diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 85f7895..5d67897 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -1,5 +1,5 @@
-name: Rolling Stack Build
-# author: Denis Štogl <denis@stoglrobotics.de>
+name: Jazzy Stack Build
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index bff79cb..a47c4ce 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -68,7 +68,7 @@ jobs:
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.target_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index 0a6dd6d..71b1533 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -1,11 +1,19 @@
-name: Check Rolling Compatibility on Humble with Stack Build
+name: Check Rolling Compatibility on Humble
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling stack on Humble distro.'
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+env:
+  GZ_VERSION: "harmonic"
+
 jobs:
   stack-build-on-humble:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -13,9 +21,12 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [humble]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
+      # install upstream dependencies for gz*, but exclude some packages inside rosidl repository
+      upstream_workspace: ros_controls.rolling-upstream.repos -../ros2/rosidl/rosidl_generator_tests -../ros2/rosidl/rosidl_typesupport_introspection_tests -../ros2/rosidl/rosidl_typesupport_introspection_c -../ros2/rosidl/rosidl_typesupport_introspection_cpp -../ros2/rosidl/rosidl_typesupport_interface -../ros2/rosidl/rosidl_runtime_c -../ros2/rosidl/rosidl_runtime_cpp -../ros2/rosidl/rosidl_parser -../ros2/rosidl/rosidl_generator_type_description -../ros2/rosidl/rosidl_generator_c -../ros2/rosidl/rosidl_generator_cpp -../ros2/rosidl/rosidl_cmake -../ros2/rosidl/rosidl_cli -../ros2/rosidl/rosidl_adapter
       target_workspace: ros_controls.rolling-on-humble.repos
       ref_for_scheduled_build: master
+      rosdep_skip_keys: libshaderc-dev glslc # not available on jammy
diff --git a/.github/workflows/rolling-compatibility-iron-binary-build.yml b/.github/workflows/rolling-compatibility-iron-binary-build.yml
index 09b606e..f3518b3 100644
--- a/.github/workflows/rolling-compatibility-iron-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-iron-binary-build.yml
@@ -1,11 +1,19 @@
-name: Check Rolling Compatibility on Iron with Stack Build
+name: Check Rolling Compatibility on Iron
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling stack on Iron distro.'
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-iron-binary-build.yml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+env:
+  GZ_VERSION: "harmonic"
+
 jobs:
   stack-build-on-iron:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -13,9 +21,11 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [iron]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros_controls.rolling-upstream.repos
       target_workspace: ros_controls.rolling-on-iron.repos
       ref_for_scheduled_build: master
+      rosdep_skip_keys: libshaderc-dev glslc # not available on jammy
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 8e1f3f1..2dfdf74 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -1,7 +1,12 @@
-name: Check Rolling Compatibility on Iron with Stack Build
+name: Check Rolling Compatibility on Jazzy
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling stack on Jazzy distro.'
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-iron-binary-build.yml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -13,7 +18,7 @@ jobs:
       fail-fast: false
       matrix:
         ROS_DISTRO: [jazzy]
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
diff --git a/README.md b/README.md
index 9c7e20d..74f411d 100644
--- a/README.md
+++ b/README.md
@@ -9,13 +9,18 @@ It also builds the full ros2_control stack once per day.
 ## Released versions
 
 [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml)
+
 [![Jazzy Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml)
+
 [![Iron Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml)
+
 [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml)
 
 ## Compatibility versions
 We thrive to make the rolling development version of the ros2_control stack compatible with earlier releases of ROS2. This is done by building the rolling version of the stack from source with the earlier releases of ROS2.
 
-[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
 [![Check Rolling Compatibility on Jazzy with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml)
+
+[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
+
 [![Check Rolling Compatibility on Humble with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml)
diff --git a/ros_controls.rolling-on-humble.repos b/ros_controls.rolling-on-humble.repos
index 479db64..01d3aba 100644
--- a/ros_controls.rolling-on-humble.repos
+++ b/ros_controls.rolling-on-humble.repos
@@ -11,10 +11,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/gazebo_ros2_control.git
     version: master
-  # ros-controls/gz_ros2_control:
-  #   type: git
-  #   url: https://github.com/ros-controls/gz_ros2_control.git
-  #   version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
@@ -27,10 +27,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/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/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
   ros-controls/ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
diff --git a/ros_controls.rolling-on-iron.repos b/ros_controls.rolling-on-iron.repos
index 479db64..01d3aba 100644
--- a/ros_controls.rolling-on-iron.repos
+++ b/ros_controls.rolling-on-iron.repos
@@ -11,10 +11,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/gazebo_ros2_control.git
     version: master
-  # ros-controls/gz_ros2_control:
-  #   type: git
-  #   url: https://github.com/ros-controls/gz_ros2_control.git
-  #   version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git
@@ -27,10 +27,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/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/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master
   ros-controls/ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
diff --git a/ros_controls.rolling-on-jazzy.repos b/ros_controls.rolling-on-jazzy.repos
index 01d3aba..97cc475 100644
--- a/ros_controls.rolling-on-jazzy.repos
+++ b/ros_controls.rolling-on-jazzy.repos
@@ -7,10 +7,6 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
     version: ros2-master
-  ros-controls/gazebo_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
-    version: master
   ros-controls/gz_ros2_control:
     type: git
     url: https://github.com/ros-controls/gz_ros2_control.git
diff --git a/ros_controls.rolling-upstream.repos b/ros_controls.rolling-upstream.repos
new file mode 100644
index 0000000..e9c1583
--- /dev/null
+++ b/ros_controls.rolling-upstream.repos
@@ -0,0 +1,77 @@
+repositories:
+  gz/gz_plugin_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_plugin_vendor.git
+    version: rolling
+  gz/gz_sim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sim_vendor.git
+    version: rolling
+  gz/gz_cmake_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_cmake_vendor.git
+    version: rolling
+  gz/gz_utils_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_utils_vendor.git
+    version: rolling
+  gz/gz_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_tools_vendor.git
+    version: rolling
+  gz/sdformat_vendor:
+    type: git
+    url: https://github.com/gazebo-release/sdformat_vendor.git
+    version: rolling
+  gz/gz_math_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_math_vendor.git
+    version: rolling
+  gz/gz_transport_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_transport_vendor.git
+    version: rolling
+  gz/gz_sensors_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_sensors_vendor.git
+    version: rolling
+  gz/gz_msgs_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_msgs_vendor.git
+    version: rolling
+  gz/gz_common_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_common_vendor.git
+    version: rolling
+  gz/gz_rendering_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_rendering_vendor.git
+    version: rolling
+  gz/gz_ogre_next_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_ogre_next_vendor.git
+    version: rolling
+  gz/gz_physics_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_physics_vendor.git
+    version: rolling
+  gz/gz_fuel_tools_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_fuel_tools_vendor.git
+    version: rolling
+  gz/gz_gui_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_gui_vendor.git
+    version: rolling
+  gz/gz_dartsim_vendor:
+    type: git
+    url: https://github.com/gazebo-release/gz_dartsim_vendor.git
+    version: rolling
+  gz/ros_gz:
+    type: git
+    url: https://github.com/gazebosim/ros_gz.git
+    version: ros2
+  ros2/rosidl:
+    type: git
+    url: https://github.com/ros2/rosidl.git
+    version: iron # may be more stable than rolling?