diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index b9ef044bfd..cbe47d0948 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,9 +1,6 @@
-name: Humble RHEL Binary Build
+name: RHEL Humble Binary Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - humble
   pull_request:
     branches:
       - humble
@@ -22,9 +19,20 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
+<<<<<<< HEAD
           rosdep install -iy --from-path src/ros2_control
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           colcon build
           colcon test
+=======
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
+>>>>>>> fd2cc4e ([RHEL-CI] Rename workflow and don't run on  push (#1326))
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
new file mode 100644
index 0000000000..fc48bd80ea
--- /dev/null
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -0,0 +1,32 @@
+name: RHEL Iron Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-rhel
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          path: src/ros2_control
+      - name: Install dependencies
+        run: |
+          rosdep update
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index ab7067e121..1490221c4e 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,9 +1,6 @@
-name: Rolling RHEL Binary Build
+name: RHEL Rolling Binary Build
 on:
   workflow_dispatch:
-  push:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -23,9 +20,20 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_control
-      - run: |
+      - name: Install dependencies
+        run: |
           rosdep update
+<<<<<<< HEAD
           rosdep install -iy --from-path src/ros2_control
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
           colcon build
           colcon test
+=======
+          rosdep install -iyr --from-path src/ros2_control || true
+      - name: Build and test
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build --packages-skip rqt_controller_manager
+          colcon test --packages-skip rqt_controller_manager ros2controlcli
+          colcon test-result --verbose
+>>>>>>> fd2cc4e ([RHEL-CI] Rename workflow and don't run on  push (#1326))