diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build.yml
similarity index 69%
rename from .github/workflows/humble-binary-build-main.yml
rename to .github/workflows/humble-binary-build.yml
index 401b2a98d2..2b3d2f577f 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Binary Build - main
+name: Humble Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -18,9 +18,12 @@ 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_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.humble.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index e8deb2caa5..2400c9d39e 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -12,6 +12,7 @@ on:
 jobs:
   humble_debian:
     name: Humble debian build
+<<<<<<< HEAD
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
@@ -28,3 +29,11 @@ jobs:
           colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
           colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
           colcon test-result --verbose
+=======
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller
+>>>>>>> cb6884a (Use reusable wfs from ros2_control_ci and use matrix strategy (#1040))
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
similarity index 66%
rename from .github/workflows/humble-rhel-binary-build.yml
rename to .github/workflows/humble-rhel-semi-binary-build.yml
index efb1aa7d9e..65abeb1bc1 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -11,6 +11,7 @@ on:
 jobs:
   humble_rhel_binary:
     name: Humble RHEL binary build
+<<<<<<< HEAD:.github/workflows/humble-rhel-binary-build.yml
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: humble
@@ -30,3 +31,11 @@ jobs:
           colcon build --packages-skip rqt_joint_trajectory_controller
           colcon test --packages-skip rqt_joint_trajectory_controller
           colcon test-result --verbose
+=======
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: humble
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: humble
+      skip_packages: rqt_joint_trajectory_controller
+>>>>>>> cb6884a (Use reusable wfs from ros2_control_ci and use matrix strategy (#1040)):.github/workflows/humble-rhel-semi-binary-build.yml
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build.yml
similarity index 66%
rename from .github/workflows/humble-semi-binary-build-testing.yml
rename to .github/workflows/humble-semi-binary-build.yml
index ef290ce065..05f614cabf 100644
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Humble Semi-Binary Build - testing
+name: Humble Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
@@ -17,9 +17,12 @@ on:
 
 jobs:
   semi_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_REPO: [main, testing]
     with:
       ros_distro: humble
-      ros_repo: testing
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers.humble.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 801cd92402..8ac4a81824 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -12,7 +12,7 @@ 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.yml b/.github/workflows/iron-binary-build.yml
new file mode 100644
index 0000000000..146d5a8c69
--- /dev/null
+++ b/.github/workflows/iron-binary-build.yml
@@ -0,0 +1,29 @@
+name: Iron Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  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:
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: iron
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers-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 09dbd051b2..61a633b683 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -12,6 +12,7 @@ on:
 jobs:
   iron_debian:
     name: Iron debian build
+<<<<<<< HEAD
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: iron
@@ -28,3 +29,11 @@ jobs:
           colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
           colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller control_msgs controller_manager_msgs
           colcon test-result --verbose
+=======
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller
+>>>>>>> cb6884a (Use reusable wfs from ros2_control_ci and use matrix strategy (#1040))
diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..66ad427a98
--- /dev/null
+++ b/.github/workflows/iron-rhel-semi-binary-build.yml
@@ -0,0 +1,20 @@
+name: RHEL Iron Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  iron_rhel_binary:
+    name: Iron RHEL binary build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: iron
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
new file mode 100644
index 0000000000..ab508dfc50
--- /dev/null
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -0,0 +1,28 @@
+name: Iron Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+      - '*feature*'
+      - '*feature/**'
+  push:
+    branches:
+      - iron
+  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:
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: iron
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
new file mode 100644
index 0000000000..3609dcfc41
--- /dev/null
+++ b/.github/workflows/iron-source-build.yml
@@ -0,0 +1,17 @@
+name: Iron Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  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: iron
+      ref: iron
+      ros2_repo_branch: iron
diff --git a/.github/workflows/rolling-binary-build-main.yml b/.github/workflows/rolling-binary-build.yml
similarity index 72%
rename from .github/workflows/rolling-binary-build-main.yml
rename to .github/workflows/rolling-binary-build.yml
index 793db5d7e5..7b5a3bda65 100644
--- a/.github/workflows/rolling-binary-build-main.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Binary Build - main
+name: Rolling Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -22,9 +22,12 @@ 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_REPO: [main, testing]
     with:
       ros_distro: rolling
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index b6d0a4193a..2c8c4446ed 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -12,6 +12,7 @@ on:
 jobs:
   rolling_debian:
     name: Rolling debian build
+<<<<<<< HEAD
     runs-on: ubuntu-latest
     env:
       ROS_DISTRO: rolling
@@ -28,3 +29,11 @@ jobs:
           colcon build --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
           colcon test --packages-skip rqt_controller_manager rqt_joint_trajectory_controller
           colcon test-result --verbose
+=======
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
+>>>>>>> cb6884a (Use reusable wfs from ros2_control_ci and use matrix strategy (#1040))
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
similarity index 65%
rename from .github/workflows/rolling-rhel-binary-build.yml
rename to .github/workflows/rolling-rhel-semi-binary-build.yml
index dece43b673..aff265da57 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Rolling Binary Build
+name: RHEL Rolling Semi-Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -10,6 +10,7 @@ on:
 
 
 jobs:
+<<<<<<< HEAD:.github/workflows/rolling-rhel-binary-build.yml
   rolling_rhel_binary:
     name: Rolling RHEL binary build
     runs-on: ubuntu-latest
@@ -32,3 +33,12 @@ jobs:
           colcon build --packages-skip rqt_joint_trajectory_controller
           colcon test --packages-skip rqt_joint_trajectory_controller
           colcon test-result --verbose
+=======
+  rolling_rhel:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: rolling
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
+>>>>>>> cb6884a (Use reusable wfs from ros2_control_ci and use matrix strategy (#1040)):.github/workflows/rolling-rhel-semi-binary-build.yml
diff --git a/.github/workflows/rolling-semi-binary-build-main.yml b/.github/workflows/rolling-semi-binary-build.yml
similarity index 70%
rename from .github/workflows/rolling-semi-binary-build-main.yml
rename to .github/workflows/rolling-semi-binary-build.yml
index 8b395e5163..a20c4d4fd3 100644
--- a/.github/workflows/rolling-semi-binary-build-main.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: Rolling Semi-Binary Build - main
+name: Rolling Semi-Binary Build
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
@@ -21,9 +21,12 @@ on:
 
 jobs:
   semi_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_REPO: [main, testing]
     with:
       ros_distro: rolling
-      ros_repo: main
+      ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 40abcd1b0c..567b2c8ec6 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,8 +1,6 @@
 name: Rolling Source Build
 on:
   workflow_dispatch:
-    branches:
-      - master
   push:
     branches:
       - master
@@ -12,7 +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