diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
new file mode 100644
index 0000000000..367b3736fb
--- /dev/null
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -0,0 +1,27 @@
+name: Jazzy - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.jazzy.repos'
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: jazzy
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
new file mode 100644
index 0000000000..5be853ebfc
--- /dev/null
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -0,0 +1,47 @@
+name: Jazzy Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.jazzy.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: [jazzy]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
new file mode 100644
index 0000000000..cbdf6c30bd
--- /dev/null
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -0,0 +1,18 @@
+name: Jazzy Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@jazzy
+    with:
+      ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
new file mode 100644
index 0000000000..aa345d1e80
--- /dev/null
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -0,0 +1,35 @@
+name: Coverage Build - Jazzy
+on:
+  workflow_dispatch:
+  # TODO(anyone) activate when branched for Jazzy
+  # push:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_control.jazzy.repos'
+  #     - 'codecov.yml'
+  # pull_request:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_control.jazzy.repos'
+  #     - 'codecov.yml'
+
+jobs:
+  coverage_jazzy:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
new file mode 100644
index 0000000000..4ec6a29fff
--- /dev/null
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -0,0 +1,32 @@
+name: Debian Jazzy Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
new file mode 100644
index 0000000000..d9ec610bbc
--- /dev/null
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -0,0 +1,13 @@
+name: Pre-Commit - Jazzy
+
+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: jazzy
diff --git a/.github/workflows/jazzy-rhel-binary-build.yml b/.github/workflows/jazzy-rhel-binary-build.yml
new file mode 100644
index 0000000000..0dcc912dab
--- /dev/null
+++ b/.github/workflows/jazzy-rhel-binary-build.yml
@@ -0,0 +1,31 @@
+name: RHEL Jazzy Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
new file mode 100644
index 0000000000..9634732cf9
--- /dev/null
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -0,0 +1,47 @@
+name: Jazzy Semi-Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.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: [jazzy]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
new file mode 100644
index 0000000000..65066a4bf2
--- /dev/null
+++ b/.github/workflows/jazzy-source-build.yml
@@ -0,0 +1,27 @@
+name: Jazzy Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/jazzy-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.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: jazzy
+      ref: master
+      ros2_repo_branch: master
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
new file mode 100644
index 0000000000..b7828390fb
--- /dev/null
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -0,0 +1,27 @@
+name: Rolling - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.repos'
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: rolling
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
new file mode 100644
index 0000000000..24a28f16ae
--- /dev/null
+++ b/.github/workflows/rolling-binary-build.yml
@@ -0,0 +1,47 @@
+name: Rolling Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.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: [rolling]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
new file mode 100644
index 0000000000..bd83c0caca
--- /dev/null
+++ b/.github/workflows/rolling-check-docs.yml
@@ -0,0 +1,19 @@
+name: Rolling Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+      - '.github/workflows/rolling-check-docs.yml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
+    with:
+      ROS2_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000000..00d4ad844b
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,32 @@
+name: Debian Rolling Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
new file mode 100644
index 0000000000..c8939d6015
--- /dev/null
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -0,0 +1,31 @@
+name: RHEL Rolling Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
new file mode 100644
index 0000000000..4cdb7ab585
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -0,0 +1,47 @@
+name: Rolling Semi-Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.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: [rolling]
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
new file mode 100644
index 0000000000..9bbf09cda4
--- /dev/null
+++ b/.github/workflows/rolling-source-build.yml
@@ -0,0 +1,27 @@
+name: Rolling Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.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: rolling
+      ref: master
+      ros2_repo_branch: master
+      container: ubuntu:24.04