diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 4246d18160..c53c46032a 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -39,7 +39,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: humble
       ros_repo: ${{ matrix.ROS_REPO }}
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index 3aca5e5b70..a0782e50bb 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -40,7 +40,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: iron
       ros_repo: ${{ matrix.ROS_REPO }}
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index ffa4f914b9..a462d9040a 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -41,7 +41,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: jazzy
       ros_repo: ${{ matrix.ROS_REPO }}
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
new file mode 100644
index 0000000000..7aab02fa62
--- /dev/null
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -0,0 +1,48 @@
+name: Check Rolling Compatibility on Humble
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling version on Humble distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-humble-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+
+jobs:
+  build-on-humble:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
new file mode 100644
index 0000000000..37ffbb84a4
--- /dev/null
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -0,0 +1,48 @@
+name: Check Rolling Compatibility on Jazzy
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling version on Jazzy distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+
+jobs:
+  build-on-jazzy:
+    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: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 872c509931..db0dd1fe64 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -41,7 +41,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_REPO: [main, testing]
+        ROS_REPO: [testing]
     with:
       ros_distro: rolling
       ros_repo: ${{ matrix.ROS_REPO }}