diff --git a/.github/workflows/ci-linux-ros.yml b/.github/workflows/ci-linux-ros.yml
index 975ce568b..babf87807 100644
--- a/.github/workflows/ci-linux-ros.yml
+++ b/.github/workflows/ci-linux-ros.yml
@@ -13,25 +13,14 @@ concurrency:
 jobs:
   CI:
     strategy:
+      fail-fast: false
       matrix:
         env:
-          # ROS2 Jazzy Jalisco (May 2024 - May 2029)
-          - {name: "Jazzy / Debug", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: OFF}
-          - {name: "Jazzy / Release", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: OFF}
-          - {name: "Jazzy / Debug / Vectorization", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
-          - {name: "Jazzy / Release / Vectorization", ROS_DISTRO: jazzy, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
-          # ROS2 Humble Hawksbill (May 2022 - May 2027)
-          - {name: "Humble / Debug / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
-          - {name: "Humble / Release / Vectorization", ROS_DISTRO: humble, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
-          # - {name: "Humble / Pre-Release", ROS_DISTRO: humble, PRERELEASE: true}
-          # ROS2 Rolling Ridley
-          - {name: "Rolling / Debug / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Debug, VECTORIZATION_SUPPORT: ON}
-          - {name: "Rolling / Release / Vectorization", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release,  VECTORIZATION_SUPPORT: ON}
-          # - {name: "Rolling / Pre-Release", ROS_DISTRO: rolling, PRERELEASE: true}
-          # - {name: "Rolling / TSID-Downstream", ROS_DISTRO: rolling, CMAKE_BUILD_TYPE: Release, VECTORIZATION_SUPPORT: ON, DOWNSTREAM_WORKSPACE: "github:stack-of-tasks/tsid#devel github:stack-of-tasks/eiquadprog#devel", DOWNSTREAM_CMAKE_ARGS: -DBUILD_WITH_PROXQP=ON}
-    name: ${{ matrix.env.name }}
-    env:
-      CMAKE_ARGS: -DBUILD_WITH_VECTORIZATION_SUPPORT=${{ matrix.env.VECTORIZATION_SUPPORT }}  # Simde is available since humble
+          - {ROS_DISTRO: humble}
+          - {ROS_DISTRO: jazzy}
+          - {ROS_DISTRO: kilted}
+          - {ROS_DISTRO: lyrical}
+          - {ROS_DISTRO: rolling}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v7
diff --git a/package.xml b/package.xml
index 4cdb61e4f..4d9f4f2e5 100644
--- a/package.xml
+++ b/package.xml
@@ -8,8 +8,9 @@
 
   <!-- ROS buildfarm release -->
   <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
+  <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
 
-  <license>BSD-2</license>
+  <license>BSD-2-Clause</license>
 
   <!-- Core authors - cf. CITATION.bib and CITATION.cff -->
   <author email="antoine.bambade@inria.fr">Antoine Bambade</author>
@@ -25,8 +26,7 @@
   <build_depend>git</build_depend>
   <build_depend>doxygen</build_depend>
   <depend>eigen</depend>
-  <!-- simde is only available for Ubuntu 22.04 -->
-  <depend condition="$ROS_DISTRO == humble or $ROS_DISTRO == rolling or $ROS_DISTRO == iron or $ROS_DISTRO == jazzy">simde</depend>
+  <depend>simde</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
   <depend condition="$ROS_PYTHON_VERSION == 2">python-scipy</depend>
@@ -37,6 +37,7 @@
   <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
 
   <buildtool_depend>cmake</buildtool_depend>
+  <build_depend>jrl_cmakemodules</build_depend>
   <export>
     <build_type>cmake</build_type>
   </export>