diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index 954de1d1..74f3e141 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -118,7 +118,7 @@ jobs:
   ros2-test:
     strategy:
       matrix:
-        ros_distro: [humble, iron, jazzy, rolling]
+        ros_distro: [humble, jazzy, rolling]
 
     name: ros-${{ matrix.ros_distro }}-test
     runs-on: ubuntu-latest
diff --git a/docs/source/setup.rst b/docs/source/setup.rst
index 212b0d53..3721b523 100644
--- a/docs/source/setup.rst
+++ b/docs/source/setup.rst
@@ -3,7 +3,7 @@ Setup
 
 This package is being tested with:
 
-* Python 3.10 / Ubuntu 22.04 (optionally with ROS 2 Humble or Iron)
+* Python 3.10 / Ubuntu 22.04 (optionally with ROS 2 Humble)
 * Python 3.12 / Ubuntu 24.04 (optionally with ROS 2 Jazzy or Rolling)
 
 pip install (Limited)
diff --git a/setup/setup_pyrobosim.bash b/setup/setup_pyrobosim.bash
index 21b7bf8b..ba398e10 100755
--- a/setup/setup_pyrobosim.bash
+++ b/setup/setup_pyrobosim.bash
@@ -47,7 +47,7 @@ then
 
   rm -rf ${ROS_WORKSPACE}/build ${ROS_WORKSPACE}/install ${ROS_WORKSPACE}/log
 
-  read -p "What ROS distro are you using? (humble, iron, jazzy, rolling) : " ROS_DISTRO
+  read -p "What ROS distro are you using? (humble, jazzy, rolling) : " ROS_DISTRO
   echo ""
   echo "Installing additional packages for ROS ${ROS_DISTRO,,} setup"
   echo "PYROBOSIM_ROS_WORKSPACE=${ROS_WORKSPACE}" >> ${ENV_FILE}