diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
new file mode 100644
index 0000000000..426b935fa4
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,31 @@
+name: Debian Humble Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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_controllers
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          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
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 3653d4f0f4..8e54348b57 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -25,7 +25,13 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+<<<<<<< HEAD
       - run: |
+=======
+          ref: ${{ github.event_name == 'schedule' && 'humble' || '' }}
+      - name: Install dependencies
+        run: |
+>>>>>>> 737a45b (Use correct ref for scheduled workflows (#1013))
           rosdep update
           rosdep install -iy --from-path src/ros2_controllers
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
new file mode 100644
index 0000000000..c47fbe5cd9
--- /dev/null
+++ b/.github/workflows/iron-debian-build.yml
@@ -0,0 +1,31 @@
+name: Debian Iron Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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_controllers
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          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
diff --git a/.github/workflows/iron-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
new file mode 100644
index 0000000000..c3bc1e6def
--- /dev/null
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -0,0 +1,35 @@
+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
+    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_controllers
+          ref: ${{ github.event_name == 'schedule' && 'iron' || '' }}
+      - name: Install dependencies
+        run: |
+          rosdep update
+          rosdep install -iyr --from-path src/ros2_controllers || true
+      - name: Build and test
+      # source also underlay workspace with generate_parameter_library on rhel9
+        run: |
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          source /opt/ros2_ws/install/setup.bash
+          colcon build --packages-skip rqt_joint_trajectory_controller
+          colcon test --packages-skip rqt_joint_trajectory_controller
+          colcon test-result --verbose
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
new file mode 100644
index 0000000000..9169494b00
--- /dev/null
+++ b/.github/workflows/rolling-debian-build.yml
@@ -0,0 +1,32 @@
+name: Debian Rolling Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+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_controllers
+          # default behavior is correct on master branch
+          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
+      - name: Build and test
+        shell: bash
+        run: |
+          source /opt/ros2_ws/install/setup.bash
+          vcs import src < src/ros2_controllers/ros2_controllers.${{ env.ROS_DISTRO }}.repos
+          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
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index ca29f92ca0..64d3d4d8fe 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -25,7 +25,14 @@ jobs:
       - uses: actions/checkout@v4
         with:
           path: src/ros2_controllers
+<<<<<<< HEAD
       - run: |
+=======
+          # default behavior is correct on master branch
+          # ref: ${{ github.event_name == 'schedule' && 'master' || '' }}
+      - name: Install dependencies
+        run: |
+>>>>>>> 737a45b (Use correct ref for scheduled workflows (#1013))
           rosdep update
           rosdep install -iy --from-path src/ros2_controllers
           source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash