diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 9b9f508b50..75f1630794 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 88c09bf87e..a3a5aa84ea 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 2 * * *'
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
new file mode 100644
index 0000000000..0eeeaedf40
--- /dev/null
+++ b/.github/workflows/humble-check-docs.yml
@@ -0,0 +1,18 @@
+name: Humble Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 0910572227..f39758a512 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - 'codecov.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - 'codecov.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
 
 jobs:
   coverage_humble:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 3a06c3fc37..cdec3884fc 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-debian-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index be8c84b05b..5bb2408578 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
index 1d1fe0522f..8dae035e39 100644
--- a/.github/workflows/humble-rhel-semi-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-rhel-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 2 * * *'
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 6fdcf008db..e10a3aefb6 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -6,9 +6,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 0f4b0a5f2d..390389b4a3 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -4,6 +4,14 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 4 * * *'
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
new file mode 100644
index 0000000000..be1aec6680
--- /dev/null
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -0,0 +1,27 @@
+name: Iron - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-abi-compatibility.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: iron
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index 1510fac859..802ca97bb8 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -9,9 +9,27 @@ on:
       - iron
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml
new file mode 100644
index 0000000000..f842902055
--- /dev/null
+++ b/.github/workflows/iron-check-docs.yml
@@ -0,0 +1,18 @@
+name: Iron Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
index d82c52bf51..bbc9c4e975 100644
--- a/.github/workflows/iron-coverage-build.yml
+++ b/.github/workflows/iron-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
 
 jobs:
   coverage_iron:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index f3419c1a31..d9ca9fa68e 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
index 60ad26d073..a128958031 100644
--- a/.github/workflows/iron-pre-commit.yml
+++ b/.github/workflows/iron-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml
index 66ad427a98..109dac7550 100644
--- a/.github/workflows/iron-rhel-semi-binary-build.yml
+++ b/.github/workflows/iron-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index 38ca4fe490..bf5edcaa56 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -8,9 +8,27 @@ on:
       - iron
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 2d12734df0..c460762259 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
new file mode 100644
index 0000000000..8e557b5ee3
--- /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'
+      - '**.yaml'
+      - '.github/workflows/jazzy-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-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..6ec46eb6c1
--- /dev/null
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -0,0 +1,48 @@
+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
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-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_REPO: [main, testing]
+    with:
+      ros_distro: jazzy
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers-not-released.jazzy.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..2f9eaf18bd
--- /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_CONTROLLERS_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..c96ac88c32
--- /dev/null
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -0,0 +1,41 @@
+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'
+  #     - '**.yaml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'codecov.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_controllers.jazzy.repos'
+  # pull_request:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**.yaml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'codecov.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_controllers.jazzy.repos'
+
+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..61a47d0f2e
--- /dev/null
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -0,0 +1,29 @@
+name: Debian Rolling Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  jazzy_debian:
+    name: Rolling debian build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: jazzy
+      upstream_workspace: ros2_controllers.jazzy.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
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-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..94ddfeb54f
--- /dev/null
+++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -0,0 +1,28 @@
+name: RHEL Jazzy Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  jazzy_rhel:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: jazzy
+      upstream_workspace: ros2_controllers.jazzy.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
new file mode 100644
index 0000000000..7c5bdfc4dc
--- /dev/null
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -0,0 +1,47 @@
+name: Jazzy Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: jazzy
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.jazzy.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..f77e9a5060
--- /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'
+      - '**.yaml'
+      - '.github/workflows/jazzy-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.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: jazzy
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index b3d8cb8deb..c29bbb6cb7 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index d0be23f076..529c13ac64 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -9,9 +9,26 @@ on:
       - master
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
new file mode 100644
index 0000000000..a77a645e57
--- /dev/null
+++ b/.github/workflows/rolling-check-docs.yml
@@ -0,0 +1,18 @@
+name: Rolling 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@master
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 8374afe8dc..3b4b195ff7 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
 
 jobs:
   coverage_rolling:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index a1aed8b415..9db7cc65f0 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 4d91d19100..7bc07ba802 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: rolling
-      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index a175d951b4..6b7fb6b8c4 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 4784654db8..db0cd33de5 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -8,9 +8,27 @@ on:
       - master
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index ae38197455..66e53d1da1 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
index 8b9545dff1..6bedaa0c97 100644
--- a/.github/workflows/update-pre-commit.yml
+++ b/.github/workflows/update-pre-commit.yml
@@ -5,7 +5,7 @@ name: Auto Update pre-commit
 on:
   workflow_dispatch:
   schedule:
-    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+    - cron: '0 0 1 * *'  # Runs at 00:00, on day 1 of the month
 
 jobs:
   auto_update_and_create_pr:
diff --git a/README.md b/README.md
index 6e63b824b3..97d7276b2d 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,8 @@ Commonly used and generalized controllers for ros2-control framework that are re
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
 
diff --git a/ros2_controllers-not-released.jazzy.repos b/ros2_controllers-not-released.jazzy.repos
new file mode 100644
index 0000000000..66352f4960
--- /dev/null
+++ b/ros2_controllers-not-released.jazzy.repos
@@ -0,0 +1,5 @@
+repositories:
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main
diff --git a/ros2_controllers.jazzy.repos b/ros2_controllers.jazzy.repos
new file mode 100644
index 0000000000..8c20eccc96
--- /dev/null
+++ b/ros2_controllers.jazzy.repos
@@ -0,0 +1,25 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main