diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index aafd67c236..f5e9921f23 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -18,10 +18,3 @@ updates:
     schedule:
       interval: "weekly"
     target-branch: "humble"
-  - package-ecosystem: "github-actions"
-    # Workflow files stored in the
-    # default location of `.github/workflows`
-    directory: "/"
-    schedule:
-      interval: "weekly"
-    target-branch: "iron"
diff --git a/.github/mergify.yml b/.github/mergify.yml
index 39ee6b6bc0..c2eda7385b 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-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
deleted file mode 100644
index be1aec6680..0000000000
--- a/.github/workflows/iron-abi-compatibility.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-name: Iron - ABI Compatibility Check
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '.github/workflows/iron-abi-compatibility.yml'
-      - '**.yaml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers-not-released.iron.repos'
-
-jobs:
-  abi_check:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: ros-industrial/industrial_ci@master
-        env:
-          ROS_DISTRO: iron
-          ROS_REPO: testing
-          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-          NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
deleted file mode 100644
index 0d2f0ff7f3..0000000000
--- a/.github/workflows/iron-binary-build.yml
+++ /dev/null
@@ -1,50 +0,0 @@
-name: Iron Binary Build
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers-not-released.iron.repos'
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers-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_REPO: [main, testing]
-    with:
-      ros_distro: iron
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: ros2_controllers-not-released.iron.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 f842902055..0000000000
--- a/.github/workflows/iron-check-docs.yml
+++ /dev/null
@@ -1,18 +0,0 @@
-name: Iron Check Docs
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.rst'
-      - '**.md'
-      - '**.yaml'
-
-jobs:
-  check-docs:
-    name: Check Docs
-    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
-    with:
-      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
deleted file mode 100644
index e1d2e84bc8..0000000000
--- a/.github/workflows/iron-coverage-build.yml
+++ /dev/null
@@ -1,38 +0,0 @@
-name: Coverage Build - Iron
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-coverage-build.yml'
-      - 'codecov.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-coverage-build.yml'
-      - 'codecov.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-
-jobs:
-  coverage_iron:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
-    secrets: inherit
-    with:
-      ros_distro: iron
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
deleted file mode 100644
index ebd2f46c18..0000000000
--- a/.github/workflows/iron-debian-build.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Debian Iron Source Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-debian-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  iron_debian:
-    name: Iron debian build
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
-    with:
-      ros_distro: iron
-      upstream_workspace: ros2_controllers.iron.repos
-      ref_for_scheduled_build: iron
-      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
deleted file mode 100644
index a128958031..0000000000
--- 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-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml
deleted file mode 100644
index 109dac7550..0000000000
--- a/.github/workflows/iron-rhel-semi-binary-build.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-name: RHEL Iron Binary Build
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.yaml'
-      - '.github/workflows/iron-rhel-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-
-jobs:
-  iron_rhel_binary:
-    name: Iron RHEL binary build
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
-    with:
-      ros_distro: iron
-      upstream_workspace: ros2_controllers.iron.repos
-      ref_for_scheduled_build: iron
-      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
deleted file mode 100644
index a0782e50bb..0000000000
--- 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:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-      - '*feature*'
-      - '*feature/**'
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.yaml'
-      - '.github/workflows/iron-semi-binary-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.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_REPO: [testing]
-    with:
-      ros_distro: iron
-      ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: ros2_controllers.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
deleted file mode 100644
index c54ead7877..0000000000
--- a/.github/workflows/iron-source-build.yml
+++ /dev/null
@@ -1,28 +0,0 @@
-name: Iron Source Build
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - iron
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/iron-source-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_controllers.iron.repos'
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '03 3 * * *'
-
-jobs:
-  source:
-    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
-    with:
-      ros_distro: iron
-      ref: iron
-      ros2_repo_branch: iron
-      os_name: ubuntu-22.04
diff --git a/README.md b/README.md
index 57a9ecdda1..28a501dcdc 100644
--- a/README.md
+++ b/README.md
@@ -11,7 +11,6 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
 **Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)
-**Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
 
 ### Explanation of different build types
diff --git a/ros2_controllers-not-released.iron.repos b/ros2_controllers-not-released.iron.repos
deleted file mode 100644
index 1b3910e7e7..0000000000
--- a/ros2_controllers-not-released.iron.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-repositories:
-  ## EXAMPLE DEPENDENCY
-#   <some_ros_package>:
-#     type: git
-#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
-#     version: master
diff --git a/ros2_controllers.iron.repos b/ros2_controllers.iron.repos
deleted file mode 100644
index 7f2db052cb..0000000000
--- a/ros2_controllers.iron.repos
+++ /dev/null
@@ -1,21 +0,0 @@
-repositories:
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: iron
-  realtime_tools:
-    type: git
-    url: https://github.com/ros-controls/realtime_tools.git
-    version: master
-  control_msgs:
-    type: git
-    url: https://github.com/ros-controls/control_msgs.git
-    version: master
-  control_toolbox:
-    type: git
-    url: https://github.com/ros-controls/control_toolbox.git
-    version: ros2-master
-  kinematics_interface:
-    type: git
-    url: https://github.com/ros-controls/kinematics_interface.git
-    version: master