diff --git a/.github/actions/set-package-list/action.yml b/.github/actions/set-package-list/action.yml
new file mode 100644
index 0000000..6f5f58b
--- /dev/null
+++ b/.github/actions/set-package-list/action.yml
@@ -0,0 +1,30 @@
+name: 'Get package list'
+# has to be run after ROS 2 setup, i.e., by ros-tooling/setup-ros
+description: 'Get a list of packages in the given path'
+inputs:
+  path:
+    description: 'Path to the repository after checkout'
+    required: true
+outputs:
+  package_list:
+    description: "A white-space separated list of packages"
+    value: ${{ steps.colcon.outputs.package_list }}
+  repo_name:
+    description: "The name of the repo, last part of github.repository"
+    value: ${{ steps.split_repo.outputs.repo_name }}
+
+
+runs:
+  using: 'composite'
+  steps:
+    - id: colcon
+      run: |
+        echo "package_list=$(colcon list --paths ${{ inputs.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ inputs.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_OUTPUT
+      shell: bash
+    - id: split_repo
+      run: |
+        echo "repo_name=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_OUTPUT
+      shell: bash
+    - run: |
+        echo "repo ${{ steps.split_repo.outputs.repo_name }} contains the packages: ${{ steps.colcon.outputs.package_list }}"
+      shell: bash
diff --git a/.github/workflows/reusable-debian-build.yml b/.github/workflows/reusable-debian-build.yml
index fe6b7dd..bf69334 100644
--- a/.github/workflows/reusable-debian-build.yml
+++ b/.github/workflows/reusable-debian-build.yml
@@ -57,19 +57,19 @@ jobs:
           if [[ -n "${{ inputs.upstream_workspace }}" ]]; then
             vcs import src < ${{ env.path }}/${{ inputs.upstream_workspace }}
           fi
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
+      - id: package_list_action
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
+        with:
+          path: ${{ env.path }}
       - name: Build workspace
         shell: bash
         run: |
           source /opt/ros2_ws/install/setup.bash
-          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
       - name: Test workspace
         shell: bash
         continue-on-error: true
         run: |
           source /opt/ros2_ws/install/setup.bash
-          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
diff --git a/.github/workflows/reusable-rhel-binary-build.yml b/.github/workflows/reusable-rhel-binary-build.yml
index c920bbc..3c73f62 100644
--- a/.github/workflows/reusable-rhel-binary-build.yml
+++ b/.github/workflows/reusable-rhel-binary-build.yml
@@ -63,22 +63,22 @@ jobs:
           fi
           rosdep update
           rosdep install -iyr --from-path src || true
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
+      - id: package_list_action
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
+        with:
+          path: ${{ env.path }}
       - name: Build workspace
         shell: bash
         # source also underlay workspace with generate_parameter_library on rhel9
         run: |
           source /opt/ros/${{ inputs.ros_distro }}/setup.bash
           source /opt/ros2_ws/install/local_setup.bash
-          colcon build --packages-up-to ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }}
+          colcon build --packages-up-to ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }}
       - name: Test workspace
         shell: bash
         continue-on-error: true
         run: |
           source /opt/ros/${{ inputs.ros_distro }}/setup.bash
           source /opt/ros2_ws/install/local_setup.bash
-          colcon test --packages-select ${{ env.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
+          colcon test --packages-select ${{ steps.package_list_action.outputs.package_list }} --packages-skip ${{ inputs.skip_packages }} ${{ inputs.skip_packages_test }}
           colcon test-result --verbose
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index acdc764..86a2d2c 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -18,11 +18,16 @@ on:
         default: 'master'
         required: false
         type: string
+      os_name:
+        description: 'On which OS to run the linter'
+        required: false
+        default: 'ubuntu-latest'
+        type: string
 
 jobs:
   reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
+    name: ${{ inputs.ros_distro }} ${{ inputs.os_name }}
+    runs-on: ${{ inputs.os_name }}
     env:
       # this will be src/{repo-owner}/{repo-name}
       path: src/${{ github.repository }}
@@ -36,22 +41,20 @@ jobs:
         with:
           ref: ${{ inputs.ref }}
           path: ${{ env.path }}
-      - name: Get list of packages
-        # we need both paths, there is no wildcard/glob for packages defined in the root folder and subfolders at the same time
-        run: |
-          echo "REPO_NAME=$(echo ${{ github.repository }} | cut -d '/' -f 2)" >> $GITHUB_ENV
-          echo "package_list=$(colcon list --paths ${{ env.path }} --names-only | tr '\n' ' ') $(colcon list --paths ${{ env.path }}/* --names-only | tr '\n' ' ')" >> $GITHUB_ENV
-          echo "repo ${{ env.REPO_NAME}} has packages: ${{ env.package_list }}"
+      - id: package_list_action
+        uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
+        with:
+          path: ${{ env.path }}
       - uses: ros-tooling/action-ros-ci@0.3.6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           ref: ${{ inputs.ref }}
-          package-name: ${{ env.package_list }}
+          package-name: ${{ steps.package_list_action.outputs.package_list }}
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            ${{ env.path }}/${{ env.REPO_NAME}}.${{ inputs.ros_distro }}.repos
+            ${{ env.path }}/${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
       - uses: actions/upload-artifact@v4.3.1
         with:
-          name: colcon-logs-ubuntu-22.04-${{ inputs.ros_distro }}
+          name: colcon-logs-${{ inputs.os_name }}-${{ inputs.ros_distro }}
           path: ros_ws/log