diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index d20fbebc4..febb2c6f9 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -17,7 +17,6 @@ jobs:
       matrix:
         ros_distribution:
           - foxy
-          - galactic
           - humble
           - rolling
         include:
@@ -25,10 +24,6 @@ jobs:
           - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
             ros_distribution: foxy
             ros_version: 2
-          # Galactic Geochelone (May 2021 - November 2022)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-galactic-ros-base-latest
-            ros_distribution: galactic
-            ros_version: 2
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
             ros_distribution: humble
@@ -50,7 +45,7 @@ jobs:
         echo ::set-output name=package_list::$(colcon list --names-only)
 
     - name: Setup ROS environment
-      uses: ros-tooling/setup-ros@v0.3
+      uses: ros-tooling/setup-ros@v0.6
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}
 
diff --git a/rclrs/src/dynamic_message.rs b/rclrs/src/dynamic_message.rs
index 1251636c9..3997ad6e7 100644
--- a/rclrs/src/dynamic_message.rs
+++ b/rclrs/src/dynamic_message.rs
@@ -9,9 +9,9 @@ use std::fmt::{self, Display};
 use std::path::PathBuf;
 use std::sync::Arc;
 
-#[cfg(any(ros_distro = "foxy", ros_distro = "galactic"))]
+#[cfg(ros_distro = "foxy")]
 use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMembers as rosidl_message_members_t;
-#[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+#[cfg(not(ros_distro = "foxy"))]
 use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMembers_s as rosidl_message_members_t;
 use crate::rcl_bindings::*;
 
diff --git a/rclrs/src/subscription/message_info.rs b/rclrs/src/subscription/message_info.rs
index b1dae04cb..57da4ce7b 100644
--- a/rclrs/src/subscription/message_info.rs
+++ b/rclrs/src/subscription/message_info.rs
@@ -80,7 +80,7 @@ pub struct MessageInfo {
     ///   received messages.
     ///   Those might have already been taken by other messages that were received in between or lost.
     ///   `psn2 - psn1 - 1 = 0` if and only if the messages were sent by the publisher consecutively.
-    #[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+    #[cfg(not(ros_distro = "foxy"))]
     pub publication_sequence_number: u64,
     /// Sequence number of the received message set by the subscription.
     ///
@@ -98,7 +98,7 @@ pub struct MessageInfo {
     ///
     /// - `rsn2 > rsn1` (except in the case of a wrap around)
     /// - `rsn2 = rsn1 + 1` if and only if both messages were received consecutively.
-    #[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+    #[cfg(not(ros_distro = "foxy"))]
     pub reception_sequence_number: u64,
     /// An identifier for the publisher that sent the message.
     pub publisher_gid: PublisherGid,
@@ -123,9 +123,9 @@ impl MessageInfo {
         Self {
             source_timestamp,
             received_timestamp,
-            #[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+            #[cfg(not(ros_distro = "foxy"))]
             publication_sequence_number: rmw_message_info.publication_sequence_number,
-            #[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+            #[cfg(not(ros_distro = "foxy"))]
             reception_sequence_number: rmw_message_info.reception_sequence_number,
             publisher_gid,
         }
@@ -136,7 +136,7 @@ impl MessageInfo {
 mod tests {
     use super::*;
 
-    #[cfg(all(not(ros_distro = "foxy"), not(ros_distro = "galactic")))]
+    #[cfg(not(ros_distro = "foxy"))]
     #[test]
     fn negative_durations() {
         let rmw_message_info = rmw_message_info_t {
diff --git a/ros2_rust_galactic.repos b/ros2_rust_galactic.repos
deleted file mode 100644
index d1e2d9792..000000000
--- a/ros2_rust_galactic.repos
+++ /dev/null
@@ -1,25 +0,0 @@
-repositories:
-  ros2/common_interfaces:
-    type: git
-    url: https://github.com/ros2/common_interfaces.git
-    version: galactic
-  ros2/example_interfaces:
-    type: git
-    url: https://github.com/ros2/example_interfaces.git
-    version: galactic
-  ros2/rcl_interfaces:
-    type: git
-    url: https://github.com/ros2/rcl_interfaces.git
-    version: galactic
-  ros2/test_interface_files:
-    type: git
-    url: https://github.com/ros2/test_interface_files.git
-    version: galactic
-  ros2/rosidl_defaults:
-    type: git
-    url: https://github.com/ros2/rosidl_defaults.git
-    version: galactic
-  ros2/unique_identifier_msgs:
-    type: git
-    url: https://github.com/ros2/unique_identifier_msgs.git
-    version: galactic