diff --git a/.github/mergify.yml b/.github/mergify.yml
index 84ad380e90..44f51cf58f 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -8,6 +8,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: Backport to jazzy at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-jazzy"
+    actions:
+      backport:
+        branches:
+          - jazzy
+
   - name: Ask to resolve conflict
     conditions:
       - conflict
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 841aa86bfe..5a56849e9b 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -25,5 +25,4 @@ jobs:
     with:
       ros_distro: humble
       ref: humble
-      ros2_repo_branch: humble
       os_name: ubuntu-22.04
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
index 82fadb55a1..f4647b334a 100644
--- a/.github/workflows/jazzy-abi-compatibility.yml
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -16,7 +16,7 @@ on:
       - '**.xml'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index fb68d930e4..7cf26806a7 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
       - '*feature*'
       - '*feature/**'
     paths:
@@ -22,7 +22,7 @@ on:
       - '**.xml'
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -38,7 +38,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -53,4 +53,4 @@ jobs:
       ros_distro: jazzy
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_controllers-not-released.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
index cfc67a3eac..72a5332d89 100644
--- a/.github/workflows/jazzy-check-docs.yml
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.rst'
       - '**.md'
diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
index 2f587c7003..3e4d617ced 100644
--- a/.github/workflows/jazzy-coverage-build.yml
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -1,40 +1,39 @@
 name: Coverage Build - Jazzy
 on:
   workflow_dispatch:
-  # TODO(anyone) activate when branched for Jazzy
-  # push:
-  #   branches:
-  #     - master
-  #   paths:
-  #     - '**.hpp'
-  #     - '**.h'
-  #     - '**.cpp'
-  #     - '.github/workflows/jazzy-coverage-build.yml'
-  #     - '**.yaml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'codecov.yml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'ros2_controllers.jazzy.repos'
-  # pull_request:
-  #   branches:
-  #     - master
-  #   paths:
-  #     - '**.hpp'
-  #     - '**.h'
-  #     - '**.cpp'
-  #     - '.github/workflows/jazzy-coverage-build.yml'
-  #     - '**.yaml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'codecov.yml'
-  #     - '**/package.xml'
-  #     - '**/CMakeLists.txt'
-  #     - 'ros2_controllers.jazzy.repos'
+  push:
+    branches:
+      - jazzy
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-coverage-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  pull_request:
+    branches:
+      - jazzy
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/jazzy-coverage-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
index ef1b42da8d..4fa94e190f 100644
--- a/.github/workflows/jazzy-debian-build.yml
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -20,7 +20,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -31,5 +31,5 @@ jobs:
     with:
       ros_distro: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
index aab5ba52ac..44d825a34a 100644
--- a/.github/workflows/jazzy-pre-commit.yml
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -4,7 +4,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
index ed09d0efb9..f5e8aedc14 100644
--- a/.github/workflows/jazzy-rhel-semi-binary-build.yml
+++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -20,7 +20,7 @@ on:
     - cron: '03 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -30,5 +30,5 @@ jobs:
     with:
       ros_distro: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index 5a39ea5393..a150580bbc 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -5,7 +5,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
       - '*feature*'
       - '*feature/**'
     paths:
@@ -21,7 +21,7 @@ on:
       - '**.xml'
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -38,7 +38,7 @@ on:
     - cron: '33 1 * * *'
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on master branch
+  # cancel previous runs of the same workflow, except for pushes on jazzy branch
   group: ${{ github.workflow }}-${{ github.ref }}
   cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
@@ -49,14 +49,14 @@ jobs:
       ros_distro: jazzy
       ros_repo: testing
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
   semi_binary_clang:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     with:
       ros_distro: jazzy
       ros_repo: testing
       upstream_workspace: ros2_controllers.jazzy.repos
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       additional_debs: clang
       c_compiler: clang
       cxx_compiler: clang++
diff --git a/.github/workflows/jazzy-semi-binary-downstream-build.yml b/.github/workflows/jazzy-semi-binary-downstream-build.yml
index a2db0ef7b6..d1627ccc42 100644
--- a/.github/workflows/jazzy-semi-binary-downstream-build.yml
+++ b/.github/workflows/jazzy-semi-binary-downstream-build.yml
@@ -6,7 +6,7 @@ on:
   workflow_dispatch:
   pull_request:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -29,7 +29,7 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: testing
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
       # we don't test this repository, we just build it
       not_test_build: true
@@ -41,7 +41,7 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: testing
-      ref_for_scheduled_build: master
+      ref_for_scheduled_build: jazzy
       upstream_workspace: ros2_controllers.jazzy.repos
       # we don't test this repository, we just build it
       not_test_build: true
diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
index 76c9bd2892..bd521c9b59 100644
--- a/.github/workflows/jazzy-source-build.yml
+++ b/.github/workflows/jazzy-source-build.yml
@@ -3,7 +3,7 @@ on:
   workflow_dispatch:
   push:
     branches:
-      - master
+      - jazzy
     paths:
       - '**.hpp'
       - '**.h'
@@ -24,6 +24,5 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
     with:
       ros_distro: jazzy
-      ref: master
-      ros2_repo_branch: jazzy
+      ref: jazzy
       container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index e3cd45c970..56b7894308 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -13,6 +13,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.rolling.repos'
+      - 'ros2_controllers-not-released.kilted.repos'
       - '**.xml'
 
 concurrency:
@@ -23,5 +24,9 @@ concurrency:
 jobs:
   abi_check:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 1fd126f43c..701bc170a7 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -19,6 +19,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.rolling.repos'
+      - 'ros2_controllers-not-released.kilted.repos'
       - '**.xml'
   push:
     branches:
@@ -33,6 +34,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers-not-released.rolling.repos'
+      - 'ros2_controllers-not-released.kilted.repos'
       - '**.xml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
@@ -49,9 +51,10 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
+        ROS_DISTRO: [kilted, rolling]
         ROS_REPO: [main, testing]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: ${{ matrix.ROS_REPO }}
-      upstream_workspace: ros2_controllers-not-released.rolling.repos
+      upstream_workspace: ros2_controllers-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-compatibility-kilted-binary-build.yml b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
new file mode 100644
index 0000000000..44ff443346
--- /dev/null
+++ b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
@@ -0,0 +1,50 @@
+name: Check Rolling Compatibility on Kilted
+# author: Christoph Froehlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test the rolling version on Kilted distro.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-kilted-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+      - '**.xml'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-compatibility-kilted-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
+      - '**.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:
+  build-on-kilted:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: kilted
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 23c9aaf834..059b71cfed 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
+      - 'ros2_controllers.kilted.repos'
       - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
@@ -28,8 +29,12 @@ jobs:
   rolling_debian:
     name: Rolling debian build
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
-      upstream_workspace: ros2_controllers.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_controllers.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 792278d6d2..f323ebfe73 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -13,5 +13,9 @@ concurrency:
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index c1abdb3c5c..e7d80da8fc 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
+      - 'ros2_controllers.kilted.repos'
       - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
@@ -27,8 +28,12 @@ concurrency:
 jobs:
   rolling_rhel:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
-      upstream_workspace: ros2_controllers.rolling.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_controllers.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
       skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 6521e90b5c..631e478e02 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -18,6 +18,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
+      - 'ros2_controllers.kilted.repos'
       - '**.xml'
   push:
     branches:
@@ -32,6 +33,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
+      - 'ros2_controllers.kilted.repos'
       - '**.xml'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
@@ -45,17 +47,25 @@ concurrency:
 jobs:
   semi_binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing
-      upstream_workspace: ros2_controllers.rolling.repos
+      upstream_workspace: ros2_controllers.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
   semi_binary_clang:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing
-      upstream_workspace: ros2_controllers.rolling.repos
+      upstream_workspace: ros2_controllers.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
       additional_debs: clang
       c_compiler: clang
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
index 02ed08578b..a392336c7f 100644
--- a/.github/workflows/rolling-semi-binary-downstream-build.yml
+++ b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -17,6 +17,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros_controls.rolling.repos'
+      - 'ros_controls.kilted.repos'
       - '**.xml'
 
 concurrency:
@@ -29,7 +30,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing
@@ -45,7 +46,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [kilted, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ros_repo: testing
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index e409150974..26a50dc47e 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -14,6 +14,7 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_controllers.rolling.repos'
+      - 'ros2_controllers.kilted.repos'
       - '**.xml'
   schedule:
     # Run every day to detect flakiness and broken dependencies
@@ -22,8 +23,11 @@ on:
 jobs:
   source:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [kilted, rolling]
     with:
-      ros_distro: rolling
+      ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
-      ros2_repo_branch: rolling
       container: ubuntu:24.04
diff --git a/README.md b/README.md
index bbc9d52c34..fe82c65629 100644
--- a/README.md
+++ b/README.md
@@ -14,9 +14,10 @@ If you are new to the project, please read the [contributing guide](https://cont
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
-**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)
-**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_controllers__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_controllers__ubuntu_jammy_amd64/) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Rdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Rdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary/)
+**Kilted** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | see above <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Kdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Kdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary/)
+**Jazzy** | [`jazzy`](https://github.com/ros-controls/ros2_controllers/tree/jazzy) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Jdev__ros2_controllers__ubuntu_noble_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Jdev__ros2_controllers__ubuntu_noble_amd64/) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__ros2_controllers__ubuntu_noble_amd64__binary/)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) <br> [![build.ros2.org](https://build.ros2.org/buildStatus/icon?job=Hdev__ros2_controllers__ubuntu_jammy_amd64&subject=build.ros2.org)](https://build.ros2.org/job/Hdev__ros2_controllers__ubuntu_jammy_amd64/) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__ros2_controllers__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__ros2_controllers__ubuntu_jammy_amd64__binary/)
 
 ## Acknowledgements
 
diff --git a/doc/migration.rst b/doc/migration.rst
index 34c4eaa419..43137b5598 100644
--- a/doc/migration.rst
+++ b/doc/migration.rst
@@ -1,32 +1,6 @@
 :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration.rst
 
-Migration Guides: Iron to Jazzy
+Migration Guides: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary.
 
-
-diff_drive_controller
-*****************************
-* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
-* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
-
-joint_trajectory_controller
-*****************************
-
-* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
-* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
-* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
-* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
-* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
-* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.
-* Tolerances sent with the action goal were not used before, but are now processed and used for the upcoming action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). Adaptions to the action goal might be necessary.
-* Parameter ``open_loop_control`` is replaced by ``interpolate_from_desired_state`` and setting the feedback gains to zero (`#1525 <https://github.com/ros-controls/ros2_controllers/pull/1525>`_).
-
-steering_controllers_library
-********************************
-* ``front_steering`` parameter was removed (`#1166 <https://github.com/ros-controls/ros2_controllers/pull/1166>`_). Now every kinematics type (bicycle, tricycle, Ackermann) has dedicated parameters for steering or traction wheels instead of front/rear wheels.
-
-  * *General*: Remove ``front_steering`` and use ``traction_joints_names``/``steering_joints_names`` instead of ``rear_wheels_names``/``front_wheels_names``, respectively.
-  * *bicycle_steering_controller*: Set ``traction_wheel_radius`` instead of ``front_wheel_radius``, ``rear_wheel_radius``.
-  * *tricycle_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``.
-  * *ackermann_steering_controller*: Set ``traction_wheels_radius`` instead of ``front_wheels_radius``, ``rear_wheels_radius``, and ``traction_track_width`` (and optionally ``steering_track_width``, if it differs) instead of ``rear_wheel_track``, ``front_wheel_track``.
+This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary.
diff --git a/doc/release_notes.rst b/doc/release_notes.rst
index d407917374..14db39a675 100644
--- a/doc/release_notes.rst
+++ b/doc/release_notes.rst
@@ -1,82 +1,6 @@
 :github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes.rst
 
-Release Notes: Iron to Jazzy
+Release Notes: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-This list summarizes the changes between Iron (previous) and Jazzy (current) releases.
 
-admittance_controller
-************************
-* Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 <https://github.com/ros-controls/ros2_controllers/pull/963>`_).
-* Added ``~/wrench_reference`` input topic which allows to provide a force-torque offset as WrenchStamped (`#1249 <https://github.com/ros-controls/ros2_controllers/pull/1249>`_).
-
-diff_drive_controller
-*****************************
-* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
-* Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/pull/958>`_).
-* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
-* Parameters ``max_acceleration_reverse`` and ``max_deceleration_reverse`` were added to configure asymmetric acceleration/deceleration behavior. (`#1315 <https://github.com/ros-controls/ros2_controllers/pull/1315>`_).
-
-joint_trajectory_controller
-*****************************
-
-* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
-* Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/pull/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/pull/849>`_).
-* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
-* Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/pull/842>`_).
-* Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/pull/932>`_):
-
-  .. code::
-
-    [tolerances]: State tolerances failed for joint 2:
-    [tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000
-    [trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds
-
-* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
-* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
-* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/887>`_).
-* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
-* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). ``angle_wraparound`` parameter was completely removed.
-* Tolerances sent with the action goal are now processed and used for the action. (`#716 <https://github.com/ros-controls/ros2_controllers/pull/716>`_). For details, see the `JointTolerance message <https://github.com/ros-controls/control_msgs/blob/master/control_msgs/msg/JointTolerance.msg>`_:
-
-  .. code-block:: markdown
-
-    The tolerances specify the amount the position, velocity, and
-    accelerations can vary from the setpoints.  For example, in the case
-    of trajectory control, when the actual position varies beyond
-    (desired position + position tolerance), the trajectory goal may
-    abort.
-
-    There are two special values for tolerances:
-     * 0 - The tolerance is unspecified and will remain at whatever the default is
-     * -1 - The tolerance is "erased".  If there was a default, the joint will be
-            allowed to move without restriction.
-
-* Add the boolean parameter ``set_last_command_interface_value_as_state_on_activation``. When set to ``true``, the last command interface value is used as both the current state and the last commanded state upon activation. When set to ``false``, the current state is used for both (`#1231 <https://github.com/ros-controls/ros2_controllers/pull/1231>`_).
-* Feed-forward effort trajectories are supported now (`#1200 <https://github.com/ros-controls/ros2_controllers/pull/1200>`_).
-* Parameter ``open_loop_control`` is replaced by ``interpolate_from_desired_state`` and setting the feedback gains to zero (`#1525 <https://github.com/ros-controls/ros2_controllers/pull/1525>`_).
-
-mecanum_drive_controller
-************************
-* 🚀 The mecanum_drive_controller was added 🎉 (`#512 <https://github.com/ros-controls/ros2_controllers/pull/512>`_).
-
-pid_controller
-************************
-* 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).
-* Add ``save_i_term`` parameter to control retention of integral state after re-activation (`#1507 <https://github.com/ros-controls/ros2_controllers/pull/1507>`_).
-
-steering_controllers_library
-********************************
-* Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/pull/927>`_).
-* A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/pull/921>`_).
-* Do not reset the steering wheels to ``0.0`` on timeout (`#1289 <https://github.com/ros-controls/ros2_controllers/pull/1289>`_).
-* New parameter ``reduce_wheel_speed_until_steering_reached`` was added. If set to true, then the wheel speed(s) is reduced until the steering angle has been reached. Only considered if ``open_loop = false`` (`#1314 <https://github.com/ros-controls/ros2_controllers/pull/1314>`_).
-* Ackermann kinematics now supports different wheel tracks for traction and steering axle (`#1166 <https://github.com/ros-controls/ros2_controllers/pull/1166>`_).
-* ``front_steering`` parameter was removed, see migration notes (`#1166 <https://github.com/ros-controls/ros2_controllers/pull/1166>`_).
-
-tricycle_controller
-************************
-* tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/pull/957>`_).
-
-gpio_controllers
-************************
-* The GPIO command controller was added 🎉 (`#1251 <https://github.com/ros-controls/ros2_controllers/pull/1251>`_).
+This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.
diff --git a/downstream.kilted.repos b/downstream.kilted.repos
new file mode 100644
index 0000000000..e5a26574b7
--- /dev/null
+++ b/downstream.kilted.repos
@@ -0,0 +1,5 @@
+repositories:
+  UniversalRobots/Universal_Robots_ROS2_Driver:
+    type: git
+    url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
+    version: main
diff --git a/ros2_controllers-not-released.kilted.repos b/ros2_controllers-not-released.kilted.repos
new file mode 100644
index 0000000000..1b3910e7e7
--- /dev/null
+++ b/ros2_controllers-not-released.kilted.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/ros2_controllers.jazzy.repos b/ros2_controllers.jazzy.repos
index d4db80a0ae..c1f9472e57 100644
--- a/ros2_controllers.jazzy.repos
+++ b/ros2_controllers.jazzy.repos
@@ -2,7 +2,7 @@ repositories:
   ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
-    version: master
+    version: jazzy
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
diff --git a/ros2_controllers.kilted.repos b/ros2_controllers.kilted.repos
new file mode 100644
index 0000000000..f6462c4b4f
--- /dev/null
+++ b/ros2_controllers.kilted.repos
@@ -0,0 +1,25 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  ros2_control_cmake:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_cmake.git
+    version: master
diff --git a/ros_controls.kilted.repos b/ros_controls.kilted.repos
new file mode 100644
index 0000000000..da64a510fd
--- /dev/null
+++ b/ros_controls.kilted.repos
@@ -0,0 +1,9 @@
+repositories:
+  ros-controls/gz_ros2_control:
+    type: git
+    url: https://github.com/ros-controls/gz_ros2_control.git
+    version: rolling
+  ros-controls/ros2_control_demos:
+    type: git
+    url: https://github.com/ros-controls/ros2_control_demos.git
+    version: master