 0000000..585898d
--- /dev/null
+++ b/.github/workflows/iron-binary-build.yml
@@ -0,0 +1,23 @@
+name: Iron Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  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:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
new file mode 100644
index 0000000..0d631a2
--- /dev/null
+++ b/.github/workflows/rolling-binary-build.yml
@@ -0,0 +1,23 @@
+name: Rolling Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  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:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      target_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/ros_controls.humble.repos b/ros_controls.humble.repos
new file mode 100644
index 0000000..2579021
--- /dev/null
+++ b/ros_controls.humble.repos
@@ -0,0 +1,37 @@
+repositories:
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: humble
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: humble
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: humble
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: humble
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
diff --git a/ros_controls.iron.repos b/ros_controls.iron.repos
new file mode 100644
index 0000000..6f56d86
--- /dev/null
+++ b/ros_controls.iron.repos
@@ -0,0 +1,37 @@
+repositories:
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: iron
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: iron
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: iron
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: iron
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: iron
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
diff --git a/ros_controls.rolling.repos b/ros_controls.rolling.repos
new file mode 100644
index 0000000..ea7c0db
--- /dev/null
+++ b/ros_controls.rolling.repos
@@ -0,0 +1,37 @@
+repositories:
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  ros-controls/ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  ros-controls/ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
+  ros-controls/gazebo_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gazebo_ros2_control.git
+    version: master
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master