diff --git a/.github/reviewer-lottery.yml b/.github/reviewer-lottery.yml
deleted file mode 100644
index c6580eacd4..0000000000
--- a/.github/reviewer-lottery.yml
+++ /dev/null
@@ -1,33 +0,0 @@
-groups:
-  # Default reviewers for all pull requests.
-  # Usually, at least on of the maintainers should approve PR before merging.
-  # The best is if two maintainers do that.
-  - name: maintainers # name of the group
-    reviewers: 2 # how many reviewers do you want to assign?
-    internal_reviewers: 1 # how many reviewers do you want to assign when the PR author belongs to this group?
-    usernames: # github usernames of the reviewers
-      - bmagyar
-      - destogl
-
-  # Reviewers group to get broader feedback.
-  - name: reviewers
-    reviewers: 5
-    usernames:
-      - aprotyas
-      - arne48
-      - bijoua29
-      - christophfroehlich
-      - DasRoteSkelett
-      - duringhof
-      - erickisos
-      - fmauch
-      - jaron-l
-      - livanov93
-      - mcbed
-      - moriarty
-      - olivier-stasse
-      - peterdavidfagan
-      - progtologist
-      - saikishor
-      - VanshGehlot
-      - VX792
diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
deleted file mode 100644
index 98b96cab9d..0000000000
--- a/.github/workflows/ci-coverage-build-humble.yml
+++ /dev/null
@@ -1,65 +0,0 @@
-name: Coverage Build - Humble
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: humble
-    steps:
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            ackermann_steering_controller
-            admittance_controller
-            bicycle_steering_controller
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            gripper_controllers
-            imu_sensor_broadcaster
-            joint_state_broadcaster
-            joint_trajectory_controller
-            position_controllers
-            range_sensor_broadcaster
-            steering_controllers_library
-            tricycle_controller
-            tricycle_steering_controller
-            velocity_controllers
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4
-        with:
-          name: colcon-logs-coverage-humble
-          path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
deleted file mode 100644
index 3e85d9c2bc..0000000000
--- a/.github/workflows/ci-coverage-build.yml
+++ /dev/null
@@ -1,48 +0,0 @@
-name: Coverage Build
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: rolling
-    steps:
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed in the meta package
-          package-name:
-            diff_drive_controller
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4
-        with:
-          name: colcon-logs-coverage-rolling
-          path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
deleted file mode 100644
index 824baf1b77..0000000000
--- a/.github/workflows/ci-format.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-# This is a format job. Pre-commit has a first-party GitHub action, so we use
-# that: https://github.com/pre-commit/action
-
-name: Format
-
-on:
-  pull_request:
-
-jobs:
-  pre-commit:
-    name: Format
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v5.0.0
-      with:
-        python-version: '3.10'
-    - name: Install system hooks
-      run: sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/action@v3.0.1
-      with:
-        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
deleted file mode 100644
index b049a18c4a..0000000000
--- a/.github/workflows/ci-ros-lint.yml
+++ /dev/null
@@ -1,80 +0,0 @@
-name: ROS Lint
-on:
-  pull_request:
-
-jobs:
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cppcheck, copyright, lint_cmake]
-    env:
-      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@v0.7
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: humble
-        linter: ${{ matrix.linter }}
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
-
-
-  ament_lint_100:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cpplint]
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@v0.7
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: humble
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 708ea5c1f4..9b9f508b50 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Humble - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
deleted file mode 100644
index a36810c337..0000000000
--- a/.github/workflows/humble-binary-build-testing.yml
+++ /dev/null
@@ -1,26 +0,0 @@
-name: Humble Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 2 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_controllers-not-released.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 2b3d2f577f..88c09bf87e 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -4,8 +4,6 @@ name: Humble Binary Build
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -20,6 +18,7 @@ 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:
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
new file mode 100644
index 0000000000..0910572227
--- /dev/null
+++ b/.github/workflows/humble-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Humble
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage_humble:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
new file mode 100644
index 0000000000..be8c84b05b
--- /dev/null
+++ b/.github/workflows/humble-pre-commit.yml
@@ -0,0 +1,14 @@
+name: Pre-Commit - Humble
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
deleted file mode 100644
index 41c7ebdffc..0000000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 2 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_controllers.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 05f614cabf..6fdcf008db 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -3,8 +3,6 @@ name: Humble Semi-Binary Build
 
 on:
   workflow_dispatch:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -19,6 +17,7 @@ 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: [main, testing]
     with:
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 8ac4a81824..8ff2c7254c 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -1,8 +1,6 @@
 name: Humble Source Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
   push:
     branches:
       - humble
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index 146d5a8c69..1510fac859 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -20,6 +20,7 @@ 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:
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
new file mode 100644
index 0000000000..d82c52bf51
--- /dev/null
+++ b/.github/workflows/iron-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Iron
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  coverage_iron:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: iron
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
new file mode 100644
index 0000000000..60ad26d073
--- /dev/null
+++ b/.github/workflows/iron-pre-commit.yml
@@ -0,0 +1,14 @@
+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
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index ab508dfc50..38ca4fe490 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -19,6 +19,7 @@ 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: [main, testing]
     with:
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
deleted file mode 100644
index acefeebfac..0000000000
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-
-      upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
-        type: string
-      ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
-        required: true
-        type: string
-      ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
-        required: false
-        type: string
-      os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-      before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-
-      ccache_dir:
-        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
-        required: false
-        type: string
-      basedir:
-        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
-        required: false
-        type: string
-
-
-jobs:
-  reusable_industrial_ci_with_cache:
-    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
-    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 }}
-    steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env:
-          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
-          ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ inputs.ros_repo }}
-          OS_CODE_NAME: ${{ inputs.os_code_name }}
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index f111ae1791..0000000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,68 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref:
-        description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
-        required: true
-        type: string
-      ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble, galactic, foxy.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@v0.7
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          package-name:
-            ackermann_steering_controller
-            admittance_controller
-            bicycle_steering_controller
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            gripper_controllers
-            imu_sensor_broadcaster
-            joint_state_broadcaster
-            joint_trajectory_controller
-            position_controllers
-            range_sensor_broadcaster
-            ros2_controllers
-            ros2_controllers_test_nodes
-            rqt_joint_trajectory_controller
-            steering_controllers_library
-            tricycle_controller
-            tricycle_steering_controller
-            velocity_controllers
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
index ed28964e01..0584f4a7f3 100644
--- a/.github/workflows/reviewer_lottery.yml
+++ b/.github/workflows/reviewer_lottery.yml
@@ -1,14 +1,10 @@
 name: Reviewer lottery
+# pull_request_target takes the same events as pull_request,
+# but it runs on the base branch instead of the head branch.
 on:
   pull_request_target:
     types: [opened, ready_for_review, reopened]
 
 jobs:
-  test:
-    runs-on: ubuntu-latest
-    if: github.actor != 'dependabot[bot]' && github.actor != 'mergify[bot]'
-    steps:
-    - uses: actions/checkout@v4
-    - uses: uesteibar/reviewer-lottery@v3
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
+  assign_reviewers:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-reviewer-lottery.yml@master
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 3911434a23..b3d8cb8deb 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,8 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
deleted file mode 100644
index 9b480d99c3..0000000000
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ /dev/null
@@ -1,30 +0,0 @@
-name: Rolling Binary Build - testing
-# author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
-  pull_request:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 1 * * *'
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_controllers-not-released.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 7b5a3bda65..d0be23f076 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -4,10 +4,6 @@ name: Rolling Binary Build
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master
@@ -24,6 +20,7 @@ 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:
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
new file mode 100644
index 0000000000..4d4750c54c
--- /dev/null
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Rolling
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage_rolling:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
new file mode 100644
index 0000000000..9c87311bd7
--- /dev/null
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -0,0 +1,14 @@
+name: Pre-Commit - Rolling
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
deleted file mode 100644
index 630881dc0a..0000000000
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,29 +0,0 @@
-name: Rolling Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
-  pull_request:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_controllers.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index a20c4d4fd3..4784654db8 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -3,10 +3,6 @@ name: Rolling Semi-Binary Build
 
 on:
   workflow_dispatch:
-    branches:
-      - master
-      - '*feature*'
-      - '*feature/**'
   pull_request:
     branches:
       - master
@@ -23,6 +19,7 @@ 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: [main, testing]
     with:
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
new file mode 100644
index 0000000000..8b9545dff1
--- /dev/null
+++ b/.github/workflows/update-pre-commit.yml
@@ -0,0 +1,12 @@
+name: Auto Update pre-commit
+# Update pre-commit config and create PR if changes are detected
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+
+jobs:
+  auto_update_and_create_pr:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 5a7ac74d9b..6da427c6ee 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,3 +1,4 @@
+
 # To use:
 #
 #     pre-commit run -a
@@ -15,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -29,68 +30,57 @@ repos:
       - id: end-of-file-fixer
       - id: mixed-line-ending
       - id: trailing-whitespace
+        exclude_types: [rst]
       - id: fix-byte-order-marker
 
+
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
-  - repo: https://github.com/psf/black
-    rev: 22.12.0
-    hooks:
-      - id: black
-        args: ["--line-length=99"]
-
   # PyDocStyle
   - repo: https://github.com/PyCQA/pydocstyle
-    rev: 6.2.2
+    rev: 6.3.0
     hooks:
     - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 24.2.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
-    rev: 6.0.0
+    rev: 7.0.0
     hooks:
     - id: flake8
-      args: ["--ignore=E501"]
+      args: ["--extend-ignore=E501"]
 
   # CPP hooks
-  - repo: local
+  - repo: https://github.com/pre-commit/mirrors-clang-format
+    rev: v17.0.6
     hooks:
       - id: clang-format
-        name: clang-format
-        description: Format files with ClangFormat.
-        entry: clang-format-14
-        language: system
-        files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
-  # The same options as in ament_cppcheck are used, but its not working...
-  #- repo: https://github.com/pocc/pre-commit-hooks
-    #rev: v1.1.1
-    #hooks:
-      #- id: cppcheck
-        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
 
   - repo: local
     hooks:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cppcheck
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
 
-  # Maybe use https://github.com/cpplint/cpplint instead
   - repo: local
     hooks:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -102,7 +92,6 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -113,7 +102,6 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
         entry: ament_copyright
         language: system
 
@@ -136,8 +124,18 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.6
     hooks:
       - id: codespell
-        args: ['--write-changes', '--uri-ignore-words-list=ist']
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.0
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
diff --git a/README.md b/README.md
index 88d05a57d5..6e63b824b3 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 # ros2_controllers
 
 [![Licence](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-[![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/branch/humble/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers)
+[![codecov](https://codecov.io/gh/ros-controls/ros2_controllers/branch/humble/graph/badge.svg?token=KSdY0tsHm6)](https://codecov.io/gh/ros-controls/ros2_controllers/tree/humble)
 
 Commonly used and generalized controllers for ros2-control framework that are ready to use with many robots, MoveIt2 and Nav2.
 
diff --git a/admittance_controller/CMakeLists.txt b/admittance_controller/CMakeLists.txt
index 9ece5e7fb0..8faa59fc79 100644
--- a/admittance_controller/CMakeLists.txt
+++ b/admittance_controller/CMakeLists.txt
@@ -10,7 +10,6 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   control_msgs
   control_toolbox
   controller_interface
-  Eigen3
   generate_parameter_library
   geometry_msgs
   hardware_interface
@@ -33,6 +32,7 @@ find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
+find_package(Eigen3 REQUIRED NO_MODULE)
 
 generate_parameter_library(admittance_controller_parameters
   src/admittance_controller_parameters.yaml
@@ -48,6 +48,7 @@ target_include_directories(admittance_controller PUBLIC
 )
 target_link_libraries(admittance_controller PUBLIC
   admittance_controller_parameters
+  Eigen3::Eigen
 )
 ament_target_dependencies(admittance_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
index 162977cdfe..72c11625e4 100644
--- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
+++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
@@ -214,9 +214,9 @@ def restore_settings(self, plugin_settings, instance_settings):
             try:
                 idx = jtc_list.index(jtc_name)
                 jtc_combo.setCurrentIndex(idx)
-            except (ValueError):
+            except ValueError:
                 pass
-        except (ValueError):
+        except ValueError:
             pass
 
     # def trigger_configuration(self):
@@ -427,7 +427,7 @@ def _update_cmd_cb(self):
             cmd = pos
             try:
                 cmd = self._joint_pos[name]["command"]
-            except (KeyError):
+            except KeyError:
                 pass
             max_vel = self._robot_joint_limits[name]["max_velocity"]
             dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur))
@@ -445,7 +445,7 @@ def _update_joint_widgets(self):
             try:
                 joint_pos = self._joint_pos[joint_name]["position"]
                 joint_widgets[id].setValue(joint_pos)
-            except (KeyError):
+            except KeyError:
                 pass  # Can happen when first connected to controller
 
     def _joint_widgets(self):  # TODO: Cache instead of compute every time?
diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
index f0b632322f..6f736910e2 100644
--- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
+++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
@@ -36,7 +36,7 @@ def update_combo(combo, new_vals):
         selected_id = -1
         try:
             selected_id = new_vals.index(selected_val)
-        except (ValueError):
+        except ValueError:
             combo.setCurrentIndex(-1)
 
         # Re-populate items
diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
index a47e854fe4..e7d46a039d 100644
--- a/rqt_joint_trajectory_controller/setup.py
+++ b/rqt_joint_trajectory_controller/setup.py
@@ -1,5 +1,19 @@
 #!/usr/bin/env python
 
+# Copyright 2024 Apache License, Version 2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from setuptools import setup
 from glob import glob