diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index ed64bcd94c..62007ffc2d 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -2,5 +2,6 @@
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master)  <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-source-build.yml?branch=master) <br/> [![Debian Rolling Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-debian-build.yml) <br/> [![RHEL Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-rhel-binary-build.yml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master)  <br /> [![Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-source-build.yml?branch=master) <br/> [![Debian Jazzy Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-debian-build.yml) <br/> [![RHEL Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-rhel-binary-build.yml) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/master) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml?branch=master) <br /> [![Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-source-build.yml?branch=master) <br/> [![Debian Iron Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-debian-build.yml) <br/> [![RHEL Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-rhel-binary-build.yml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master)  <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-source-build.yml?branch=master) <br/> [![Debian Humble Source Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-debian-build.yml) <br/> [![RHEL Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml/badge.svg)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-rhel-binary-build.yml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 708ea5c1f4..5b13c6639c 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -6,6 +6,14 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index dd7119d878..e8fd0123da 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
new file mode 100644
index 0000000000..f3c31703cd
--- /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_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 0910572227..d699e99278 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -4,9 +4,27 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
+      - 'codecov.yml'
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
+      - 'codecov.yml'
 
 jobs:
   coverage_humble:
@@ -14,4 +32,3 @@ 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 5f6badaa19..fc8436464d 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index c541b00636..3b8c623b62 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index edfcfa1734..9ef38d6ec7 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 6325fd50d8..5f437f8b0d 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_control.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
new file mode 100644
index 0000000000..d9476298a2
--- /dev/null
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -0,0 +1,26 @@
+name: Iron - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-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 245b075ae7..c4f10ca8a9 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-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..e9295dad44
--- /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_CONTROL_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
index d82c52bf51..c74d66c3fd 100644
--- a/.github/workflows/iron-coverage-build.yml
+++ b/.github/workflows/iron-coverage-build.yml
@@ -4,9 +4,27 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
+      - 'codecov.yml'
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
+      - 'codecov.yml'
 
 jobs:
   coverage_iron:
@@ -14,4 +32,3 @@ 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 393795965c..5527097f5a 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
index a58094416f..7aff6b6c3b 100644
--- a/.github/workflows/iron-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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 fde8d065e7..39526ac6ad 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 2d12734df0..608702ab72 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -4,6 +4,14 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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..331234d30f
--- /dev/null
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -0,0 +1,26 @@
+name: Jazzy - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-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..ac335c79f4
--- /dev/null
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -0,0 +1,45 @@
+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
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-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_DISTRO: [jazzy]
+        ROS_REPO: [main, testing]
+    with:
+      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/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
new file mode 100644
index 0000000000..cbdf6c30bd
--- /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_CONTROL_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..aa345d1e80
--- /dev/null
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -0,0 +1,35 @@
+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'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_control.jazzy.repos'
+  #     - 'codecov.yml'
+  # pull_request:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_control.jazzy.repos'
+  #     - 'codecov.yml'
+
+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..b61f101ae5
--- /dev/null
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -0,0 +1,31 @@
+name: Debian Jazzy Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+    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/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-binary-build.yml b/.github/workflows/jazzy-rhel-binary-build.yml
new file mode 100644
index 0000000000..1320624345
--- /dev/null
+++ b/.github/workflows/jazzy-rhel-binary-build.yml
@@ -0,0 +1,30 @@
+name: RHEL Jazzy Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy]
+    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/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
new file mode 100644
index 0000000000..b6c669245a
--- /dev/null
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -0,0 +1,45 @@
+name: Jazzy Semi-Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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_DISTRO: [jazzy]
+        ROS_REPO: [main, testing]
+    with:
+      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/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
new file mode 100644
index 0000000000..1acadc4a12
--- /dev/null
+++ b/.github/workflows/jazzy-source-build.yml
@@ -0,0 +1,26 @@
+name: Jazzy Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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: master
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 3911434a23..97966bdce6 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -6,6 +6,14 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index c17799922a..28f72e52a6 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control-not-released.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/ci-check-docs.yml b/.github/workflows/rolling-check-docs.yml
similarity index 67%
rename from .github/workflows/ci-check-docs.yml
rename to .github/workflows/rolling-check-docs.yml
index 90a822aa72..80e8287abd 100644
--- a/.github/workflows/ci-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -1,8 +1,14 @@
-name: Check Docs
+name: Rolling Check Docs
 
 on:
   workflow_dispatch:
   pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
 
 jobs:
   check-docs:
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 8374afe8dc..4c61b47cbc 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -4,9 +4,27 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'codecov.yml'
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'codecov.yml'
 
 jobs:
   coverage_rolling:
@@ -14,4 +32,3 @@ 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 c175f41e5b..8c2efa3ef6 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.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-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 3f285a240b..8e9b4a4a90 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -4,6 +4,14 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-rhel-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.jazzy.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 743b472c32..6f343c3825 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -7,9 +7,25 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index d9f1519ba3..ae6b40a4b4 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -4,6 +4,14 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
diff --git a/README.md b/README.md
index bf7ee2dfac..e333585d70 100644
--- a/README.md
+++ b/README.md
@@ -12,6 +12,7 @@ For more, please check the [documentation](https://control.ros.org/).
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_control/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_control/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-binary-build.yml?branch=iron) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=iron)](https://github.com/ros-controls/ros2_control/actions/workflows/iron-semi-binary-build.yml?branch=iron) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_control/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_control/actions/workflows/humble-semi-binary-build.yml?branch=master) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html) | [ros2_control](https://index.ros.org/p/ros2_control/#humble)
 
diff --git a/ros2_control-not-released.jazzy.repos b/ros2_control-not-released.jazzy.repos
new file mode 100644
index 0000000000..56f46b6f79
--- /dev/null
+++ b/ros2_control-not-released.jazzy.repos
@@ -0,0 +1 @@
+repositories:
diff --git a/ros2_control.jazzy.repos b/ros2_control.jazzy.repos
new file mode 100644
index 0000000000..c93d8f4ef6
--- /dev/null
+++ b/ros2_control.jazzy.repos
@@ -0,0 +1,9 @@
+repositories:
+  ros-controls/realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  ros-controls/control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master