diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 247371ba7d..dc78e8f073 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -15,6 +15,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 39100cfffb..bbd81b6638 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -34,6 +34,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
index 0eeeaedf40..448ff4084b 100644
--- a/.github/workflows/humble-check-docs.yml
+++ b/.github/workflows/humble-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index d0dcb9c350..54384bb9f0 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -30,6 +30,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
+
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index cd25248caf..c6204729cb 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -18,6 +18,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
 
 jobs:
   humble_debian:
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index 5bb2408578..38a76ee025 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
index 25c755ada5..3b2ba40179 100644
--- a/.github/workflows/humble-rhel-semi-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -18,6 +18,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
+
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index c53c46032a..b2c1ebb15e 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -33,6 +33,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'humble' }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
index 8e557b5ee3..00b2eef010 100644
--- a/.github/workflows/jazzy-abi-compatibility.yml
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 8d0c33400d..7c3e89583b 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -35,6 +35,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
index 2f9eaf18bd..cfc67a3eac 100644
--- a/.github/workflows/jazzy-check-docs.yml
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
index c96ac88c32..3cec3883b2 100644
--- a/.github/workflows/jazzy-coverage-build.yml
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -33,6 +33,11 @@ on:
   #     - '**/CMakeLists.txt'
   #     - 'ros2_controllers.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   coverage_jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
index e3e3b8a353..620877c1ea 100644
--- a/.github/workflows/jazzy-debian-build.yml
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -18,6 +18,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
 
 jobs:
   jazzy_debian:
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
index d9ec610bbc..aab5ba52ac 100644
--- a/.github/workflows/jazzy-pre-commit.yml
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
index 1c62fcf2ac..dba2955cb1 100644
--- a/.github/workflows/jazzy-rhel-semi-binary-build.yml
+++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -18,6 +18,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
 
 jobs:
   jazzy_rhel:
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index a462d9040a..76bf303dda 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -35,6 +35,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index da3337554c..dc0717c832 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 6f0e22bb29..dbe78dfa3d 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -36,6 +36,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index 15b7eff57e..1144c4e6c0 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -11,6 +11,10 @@ on:
       - '**.yaml'
       - '.github/workflows/rolling-check-docs.yml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index 7aab02fa62..c437ff9aac 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -33,6 +33,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   build-on-humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 37ffbb84a4..d244fb6b3b 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -33,6 +33,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   build-on-jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 058ff9bb33..ff5c006d52 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -30,6 +30,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   coverage_rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index d7efd3ea0a..e2ef234810 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -18,6 +18,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
 
 jobs:
   rolling_debian:
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 7bc07ba802..792278d6d2 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index 29a53b810a..d821b9323a 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -18,6 +18,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
 
 jobs:
   rolling_rhel:
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index db0dd1fe64..e8f51beb5d 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -35,6 +35,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ github.ref != 'master' }}
+
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
index 0771248e79..434344fcaa 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rosdoc2.yml
@@ -8,6 +8,9 @@ on:
       - ros2_controllers/rosdoc2.yaml
       - ros2_controllers/package.xml
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   check: