diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 7b4427d6d6..6325fd50d8 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -15,3 +15,4 @@ jobs:
       ros_distro: humble
       ref: humble
       ros2_repo_branch: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 3609dcfc41..2d12734df0 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -15,3 +15,4 @@ jobs:
       ros_distro: iron
       ref: iron
       ros2_repo_branch: iron
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 4d4750c54c..8374afe8dc 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -14,4 +14,4 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 9c87311bd7..4d91d19100 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -11,4 +11,4 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index f34a8e6bb5..d9f1519ba3 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -15,3 +15,4 @@ jobs:
       ros_distro: rolling
       ref: master
       ros2_repo_branch: master
+      container: ubuntu:24.04
diff --git a/codecov.yml b/codecov.yml
index d8a5fde3e0..97106f32ff 100644
--- a/codecov.yml
+++ b/codecov.yml
@@ -22,4 +22,5 @@ flags:
       - controller_interface
       - controller_manager
       - hardware_interface
+      - joint_limits
       - transmission_interface
diff --git a/ros2controlcli/ros2controlcli/api/__init__.py b/ros2controlcli/ros2controlcli/api/__init__.py
index c1a3d8cb5d..2b4b805980 100644
--- a/ros2controlcli/ros2controlcli/api/__init__.py
+++ b/ros2controlcli/ros2controlcli/api/__init__.py
@@ -28,7 +28,7 @@ def service_caller(service_name, service_type, request):
     try:
         rclpy.init()
 
-        node = rclpy.create_node(f"ros2controlcli_{ service_name.replace('/', '') }_requester")
+        node = rclpy.create_node(f"ros2controlcli_{service_name.replace('/', '')}_requester")
 
         cli = node.create_client(service_type, service_name)
 
@@ -38,14 +38,14 @@ def service_caller(service_name, service_type, request):
             if not cli.wait_for_service(2.0):
                 raise RuntimeError(f"Could not contact service {service_name}")
 
-        node.get_logger().debug(f"requester: making request: { repr(request) }\n")
+        node.get_logger().debug(f"requester: making request: {repr(request)}\n")
         future = cli.call_async(request)
         rclpy.spin_until_future_complete(node, future)
         if future.result() is not None:
             return future.result()
         else:
             future_exception = future.exception()
-            raise RuntimeError(f"Exception while calling service: { repr(future_exception) }")
+            raise RuntimeError(f"Exception while calling service: {repr(future_exception)}")
     finally:
         node.destroy_node()
         rclpy.shutdown()
diff --git a/ros2controlcli/ros2controlcli/verb/load_controller.py b/ros2controlcli/ros2controlcli/verb/load_controller.py
index d52ecf864f..f28c9c1eb2 100644
--- a/ros2controlcli/ros2controlcli/verb/load_controller.py
+++ b/ros2controlcli/ros2controlcli/verb/load_controller.py
@@ -64,6 +64,6 @@ def main(self, *, args):
 
             print(
                 f"Successfully loaded controller {args.controller_name} into "
-                f'state { "active" if args.set_state == "active" else "inactive" }'
+                f'state {"inactive" if args.set_state == "inactive" else "active"}'
             )
             return 0