diff --git a/.github/workflows/ci.yml b/.github/workflows/ci-humble.yml
similarity index 98%
rename from .github/workflows/ci.yml
rename to .github/workflows/ci-humble.yml
index 2358a51..5bc783c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci-humble.yml
@@ -1,4 +1,4 @@
-name: CI
+name: CI-Humble
 
 on:
   workflow_dispatch:
diff --git a/.github/workflows/ci-iron.yml b/.github/workflows/ci-iron.yml
new file mode 100644
index 0000000..eed5d83
--- /dev/null
+++ b/.github/workflows/ci-iron.yml
@@ -0,0 +1,51 @@
+name: CI-Iron
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  fortress_ci:
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        ROS_REPO: [testing, main]
+    steps:
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: ${{ matrix.ROS_REPO == 'testing' }}
+      - name: Run ROS CI
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: iron
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+
+  garden_ci:
+    runs-on: ubuntu-22.04
+    strategy:
+      matrix:
+        ROS_REPO: [testing, main]
+    env:
+      GZ_VERSION: garden
+    steps:
+      - name: Setup ROS environment
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          use-ros2-testing: ${{ matrix.ROS_REPO == 'testing' }}
+      - name: Install Gazebo
+        run: |
+          sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+          wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+          sudo apt-get update
+          sudo apt-get install -y libgz-sim7-dev
+      - name: Run ROS CI
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: iron
+          import-token: ${{ secrets.GITHUB_TOKEN }}