diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 6fa3261..09fdb17 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -4,6 +4,11 @@ name: Humble Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index dfc3f90..2ba939f 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -4,6 +4,11 @@ name: Iron Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/iron-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 5d67897..50a5595 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -4,6 +4,11 @@ name: Jazzy Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/reusable-build-coverage.yml b/.github/workflows/reusable-build-coverage.yml
index fc269ad..bb09926 100644
--- a/.github/workflows/reusable-build-coverage.yml
+++ b/.github/workflows/reusable-build-coverage.yml
@@ -34,7 +34,7 @@ jobs:
           echo ~/.local/opt/node/bin >> $GITHUB_PATH
 
       # needed only if a non-ros image is used
-      - uses: ros-tooling/setup-ros@0.7.4
+      - uses: ros-tooling/setup-ros@0.7.7
         if: ${{ steps.prereq.outputs.need_ros2 == '1' }}
         with:
           use-ros2-testing: true
@@ -55,7 +55,7 @@ jobs:
             echo "No local repos file found"
             echo "repo_file=" >> $GITHUB_OUTPUT
           fi
-      - uses: ros-tooling/action-ros-ci@0.3.11
+      - uses: ros-tooling/action-ros-ci@0.3.14
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           import-token: ${{ secrets.GITHUB_TOKEN }}
@@ -76,7 +76,7 @@ jobs:
           flags: unittests
           name: codecov-umbrella
           token: ${{ secrets.CODECOV_TOKEN }}
-      - uses: actions/upload-artifact@v4.3.3
+      - uses: actions/upload-artifact@v4.3.4
         with:
           name: colcon-logs-coverage-${{ inputs.ros_distro }}
           path: ros_ws/log
diff --git a/.github/workflows/reusable-pre-commit.yml b/.github/workflows/reusable-pre-commit.yml
index 279f759..bff0f28 100644
--- a/.github/workflows/reusable-pre-commit.yml
+++ b/.github/workflows/reusable-pre-commit.yml
@@ -39,7 +39,7 @@ jobs:
           echo ~/.local/opt/node/bin >> $GITHUB_PATH
 
       # needed only if a non-ros image is used
-      - uses: ros-tooling/setup-ros@0.7.4
+      - uses: ros-tooling/setup-ros@0.7.7
         if: ${{ steps.prereq.outputs.need_ros2 == '1' }}
         with:
           use-ros2-testing: true
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index 3639f3b..b5885f2 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -58,7 +58,7 @@ jobs:
           echo ~/.local/opt/node/bin >> $GITHUB_PATH
 
       # needed only if a non-ros image is used
-      - uses: ros-tooling/setup-ros@0.7.4
+      - uses: ros-tooling/setup-ros@0.7.7
         with:
           use-ros2-testing: true
       - uses: actions/checkout@v4
@@ -69,14 +69,24 @@ jobs:
         uses: ros-controls/ros2_control_ci/.github/actions/set-package-list@master
         with:
           path: ${{ env.path }}
-      - uses: ros-tooling/action-ros-ci@0.3.11
+      - name: Check for local repos file
+        id: check_local_repos
+        run: |
+          if [ -f  ${{ env.path }}/${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos ]; then
+            echo "Local repos file found"
+            echo "repo_file=${{ env.path }}/${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos" >> $GITHUB_OUTPUT
+          else
+            echo "No local repos file found"
+            echo "repo_file=" >> $GITHUB_OUTPUT
+          fi
+      - uses: ros-tooling/action-ros-ci@0.3.14
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           ref: ${{ inputs.ref }}
           package-name: ${{ steps.package_list_action.outputs.package_list }}
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            ${{ env.path }}/${{ steps.package_list_action.outputs.repo_name }}.${{ inputs.ros_distro }}.repos
+            ${{ steps.check_local_repos.outputs.repo_file }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
         id: action-ros
       - name: Download issue template  for target failure  # Has to be a local file
@@ -94,7 +104,7 @@ jobs:
         with:
           update_existing: true
           filename: .github/issue_template_failed_ci.md
-      - uses: actions/upload-artifact@v4.3.3
+      - uses: actions/upload-artifact@v4.3.4
         with:
           name: colcon-logs-${{ inputs.os_name }}-${{ inputs.ros_distro }}
           path: ros_ws/log
diff --git a/.github/workflows/reusable-rosdoc2.yml b/.github/workflows/reusable-rosdoc2.yml
index 3aaee89..00c78f4 100644
--- a/.github/workflows/reusable-rosdoc2.yml
+++ b/.github/workflows/reusable-rosdoc2.yml
@@ -11,15 +11,14 @@ jobs:
       # this will be src/{repo-owner}/{repo-name}
       path: src/${{ github.repository }}
     steps:
-      - uses: ros-tooling/setup-ros@0.7.4
+      - uses: ros-tooling/setup-ros@0.7.7
       - name: Install rosdoc2 and deps
         run: |
           sudo apt-get update
           sudo apt install -y python3-pip git doxygen graphviz
           python3 -m venv .venv
           source .venv/bin/activate
-          # TODO(anyone) remove if https://github.com/sphinx-doc/sphinx/pull/12298/files is merged
-          pip install Sphinx==7.2.6
+          pip install Sphinx
           git clone https://github.com/ros-infrastructure/rosdoc2.git
           pip install --upgrade rosdoc2/
       - uses: actions/checkout@v4
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index daf434d..1febf4b 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -4,6 +4,11 @@ name: Rolling Stack Build
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-binary-build.yml'
+      - './.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index a5a4d8a..2871118 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Humble
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-iron-binary-build.yml b/.github/workflows/rolling-compatibility-iron-binary-build.yml
index 04f39bb..ef58113 100644
--- a/.github/workflows/rolling-compatibility-iron-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-iron-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Iron
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-iron-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index c3d0d19..29ce625 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -4,6 +4,11 @@ name: Check Rolling Compatibility on Jazzy
 
 on:
   workflow_dispatch:
+  pull_request:
+    paths:
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '.github/workflows/reusable-industrial-ci-with-cache.yml'
+      - 'ros_controls.rolling-on-jazzy.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 5f78265..86bc7bb 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.2
+    rev: v3.16.0
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -55,14 +55,14 @@ repos:
         args: ["--line-length=99"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 7.0.0
+    rev: 7.1.0
     hooks:
     - id: flake8
       args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.4
+    rev: v18.1.8
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -124,14 +124,14 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.6
+    rev: v2.3.0
     hooks:
       - id: codespell
         args: ['--write-changes']
         exclude: CHANGELOG\.rst|\.(svg|pyc)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.2
+    rev: 0.28.6
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
diff --git a/README.md b/README.md
index 9c7e20d..74f411d 100644
--- a/README.md
+++ b/README.md
@@ -9,13 +9,18 @@ It also builds the full ros2_control stack once per day.
 ## Released versions
 
 [![Rolling Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-binary-build.yml)
+
 [![Jazzy Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/jazzy-binary-build.yml)
+
 [![Iron Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/iron-binary-build.yml)
+
 [![Humble Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/humble-binary-build.yml)
 
 ## Compatibility versions
 We thrive to make the rolling development version of the ros2_control stack compatible with earlier releases of ROS2. This is done by building the rolling version of the stack from source with the earlier releases of ROS2.
 
-[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
 [![Check Rolling Compatibility on Jazzy with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-jazzy-binary-build.yml)
+
+[![Check Rolling Compatibility on Iron with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-iron-binary-build.yml)
+
 [![Check Rolling Compatibility on Humble with Stack Build](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control_ci/actions/workflows/rolling-compatibility-humble-binary-build.yml)
diff --git a/ros_controls.rolling-on-jazzy.repos b/ros_controls.rolling-on-jazzy.repos
index 84d7402..97cc475 100644
--- a/ros_controls.rolling-on-jazzy.repos
+++ b/ros_controls.rolling-on-jazzy.repos
@@ -7,10 +7,10 @@ repositories:
     type: git
     url: https://github.com/ros-controls/control_toolbox.git
     version: ros2-master
-  # ros-controls/gz_ros2_control:
-  #   type: git
-  #   url: https://github.com/ros-controls/gz_ros2_control.git
-  #   version: master
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: master
   ros-controls/kinematics_interface:
     type: git
     url: https://github.com/ros-controls/kinematics_interface.git