diff --git a/.github/dependabot.yml b/.github/dependabot.yml
index 05a48fc6..f5e9921f 100644
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
@@ -11,3 +11,10 @@ updates:
     directory: "/"
     schedule:
       interval: "weekly"
+  - package-ecosystem: "github-actions"
+    # Workflow files stored in the
+    # default location of `.github/workflows`
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    target-branch: "humble"
diff --git a/.github/mergify.yml b/.github/mergify.yml
new file mode 100644
index 00000000..84ad380e
--- /dev/null
+++ b/.github/mergify.yml
@@ -0,0 +1,42 @@
+pull_request_rules:
+  - name: Backport to humble at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-humble"
+    actions:
+      backport:
+        branches:
+          - humble
+
+  - name: Ask to resolve conflict
+    conditions:
+      - conflict
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @{{author}}?
+
+  - name: Ask to resolve conflict for backports
+    conditions:
+      - conflict
+      - author=mergify[bot]
+    actions:
+        comment:
+          message: This pull request is in conflict. Could you fix it @bmagyar @destogl @christophfroehlich @saikishor?
+
+  - name: development targets master branch
+    conditions:
+      - base!=master
+      - author!=bmagyar
+      - author!=destogl
+      - author!=christophfroehlich
+      - author!=saikishor
+      - author!=mergify[bot]
+      - author!=dependabot[bot]
+    actions:
+        comment:
+          message: |
+            @{{author}}, all pull requests must be targeted towards the `master` development branch.
+            Once merged into `master`, it is possible to backport to `{{base}}`, but it must be in `master`
+            to have these changes reflected into new distributions.
diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index b90c2ba7..05e7602b 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -1,9 +1,9 @@
 ## Build status
 
-ROS2 Distro | Branch | Build status | Documentation | Released packages
+ROS 2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** <br />**Jazzy**<br />**Humble** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
-
+**Rolling** <br />**Jazzy** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/rolling-source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
 
 
 ### Explanation of different build types
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
new file mode 100644
index 00000000..61a7472b
--- /dev/null
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -0,0 +1,23 @@
+name: Humble ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-binary-build-win.yml b/.github/workflows/humble-binary-build-win.yml
new file mode 100644
index 00000000..18688d03
--- /dev/null
+++ b/.github/workflows/humble-binary-build-win.yml
@@ -0,0 +1,34 @@
+name: Humble Windows Binary Build
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test all dependencies from released (binary) windows packages.'
+
+on:
+  workflow_dispatch:
+  # pull_request:
+  #   branches:
+  #     - humble
+  #   types:
+  #     - labeled
+  # push:
+  #   branches:
+  #     - humble
+  # issue_comment:
+  #   types:
+  #     - created
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: humble
+      ref_for_scheduled_build: humble
+      os_name: windows-2019
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
new file mode 100644
index 00000000..02a5b715
--- /dev/null
+++ b/.github/workflows/humble-binary-build.yml
@@ -0,0 +1,42 @@
+name: Humble Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: humble
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: master
+  binary_clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: humlbe
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/humble-binary-downstream-build.yml b/.github/workflows/humble-binary-downstream-build.yml
new file mode 100644
index 00000000..7c9c3865
--- /dev/null
+++ b/.github/workflows/humble-binary-downstream-build.yml
@@ -0,0 +1,28 @@
+name: Humble Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  push:
+    branches:
+      - humble
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      not_test_build: true
+      downstream_workspace: ros_controls.humble.repos
+      not_test_downstream: true
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
new file mode 100644
index 00000000..0bb7ef16
--- /dev/null
+++ b/.github/workflows/humble-coverage-build.yml
@@ -0,0 +1,22 @@
+name: Humble Coverage Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  coverage:
+    name: coverage build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
new file mode 100644
index 00000000..c4673282
--- /dev/null
+++ b/.github/workflows/humble-debian-build.yml
@@ -0,0 +1,21 @@
+name: Humble Debian Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '33 2 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  debian_source_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: humble
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
new file mode 100644
index 00000000..4c771e04
--- /dev/null
+++ b/.github/workflows/humble-pre-commit.yml
@@ -0,0 +1,17 @@
+name: Humble Pre-Commit
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
new file mode 100644
index 00000000..fea52cb6
--- /dev/null
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -0,0 +1,21 @@
+name: Humble RHEL Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  rhel_semi_binary_build:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: humble
+      ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
new file mode 100644
index 00000000..566ccafc
--- /dev/null
+++ b/.github/workflows/humble-source-build.yml
@@ -0,0 +1,26 @@
+name: Humble Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  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
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+        - ROS_DISTRO: humble
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ref: humble
+      ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ${{ matrix.OS_NAME }}
+      container: ${{ matrix.CONTAINER }}
diff --git a/.github/workflows/abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
similarity index 61%
rename from .github/workflows/abi-compatibility.yml
rename to .github/workflows/rolling-abi-compatibility.yml
index 0aa8cf8e..76331f44 100644
--- a/.github/workflows/abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,17 +1,22 @@
-name: ABI Compatibility Check
+name: Rolling ABI Compatibility Check
 on:
   workflow_dispatch:
   pull_request:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
     steps:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/binary-build-win.yml b/.github/workflows/rolling-binary-build-win.yml
similarity index 77%
rename from .github/workflows/binary-build-win.yml
rename to .github/workflows/rolling-binary-build-win.yml
index 45bcca3c..836da241 100644
--- a/.github/workflows/binary-build-win.yml
+++ b/.github/workflows/rolling-binary-build-win.yml
@@ -1,4 +1,4 @@
-name: Windows Binary Build
+name: Rolling Windows Binary Build
 # author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
 # description: 'Build & test all dependencies from released (binary) windows packages.'
 
@@ -16,6 +16,11 @@ on:
   #   types:
   #     - created
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary-windows:
     # if: |
diff --git a/.github/workflows/binary-build.yml b/.github/workflows/rolling-binary-build.yml
similarity index 78%
rename from .github/workflows/binary-build.yml
rename to .github/workflows/rolling-binary-build.yml
index cf478369..78becc36 100644
--- a/.github/workflows/binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -1,4 +1,4 @@
-name: Binary Build
+name: Rolling Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
@@ -14,13 +14,18 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-binary-downstream-build.yml b/.github/workflows/rolling-binary-downstream-build.yml
new file mode 100644
index 00000000..91efb7e3
--- /dev/null
+++ b/.github/workflows/rolling-binary-downstream-build.yml
@@ -0,0 +1,33 @@
+name: Rolling Downstream Build
+# description: 'Build & test downstream packages from source.'
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  build-downstream:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [jazzy, rolling]
+        ROS_REPO: [testing]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      ref_for_scheduled_build: master
+      not_test_build: true
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: true
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
similarity index 55%
rename from .github/workflows/ci-coverage-build.yml
rename to .github/workflows/rolling-coverage-build.yml
index 5a5cc611..bb0aaaa7 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -1,4 +1,4 @@
-name: Coverage Build
+name: Rolling Coverage Build
 on:
   workflow_dispatch:
   push:
@@ -8,6 +8,11 @@ on:
     branches:
       - master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage:
     name: coverage build
diff --git a/.github/workflows/debian-build.yml b/.github/workflows/rolling-debian-build.yml
similarity index 61%
rename from .github/workflows/debian-build.yml
rename to .github/workflows/rolling-debian-build.yml
index 34f3f665..ae3ef3bc 100644
--- a/.github/workflows/debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,4 +1,4 @@
-name: Debian Build
+name: Rolling Debian Build
 on:
   workflow_dispatch:
   pull_request:
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '33 2 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
@@ -15,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref_for_scheduled_build: master
diff --git a/.github/workflows/ci-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
similarity index 64%
rename from .github/workflows/ci-pre-commit.yml
rename to .github/workflows/rolling-pre-commit.yml
index 7fbfd74c..aec5a783 100644
--- a/.github/workflows/ci-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -1,4 +1,4 @@
-name: Pre-Commit
+name: Rolling Pre-Commit
 
 on:
   workflow_dispatch:
@@ -6,12 +6,16 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
similarity index 61%
rename from .github/workflows/rhel-semi-binary-build.yml
rename to .github/workflows/rolling-rhel-semi-binary-build.yml
index bcd54694..ab50864c 100644
--- a/.github/workflows/rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -1,4 +1,4 @@
-name: RHEL Binary Build
+name: Rolling RHEL Binary Build
 on:
   workflow_dispatch:
   pull_request:
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
@@ -15,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, rolling]
+        ROS_DISTRO: [jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rolling-rosdoc2.yml
similarity index 54%
rename from .github/workflows/rosdoc2.yml
rename to .github/workflows/rolling-rosdoc2.yml
index 06e67d5f..e938c644 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rolling-rosdoc2.yml
@@ -10,6 +10,10 @@ on:
       - rosdoc2.yaml
       - package.xml
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   check:
diff --git a/.github/workflows/source-build.yml b/.github/workflows/rolling-source-build.yml
similarity index 87%
rename from .github/workflows/source-build.yml
rename to .github/workflows/rolling-source-build.yml
index cc046235..fb885556 100644
--- a/.github/workflows/source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,4 +1,4 @@
-name: Source Build
+name: Rolling Source Build
 on:
   workflow_dispatch:
   push:
@@ -15,9 +15,6 @@ jobs:
       fail-fast: false
       matrix:
         include:
-        - ROS_DISTRO: humble
-          CONTAINER: ""
-          OS_NAME: ubuntu-22.04
         - ROS_DISTRO: jazzy
           CONTAINER: ubuntu:24.04
           OS_NAME: ubuntu-latest
diff --git a/README.md b/README.md
index bf569dc7..686d6ad6 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 realtime_tools
 ===========
 [![License](https://img.shields.io/badge/License-BSD%203--Clause-blue.svg)](https://opensource.org/licenses/BSD-3-Clause)
-[![codecov](https://codecov.io/gh/ros-controls/realtime_tools/branch/master/graph/badge.svg?token=Osge1FOaAh)](https://app.codecov.io/gh/ros-controls/realtime_tools/tree/master)
+[![codecov](https://codecov.io/gh/ros-controls/realtime_tools/branch/humble/graph/badge.svg?token=Osge1FOaAh)](https://app.codecov.io/gh/ros-controls/realtime_tools/tree/humble)
 
 Contains a set of tools that can be used from a hard realtime thread, without breaking the realtime behavior.
 
@@ -10,7 +10,7 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/realtime_tools/)  | [realtime_tools](https://index.ros.org/p/realtime_tools/#rolling)
 **Jazzy** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above | [API](http://docs.ros.org/en/jazzy/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#jazzy)
-**Humble** | [`master`](https://github.com/ros-controls/realtime_tools/tree/master) | see above | [API](http://docs.ros.org/en/humble/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
+**Humble** | [`humble`](https://github.com/ros-controls/realtime_tools/tree/humble) | [![Binary Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Source Build](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/realtime_tools/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/realtime_tools/) | [realtime_tools](https://index.ros.org/p/realtime_tools/#humble)
 
 
 ### Explanation of different build types