diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index b9029938..8829ee50 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -4,27 +4,45 @@ on:
   push:
     branches: [ rolling ]
   workflow_dispatch:
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 5 * * *'
 defaults:
   run:
     shell: bash
 jobs:
-  test:
-    runs-on: [self-hosted, ubuntu-24.04]
+  build_and_test:
+    name: build_and_test_${{ matrix.BUILD_TYPE }}_${{ matrix.ROS_DISTRO }}
     strategy:
       fail-fast: false
       matrix:
-        distro: ['iron', 'jazzy', 'rolling']
+        include:
+          # Rolling (source)
+          - ROS_DISTRO: rolling
+            BUILD_TYPE: source
+          # Jazzy (binary)
+          - ROS_DISTRO: jazzy
+            BUILD_TYPE: binary
+          # Iron (binary)
+          - ROS_DISTRO: iron
+            BUILD_TYPE: binary
+    env:
+      ROS2_REPOS_FILE_URL: 'https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ROS_DISTRO }}/ros2.repos'
+    runs-on: ubuntu-latest
     container:
-      image: ros:${{ matrix.distro }}-ros-base
-    timeout-minutes: 30
+      image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:noble' }}
     steps:
-    - name: Deps
-      run: |
-        apt update && apt install -y curl
-    - uses: actions/checkout@v4
-    - name: rosdep
-      run: |
-        rosdep update
-        rosdep install --from-paths . -yir
-    - name: build
-      run: /ros_entrypoint.sh colcon build
+    - uses: ros-tooling/setup-ros@v0.7
+      if: ${{ matrix.BUILD_TYPE == 'source' }}
+    - name: Install Coverage Tools
+      if: ${{ matrix.BUILD_TYPE == 'binary' }}
+      run: sudo apt update && sudo apt install -y python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
+    - name: Build and run tests
+      id: action-ros-ci
+      uses: ros-tooling/action-ros-ci@v0.3
+      with:
+        package-name: |
+          rmw_zenoh_cpp
+          zenoh_c_vendor
+        target-ros2-distro: ${{ matrix.ROS_DISTRO }}
+        vcs-repo-file-url: ${{ matrix.BUILD_TYPE == 'source' && env.ROS2_REPOS_FILE_URL || '' }}