diff --git a/.github/workflows/ci.yml b/.github/workflows/ci-ros1.yml
similarity index 93%
rename from .github/workflows/ci.yml
rename to .github/workflows/ci-ros1.yml
index 2a9d7b5..2031b0d 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci-ros1.yml
@@ -1,9 +1,9 @@
 name: Build & Test
 on:
   push:
-    branches: [ master ]
+    branches: [ noetic, jazzy ]
   pull_request:
-    branches: [ master ]
+    branches: [ noetic, jazzy ]
 
 jobs:
   Linting:
@@ -34,7 +34,7 @@ jobs:
         run: |
           sudo apt-get update
           sudo apt-get install -y python3-catkin-tools python3-empy
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           path: hector/src
       - name: rosdep
diff --git a/.github/workflows/ci-ros2.yml b/.github/workflows/ci-ros2.yml
new file mode 100644
index 0000000..6f6fb70
--- /dev/null
+++ b/.github/workflows/ci-ros2.yml
@@ -0,0 +1,44 @@
+name: Build & Test
+on:
+  push:
+    branches: [ jazzy ]
+  pull_request:
+    branches: [ jazzy ]
+
+jobs:
+  Linting:
+    name: Lint Code Base
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+      - name: Setup
+        run: |
+          sudo apt-get update && sudo apt-get install -y clang-format cppcheck libxml2-utils
+      - name: Lint C++
+        run: |
+          clang-format -Werror -n -style=file $(find . -name '*.cpp' -o -name '*.hpp' -o -name '*.h' -o -name '*.c' -o -name '*.cc')
+      - name: Check C++
+        run: |
+          cppcheck --force --quiet --error-exitcode=1 .
+      - name: Lint package.xml
+        run: |
+          xmllint --noout --schema http://download.ros.org/schema/package_format3.xsd $(find . -name 'package.xml')
+
+  build-and-test:
+    needs: Linting
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distro: [humble, jazzy]
+    container:
+      image: ros:${{matrix.ros_distro}}-ros-base
+    steps:
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: ${{ matrix.ros_distro }}
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: ${{ matrix.ros_distro }}
diff --git a/.github/workflows/documentation.yml b/.github/workflows/documentation.yml
index 91dde2d..ab9fa05 100644
--- a/.github/workflows/documentation.yml
+++ b/.github/workflows/documentation.yml
@@ -1,11 +1,11 @@
 name: Documentation Build
 on:
   push:
-    branches: [ master ]
+    branches: [ noetic, jazzy ]
 
 jobs:
   documentation:
-    runs-on: ubuntu-latest
+    runs-on: debian-latest
     container: debian:buster-slim
     steps:
       - name: Prerequisites
@@ -15,10 +15,9 @@ jobs:
         shell: bash
 
       - name:  Checkout Code
-        uses:  actions/checkout@v3
+        uses:  actions/checkout@v4
         with:
           fetch-depth: 0
-          # ref: master # make sure to use documentation script from master branch
 
       - name: Execute script to build our documentation and update pages
         env: