diff --git a/.github/workflows/README.md b/.github/workflows/README.md
index d67e0b9..8ba9506 100644
--- a/.github/workflows/README.md
+++ b/.github/workflows/README.md
@@ -1,7 +1,9 @@
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/kinematics_interface/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) |  [API](http://docs.ros.org/en/rolling/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
+**Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml?branch=master) <br />  [![Humble Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 
 ### Explanation of different build types
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 3331352..1d1a6c5 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -15,4 +15,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index 039c0a8..e197f70 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -9,10 +9,5 @@ on:
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_DISTRO: [humble]
     with:
-      ros_distro: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
+      ros_distro: humble
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 2f4407b..4dc984a 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -19,3 +19,4 @@ jobs:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index c097055..8c5ae4e 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     steps:
       - uses: actions/checkout@v3
       - uses: ros-industrial/industrial_ci@master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index d30cf6c..725c5b6 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -20,7 +20,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 63bf7ec..3dd2b02 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -15,4 +15,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index f19ea79..6d2af0c 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index cbb4c5c..9f70d2f 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -12,7 +12,6 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [iron, jazzy, rolling]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index a5accf5..46c0037 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 46a37c6..d2a79c9 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -19,7 +19,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        ROS_DISTRO: [rolling, jazzy, iron]
         ROS_REPO: [main, testing]
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 35bf7f8..aadc44d 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -14,8 +14,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling, iron]
+        include:
+        - ROS_DISTRO: iron
+          CONTAINER: ""
+          OS_NAME: ubuntu-22.04
+        - ROS_DISTRO: jazzy
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
+        - ROS_DISTRO: rolling
+          CONTAINER: ubuntu:24.04
+          OS_NAME: ubuntu-latest
     with:
       ros_distro: ${{ matrix.ROS_DISTRO }}
       ref: master
       ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
+      os_name: ${{ matrix.OS_NAME }}
+      container: ${{ matrix.CONTAINER }}
diff --git a/README.md b/README.md
index 9c97d0f..19a57df 100644
--- a/README.md
+++ b/README.md
@@ -9,6 +9,7 @@ This is a ROS 2 package for using C++ kinematics frameworks in the context of RO
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
 **Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/rolling/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
 **Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above  |  [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/humble/p/kinematics_interface_kdl/)  | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
 
diff --git a/kinematics_interface-not-released.jazzy.repos b/kinematics_interface-not-released.jazzy.repos
new file mode 100644
index 0000000..1b3910e
--- /dev/null
+++ b/kinematics_interface-not-released.jazzy.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/kinematics_interface.jazzy.repos b/kinematics_interface.jazzy.repos
new file mode 100644
index 0000000..e22717b
--- /dev/null
+++ b/kinematics_interface.jazzy.repos
@@ -0,0 +1,5 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master