diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 05a48fc6..f5e9921f 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -11,3 +11,10 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "humble"
diff --git a/.github/mergify.yml b/.github/mergify.yml
index fd185e02..84ad380e 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -8,15 +8,6 @@ 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-binary-build.yml b/.github/workflows/iron-binary-build.yml
deleted file mode 100644
index 6fdc7600..00000000
--- a/.github/workflows/iron-binary-build.yml
+++ /dev/null
@@ -1,48 +0,0 @@
-name: Iron Binary Build
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos-not-released.iron.repos'
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - '.github/workflows/iron-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos-not-released.iron.repos'
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [iron]
-        ROS_REPO: [main, testing]
-    with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: ros2_control_demos-not-released.${{ matrix.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml
deleted file mode 100644
index cb3b2c06..00000000
--- a/.github/workflows/iron-check-docs.yml
+++ /dev/null
@@ -1,17 +0,0 @@
-name: Iron Check Docs
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.rst'
-      - '.github/workflows/iron-check-docs.yml'
-
-jobs:
-  check-docs:
-    name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
-    with:
-      ROS2_CONTROL_DEMOS_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-docker-build.yaml b/.github/workflows/iron-docker-build.yaml
deleted file mode 100644
index 03f91c40..00000000
--- a/.github/workflows/iron-docker-build.yaml
+++ /dev/null
@@ -1,46 +0,0 @@
-name: Build Iron Dockerfile
-# description: builds the dockerfile contained within the repo
-
-on:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - Dockerfile/**
-      - '.github/workflows/iron-docker-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - Dockerfile/**
-      - '.github/workflows/iron-docker-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
-  schedule:
-    # Run every morning to detect broken dependencies
-    - cron: '50 1 * * *'
-
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        ref: iron
-    - name: Build the Docker image
-      run: docker build --file Dockerfile/Dockerfile --tag ros2_control_demos_iron --build-arg ROS_DISTRO=iron .
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
deleted file mode 100644
index a1289580..00000000
--- a/.github/workflows/iron-pre-commit.yml
+++ /dev/null
@@ -1,13 +0,0 @@
-name: Pre-Commit - Iron
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-
-jobs:
-  pre-commit:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    with:
-      ros_distro: iron
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
deleted file mode 100644
index 400bc327..00000000
--- a/.github/workflows/iron-semi-binary-build.yml
+++ /dev/null
@@ -1,48 +0,0 @@
-name: Iron Semi-Binary Build
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - '.github/workflows/iron-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.cpp'
-      - '.github/workflows/iron-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - '**.xacro'
-      - '**.py'
-      - '**.yaml'
-      - 'ros2_control_demos.iron.repos'
-
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [iron]
-        ROS_REPO: [testing]
-    with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: ros2_control_demos.${{ matrix.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: iron
diff --git a/README.md b/README.md
index 39ce3667..8ae7d3c8 100644
--- a/README.md
+++ b/README.md
@@ -112,7 +112,6 @@ ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![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)
 **Jazzy** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/master) | [![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/jazzy/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-not-released.foxy.repos b/ros2_control_demos-not-released.foxy.repos
deleted file mode 100644
index 56f46b6f..00000000
--- a/ros2_control_demos-not-released.foxy.repos
+++ /dev/null
@@ -1 +0,0 @@
-repositories:
diff --git a/ros2_control_demos.foxy.repos b/ros2_control_demos.foxy.repos
deleted file mode 100644
index b64aedeb..00000000
--- a/ros2_control_demos.foxy.repos
+++ /dev/null
@@ -1,17 +0,0 @@
-repositories:
-  control_msgs:
-    type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: foxy-devel
-  realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: foxy-devel
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: foxy
-  ros2_controllers:
-    type: git
-    url: https://github.com/ros-controls/ros2_controllers.git
-    version: foxy