diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build.yml
similarity index 51%
rename from .github/workflows/humble-binary-build-testing.yml
rename to .github/workflows/humble-binary-build.yml
index 99ff6ccd4a..dd7119d878 100644
--- a/.github/workflows/humble-binary-build-testing.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - testing
+name: Humble Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.humble.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 0db1f58210..5f6badaa19 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Humble Build
+name: Debian Humble Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,21 +10,14 @@ on:
 
 
 jobs:
-  humble_debian:
-    name: Humble debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs control_msgs
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index ed37092520..c541b00636 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Humble Binary Build
+name: RHEL Humble Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -9,23 +9,13 @@ on:
     - cron: '03 1 * * *'
 
 jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-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
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
deleted file mode 100644
index 88591b69f7..0000000000
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Humble Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_control.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
deleted file mode 100644
index 3d6b2717e3..0000000000
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Humble Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - humble
-  push:
-    branches:
-      - humble
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: ros2_control.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-semi-binary-build.yml
similarity index 51%
rename from .github/workflows/humble-binary-build-main.yml
rename to .github/workflows/humble-semi-binary-build.yml
index 1fafd01c9e..edfcfa1734 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: humble
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.humble.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index a40d53f8e3..7b4427d6d6 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: humble
       ref: humble
diff --git a/.github/workflows/iron-binary-build-main.yml b/.github/workflows/iron-binary-build.yml
similarity index 60%
rename from .github/workflows/iron-binary-build-main.yml
rename to .github/workflows/iron-binary-build.yml
index 440b573cb9..245b075ae7 100644
--- a/.github/workflows/iron-binary-build-main.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -1,4 +1,4 @@
-name: Iron Binary Build - main
+name: Iron Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: iron
-      ros_repo: main
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control-not-released.iron.repos
       ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index 405e4f9135..393795965c 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Iron Build
+name: Debian Iron Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,21 +10,14 @@ on:
 
 
 jobs:
-  iron_debian:
-    name: Iron debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: iron
-    container: ghcr.io/ros-controls/ros:iron-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager control_msgs controller_manager_msgs
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+      skip_packages_test: controller_manager_msgs control_msgs
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index fc48bd80ea..a58094416f 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Iron Binary Build
+name: RHEL Iron Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,23 +10,13 @@ on:
 
 
 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
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/iron-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
deleted file mode 100644
index c5697d6e74..0000000000
--- a/.github/workflows/iron-semi-binary-build-main.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Iron Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: main
-      upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
deleted file mode 100644
index 0055e38cba..0000000000
--- a/.github/workflows/iron-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Iron Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - iron
-  push:
-    branches:
-      - iron
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_control.iron.repos
-      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build.yml
similarity index 53%
rename from .github/workflows/iron-binary-build-testing.yml
rename to .github/workflows/iron-semi-binary-build.yml
index 78e13f2528..fde8d065e7 100644
--- a/.github/workflows/iron-binary-build-testing.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Iron Binary Build - testing
+name: Iron Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [iron]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: iron
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.iron.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.iron.repos
       ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 34372a4178..3609dcfc41 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: iron
       ref: iron
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
deleted file mode 100644
index acefeebfac..0000000000
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ /dev/null
@@ -1,96 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ref_for_scheduled_build:
-        description: 'Reference on which the repo should be checkout for scheduled build. Usually is this name of a branch or a tag.'
-        default: ''
-        required: false
-        type: string
-
-      upstream_workspace:
-        description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
-        type: string
-      ros_distro:
-        description: 'ROS_DISTRO variable for industrial_ci'
-        required: true
-        type: string
-      ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
-        default: 'main'
-        required: false
-        type: string
-      os_code_name:
-        description: 'OS_CODE_NAME variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-      before_install_upstream_dependencies:
-        description: 'BEFORE_INSTALL_UPSTREAM_DEPENDENCIES variable for industrial_ci'
-        default: ''
-        required: false
-        type: string
-
-      ccache_dir:
-        description: 'Local path to store cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.ccache'
-        required: false
-        type: string
-      basedir:
-        description: 'Local path to workspace base directory to cache (from "github.workspace"). For standard industrial_ci configuration do not have to be changed'
-        default: '.work'
-        required: false
-        type: string
-
-
-jobs:
-  reusable_industrial_ci_with_cache:
-    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
-    runs-on: ubuntu-latest
-    env:
-      CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
-      BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
-    steps:
-      - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ github.event_name != 'schedule' }}
-        uses: actions/checkout@v4
-      - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ github.event_name == 'schedule' }}
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref_for_scheduled_build }}
-      - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.BASEDIR }}/target_ws
-          key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
-          restore-keys: |
-            target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
-      - name: cache ccache
-        uses: pat-s/always-upload-cache@v3.0.11
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
-          restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - uses: 'ros-industrial/industrial_ci@master'
-        env:
-          UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
-          ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ inputs.ros_repo }}
-          OS_CODE_NAME: ${{ inputs.os_code_name }}
-          BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
-      - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV }}
-        run: |
-          du -sh ${{ env.BASEDIR }}/target_ws
-          sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
-          sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
-          du -sh ${{ env.BASEDIR }}/target_ws
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
deleted file mode 100644
index fa96b7288c..0000000000
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ /dev/null
@@ -1,56 +0,0 @@
-name: Reusable industrial_ci Workflow with Cache
-# Reusable action to simplify dealing with ROS/ROS2 industrial_ci builds with cache
-# author: Denis Štogl <denis@stoglrobotics.de>
-
-on:
-  workflow_call:
-    inputs:
-      ros_distro:
-        description: 'ROS2 distribution name'
-        required: true
-        type: string
-      ref:
-        description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
-        required: true
-        type: string
-      ros2_repo_branch:
-        description: 'Branch in the ros2/ros2 repository from which ".repos" should be used. Possible values: master (Rolling), humble.'
-        default: 'master'
-        required: false
-        type: string
-
-jobs:
-  reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-22.04
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ inputs.ros_distro }}
-      - uses: actions/checkout@v4
-        with:
-          ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ inputs.ros_distro }}
-          # build all packages listed in the meta package
-          ref: ${{ inputs.ref }} # otherwise the default branch is used for scheduled workflows
-          package-name:
-            controller_interface
-            controller_manager
-            controller_manager_msgs
-            hardware_interface
-            ros2controlcli
-            ros2_control
-            ros2_control_test_assets
-            transmission_interface
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: actions/upload-artifact@v4.3.0
-        with:
-          name: colcon-logs-ubuntu-22.04
-          path: ros_ws/log
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build.yml
similarity index 51%
rename from .github/workflows/rolling-binary-build-testing.yml
rename to .github/workflows/rolling-binary-build.yml
index 811c96fce4..c17799922a 100644
--- a/.github/workflows/rolling-binary-build-testing.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -1,11 +1,9 @@
-name: Rolling Binary Build - testing
+name: Rolling Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
-    branches:
-      - master
   pull_request:
     branches:
       - master
@@ -18,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_control-not-released.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 098af45029..c175f41e5b 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Rolling Build
+name: Debian Rolling Source Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,21 +10,13 @@ on:
 
 
 jobs:
-  rolling_debian:
-    name: Rolling debian build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-debian
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          path: src/ros2_control
-      - name: Build and test
-        shell: bash
-        run: |
-          source /opt/ros2_ws/install/setup.bash
-          vcs import src < src/ros2_control/ros2_control.${{ env.ROS_DISTRO }}.repos
-          colcon build --packages-skip rqt_controller_manager
-          colcon test --packages-skip rqt_controller_manager
-          colcon test-result --verbose
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 06a5411c24..3f285a240b 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Rolling Binary Build
+name: RHEL Rolling Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,23 +10,13 @@ on:
 
 
 jobs:
-  rolling_rhel_binary:
-    name: Rolling RHEL binary build
-    runs-on: ubuntu-latest
-    env:
-      ROS_DISTRO: rolling
-    container: ghcr.io/ros-controls/ros:rolling-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
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build-main.yml
deleted file mode 100644
index 1033dd1e6c..0000000000
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ /dev/null
@@ -1,25 +0,0 @@
-name: Rolling Semi-Binary Build - main
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: ros2_control.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
deleted file mode 100644
index 17d290c45b..0000000000
--- a/.github/workflows/rolling-semi-binary-build-testing.yml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: Rolling Semi-Binary Build - testing
-# description: 'Build & test that compiles the main dependencies from source.'
-
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-  push:
-    branches:
-      - master
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '33 1 * * *'
-
-jobs:
-  semi_binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: ros2_control.rolling.repos
-      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build.yml
similarity index 51%
rename from .github/workflows/rolling-binary-build-main.yml
rename to .github/workflows/rolling-semi-binary-build.yml
index 1777810661..743b472c32 100644
--- a/.github/workflows/rolling-binary-build-main.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Binary Build - main
+name: Rolling Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -16,9 +16,13 @@ on:
 
 jobs:
   binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      matrix:
+        ROS_DISTRO: [rolling]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
-      ros_repo: main
-      upstream_workspace: ros2_control-not-released.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 475e509e0f..f34a8e6bb5 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -10,7 +10,7 @@ on:
 
 jobs:
   source:
-    uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: rolling
       ref: master