diff --git a/.github/workflows/build-iron.yml b/.github/workflows/binary-build.yml
similarity index 70%
rename from .github/workflows/build-iron.yml
rename to .github/workflows/binary-build.yml
index 3581fe9f..0023066b 100644
--- a/.github/workflows/build-iron.yml
+++ b/.github/workflows/binary-build.yml
@@ -1,7 +1,7 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: Build iron
+name: Binary Build
 on:
   pull_request:
   push:
@@ -17,11 +17,10 @@ jobs:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     strategy:
       matrix:
-        env:
-          - {ROS_DISTRO: iron, ROS_REPO: main}
-          - {ROS_DISTRO: iron, ROS_REPO: testing}
+        ROS_DISTRO: [rolling, iron, humble]
+        ROS_REPO: [main, testing]
     with:
-      ros_distro: ${{ matrix.env.ROS_DISTRO }}
-      ros_repo: ${{ matrix.env.ROS_REPO }}
-      upstream_workspace: control_toolbox-not-released.${{ matrix.env.ROS_DISTRO }}.repos
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: control_toolbox-not-released.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: ros2-master
diff --git a/.github/workflows/build-humble.yml b/.github/workflows/build-humble.yml
deleted file mode 100644
index 65a5de85..00000000
--- a/.github/workflows/build-humble.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: Build humble
-on:
-  pull_request:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: humble, ROS_REPO: main}
-          - {ROS_DISTRO: humble, ROS_REPO: testing}
-    with:
-      ros_distro: ${{ matrix.env.ROS_DISTRO }}
-      ros_repo: ${{ matrix.env.ROS_REPO }}
-      upstream_workspace: control_toolbox-not-released.${{ matrix.env.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: ros2-master
diff --git a/.github/workflows/build-rolling.yml b/.github/workflows/build-rolling.yml
deleted file mode 100644
index 3960b460..00000000
--- a/.github/workflows/build-rolling.yml
+++ /dev/null
@@ -1,27 +0,0 @@
-# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
-# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
-
-name: Build rolling
-on:
-  pull_request:
-  push:
-    branches:
-      - ros2-master
-  schedule:
-    # Run every day to detect flakiness and broken dependencies
-    - cron: '28 6 * * *'
-
-
-jobs:
-  binary:
-    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: rolling, ROS_REPO: main}
-          - {ROS_DISTRO: rolling, ROS_REPO: testing}
-    with:
-      ros_distro: ${{ matrix.env.ROS_DISTRO }}
-      ros_repo: ${{ matrix.env.ROS_REPO }}
-      upstream_workspace: control_toolbox-not-released.${{ matrix.env.ROS_DISTRO }}.repos
-      ref_for_scheduled_build: ros2-master