diff --git a/.github/mergify.yml b/.github/mergify.yml
index 49d2acedfa..3aaaab2001 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -8,6 +8,16 @@ pull_request_rules:
         branches:
           - humble
 
+
+  - name: Backport to iron at reviewers discretion
+    conditions:
+      - base=master
+      - "label=backport-iron"
+    actions:
+      backport:
+        branches:
+          - iron
+
   - name: Ask to resolve conflict
     conditions:
       - conflict
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
similarity index 78%
rename from .github/workflows/humble-abi-compatibility.yml
rename to .github/workflows/iron-abi-compatibility.yml
index 708ea5c1f4..20d93f5af1 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -1,11 +1,11 @@
-name: Humble - ABI Compatibility Check
+name: Iron - ABI Compatibility Check
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
   pull_request:
     branches:
-      - humble
+      - iron
 
 jobs:
   abi_check:
@@ -14,7 +14,7 @@ jobs:
       - uses: actions/checkout@v4
       - uses: ros-industrial/industrial_ci@master
         env:
-          ROS_DISTRO: humble
+          ROS_DISTRO: iron
           ROS_REPO: main
           ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
           NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/iron-binary-build-main.yml
similarity index 61%
rename from .github/workflows/humble-binary-build-main.yml
rename to .github/workflows/iron-binary-build-main.yml
index 64d78f281a..ef35397855 100644
--- a/.github/workflows/humble-binary-build-main.yml
+++ b/.github/workflows/iron-binary-build-main.yml
@@ -1,17 +1,21 @@
-name: Humble Binary Build - main
+name: Iron Binary Build - main
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -20,7 +24,7 @@ jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: humble
+      ros_distro: iron
       ros_repo: main
-      upstream_workspace: ros2_controllers-not-released.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/iron-binary-build-testing.yml
similarity index 61%
rename from .github/workflows/humble-binary-build-testing.yml
rename to .github/workflows/iron-binary-build-testing.yml
index 524cacd685..25a693dc23 100644
--- a/.github/workflows/humble-binary-build-testing.yml
+++ b/.github/workflows/iron-binary-build-testing.yml
@@ -1,17 +1,21 @@
-name: Humble Binary Build - testing
+name: Iron Binary Build - testing
 # author: Denis Štogl <denis@stoglrobotics.de>
 # description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
@@ -20,7 +24,7 @@ jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: humble
+      ros_distro: iron
       ros_repo: testing
-      upstream_workspace: ros2_controllers-not-released.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers-not-released.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/iron-rhel-binary-build.yml
similarity index 65%
rename from .github/workflows/humble-rhel-binary-build.yml
rename to .github/workflows/iron-rhel-binary-build.yml
index 9da6059892..5664d61768 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/iron-rhel-binary-build.yml
@@ -1,26 +1,21 @@
-name: Humble RHEL Binary Build
+name: Iron RHEL Binary Build
 on:
   workflow_dispatch:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
 
 jobs:
-  humble_rhel_binary:
-    name: Humble RHEL binary build
+  iron_rhel_binary:
+    name: Iron RHEL binary build
     runs-on: ubuntu-latest
     env:
-      ROS_DISTRO: humble
-    container: ghcr.io/ros-controls/ros:humble-rhel
+      ROS_DISTRO: iron
+    container: ghcr.io/ros-controls/ros:iron-rhel
     steps:
       - uses: actions/checkout@v4
         with:
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/iron-semi-binary-build-main.yml
similarity index 59%
rename from .github/workflows/humble-semi-binary-build-main.yml
rename to .github/workflows/iron-semi-binary-build-main.yml
index 863df79a22..2224a59f0e 100644
--- a/.github/workflows/humble-semi-binary-build-main.yml
+++ b/.github/workflows/iron-semi-binary-build-main.yml
@@ -1,16 +1,20 @@
-name: Humble Semi-Binary Build - main
+name: Iron Semi-Binary Build - main
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -19,7 +23,7 @@ jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: humble
+      ros_distro: iron
       ros_repo: main
-      upstream_workspace: ros2_controllers.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/iron-semi-binary-build-testing.yml
similarity index 59%
rename from .github/workflows/humble-semi-binary-build-testing.yml
rename to .github/workflows/iron-semi-binary-build-testing.yml
index 6286636e1f..c5ff430c89 100644
--- a/.github/workflows/humble-semi-binary-build-testing.yml
+++ b/.github/workflows/iron-semi-binary-build-testing.yml
@@ -1,16 +1,20 @@
-name: Humble Semi-Binary Build - testing
+name: Iron Semi-Binary Build - testing
 # description: 'Build & test that compiles the main dependencies from source.'
 
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   pull_request:
     branches:
-      - humble
+      - iron
+      - '*feature*'
+      - '*feature/**'
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
@@ -19,7 +23,7 @@ jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
-      ros_distro: humble
+      ros_distro: iron
       ros_repo: testing
-      upstream_workspace: ros2_controllers.humble.repos
-      ref_for_scheduled_build: humble
+      upstream_workspace: ros2_controllers.iron.repos
+      ref_for_scheduled_build: iron
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/iron-source-build.yml
similarity index 66%
rename from .github/workflows/humble-source-build.yml
rename to .github/workflows/iron-source-build.yml
index ff0fd62e05..1e9d865c49 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -1,11 +1,11 @@
-name: Humble Source Build
+name: Iron Source Build
 on:
   workflow_dispatch:
     branches:
-      - humble
+      - iron
   push:
     branches:
-      - humble
+      - iron
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -14,6 +14,6 @@ jobs:
   source:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
-      ros_distro: humble
-      ref: humble
-      ros2_repo_branch: humble
+      ros_distro: iron
+      ref: iron
+      ros2_repo_branch: iron
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
index 856d877d85..182df6e22b 100644
--- a/.github/workflows/prerelease-check.yml
+++ b/.github/workflows/prerelease-check.yml
@@ -10,6 +10,7 @@ on:
         type: choice
         options:
         - humble
+        - iron
         - rolling
       branch:
         description: 'Chose branch for distro'
@@ -18,6 +19,7 @@ on:
         type: choice
         options:
         - humble
+        - iron
         - master
 
 jobs:
diff --git a/ros2_controllers.iron.repos b/ros2_controllers.iron.repos
new file mode 100644
index 0000000000..4e2c7abbbd
--- /dev/null
+++ b/ros2_controllers.iron.repos
@@ -0,0 +1,29 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: iron
+  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
+  angles:
+    type: git
+    url: https://github.com/ros/angles.git
+    version: ros2
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main