diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
new file mode 100644
index 000000000..6270c36be
--- /dev/null
+++ b/.github/workflows/humble-binary-build.yml
@@ -0,0 +1,21 @@
+name: Humble Binary Build
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_control_demos-not-released.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
new file mode 100644
index 000000000..3def6c31a
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: Humble Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  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
+      upstream_workspace: ros2_control_demos.humble.repos
+      ref_for_scheduled_build: humble
diff --git a/README.md b/README.md
index 94ff920a6..9e8e817cb 100644
--- a/README.md
+++ b/README.md
@@ -82,6 +82,7 @@ Those two world-known imaginary robots are trivial simulations to demonstrate an
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control_demos/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_control_demos/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-binary-build.yml?branch=humble) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/humble-semi-binary-build.yml?branch=humble) <br /> | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 **Galactic** | [`galactic`](https://github.com/ros-controls/ros2_control_demos/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> | [Documentation](https://control.ros.org/galactic/index.html) <br /> [API Reference](https://control.ros.org/galactic/doc/api/index.html)
 **Foxy** | [`foxy`](https://github.com/ros-controls/ros2_control_demos/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_control_demos/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> | [Documentation](https://control.ros.org/foxy/index.html) <br /> [API Reference](https://control.ros.org/foxy/doc/api/index.html)
 
diff --git a/ros2_control_demos-not-released.humble.repos b/ros2_control_demos-not-released.humble.repos
new file mode 100644
index 000000000..56f46b6f7
--- /dev/null
+++ b/ros2_control_demos-not-released.humble.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/ros2_control_demos.humble.repos b/ros2_control_demos.humble.repos
new file mode 100644
index 000000000..e7fb6e544
--- /dev/null
+++ b/ros2_control_demos.humble.repos
@@ -0,0 +1,17 @@
+repositories:
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: humble
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: humble
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: humble