diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index 36a77af98..99e75bd01 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -5,10 +5,10 @@ name: Iron Binary Build
 on:
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-docker-build.yaml b/.github/workflows/iron-docker-build.yaml
index 20188edc7..fb95d2128 100644
--- a/.github/workflows/iron-docker-build.yaml
+++ b/.github/workflows/iron-docker-build.yaml
@@ -4,10 +4,10 @@ name: Build Iron Dockerfile
 on:
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect broken dependencies
     - cron: '50 1 * * *'
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index 6fdcc17b0..7f7396e8a 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -4,10 +4,10 @@ name: Iron Semi-Binary Build
 on:
   pull_request:
     branches:
-      - master
+      - iron
   push:
     branches:
-      - master
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/README.md b/README.md
index d86e21bd4..fcec5d44d 100644
--- a/README.md
+++ b/README.md
@@ -98,10 +98,9 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Iron** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
-**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)
+**Iron** | [`iron`](https://github.com/ros-controls/ros2_control_demos/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-binary-build.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/iron-semi-binary-build.yml?branch=iron) <br /> | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br />[API Reference](https://control.ros.org/humble/doc/api/index.html)
+
 
 ### Explanation of different build types
 
diff --git a/ros2_control_demos.iron.repos b/ros2_control_demos.iron.repos
index 4b0771038..29d4ba168 100644
--- a/ros2_control_demos.iron.repos
+++ b/ros2_control_demos.iron.repos
@@ -10,12 +10,12 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: iron
   ros2_controllers:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
-    version: master
+    version: iron
   gazebo_ros2_control:
     type: git
     url: https://github.com/ros-controls/gazebo_ros2_control.git
-    version: master
+    version: iron