diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index d71893a679..c3a2da4a0a 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,20 +1,6 @@
 name: Rolling - ABI Compatibility Check
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/rolling-abi-compatibility.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros2_control-not-released.rolling.repos'
-      - 'ros2_control-not-released.lyrical.repos'
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index bdf0fd7e34..548751afe2 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -4,7 +4,7 @@ name: Rolling Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -18,7 +18,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
       - 'ros2_control-not-released.lyrical.repos'
-  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index a5bec4e952..a19dde5afa 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Humble
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 01d8ba423f..40c30ac32d 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Jazzy
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-kilted-binary-build.yml b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
index 45097e424e..14e9be0c7f 100644
--- a/.github/workflows/rolling-compatibility-kilted-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-kilted-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Kilted
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-compatibility-lyrical-binary-build.yml b/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
index 8f849cf1ba..0acd413431 100644
--- a/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-lyrical-binary-build.yml
@@ -4,7 +4,7 @@ name: Check Rolling Compatibility on Lyrical
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - '**/package.xml'
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index bef06d3622..4ecbf49047 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -1,7 +1,7 @@
 name: Coverage Build - Rolling
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'codecov.yml'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index d02ad72ffb..35bed4f96e 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -1,7 +1,7 @@
 name: Rolling - Debian Semi-Binary Build
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-pr-gated-ci.yml b/.github/workflows/rolling-pr-gated-ci.yml
new file mode 100644
index 0000000000..dd2d5a7838
--- /dev/null
+++ b/.github/workflows/rolling-pr-gated-ci.yml
@@ -0,0 +1,175 @@
+name: Rolling PR Gated CI
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '**.yaml'
+      - '.github/workflows/rolling-pr-gated-ci.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'ros2_control.lyrical.repos'
+      - 'ros2_control-not-released.rolling.repos'
+      - 'ros2_control-not-released.lyrical.repos'
+      - 'ros_controls.rolling.repos'
+      - 'ros_controls.lyrical.repos'
+      - 'codecov.yml'
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  pre_commit_rolling:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: rolling
+
+  pre_commit_lyrical:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: lyrical
+
+  semi-binary:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+
+  semi-binary-clang:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
+
+  binary:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+        ROS_REPO: [main, testing]
+        exclude:
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_control-not-released.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+
+  coverage_rolling:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: rolling
+
+  compatibility-build:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, jazzy, kilted, lyrical]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
+
+  abi_check:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+
+  debian_semi_binary_build:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+
+  rhel_semi_binary_build:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_controller_manager
+
+  binary-windows:
+    needs: [pre_commit_rolling, pre_commit_lyrical]
+    if: ${{ always() && needs.pre_commit_rolling.result == 'success' && needs.pre_commit_lyrical.result == 'success' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: rolling
+      pixi_dependencies: typeguard jinja2 boost compilers cpp-expected
+      upstream_workspace: ros2_control.rolling.repos
+
+  build-downstream:
+    needs: [semi-binary, semi-binary-clang, binary, coverage_rolling, compatibility-build]
+    if: ${{ always() && needs['semi-binary'].outputs.build_target_workspace_succeeded == 'true' && needs['semi-binary-clang'].outputs.build_target_workspace_succeeded == 'true' && needs.binary.outputs.build_target_workspace_succeeded == 'true' && needs.coverage_rolling.result == 'success' && needs['compatibility-build'].outputs.build_target_workspace_succeeded == 'true' }}
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [lyrical, rolling]
+    with:
+      ros_distro: ${{ matrix.ROS_DISTRO }}
+      ros_repo: testing
+      ref_for_scheduled_build: master
+      upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
+      not_test_build: true
+      downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
+      not_test_downstream: false
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 7b3fb229bd..3a2593040c 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -2,9 +2,6 @@ name: Pre-Commit - Rolling
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
   push:
     branches:
       - master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index c16da77161..cfabde17a3 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,7 +1,7 @@
 name: Rolling - RHEL Semi-Binary Build
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -15,7 +15,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
   group: ${{ github.workflow }}-${{ github.ref }}
diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml
index e196ca3b47..25555dca2c 100644
--- a/.github/workflows/rolling-semi-binary-build-win.yml
+++ b/.github/workflows/rolling-semi-binary-build-win.yml
@@ -4,7 +4,7 @@ name: Rolling Windows Semi-Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -17,7 +17,6 @@ on:
       - 'ros2_control.rolling.repos'
       - '**/package.xml'
       - '**/CMakeLists.txt'
-  push: *event
 
 concurrency:
   # cancel previous runs of the same workflow, except for pushes on given branches
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 42cd8664c0..3e0d1e0946 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -4,7 +4,7 @@ name: Rolling Semi-Binary Build
 
 on:
   workflow_dispatch:
-  pull_request: &event
+  push:
     branches:
       - master
     paths:
@@ -18,7 +18,6 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
       - 'ros2_control.lyrical.repos'
-  push: *event
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * MON-FRI'
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
index e011356196..9edf461489 100644
--- a/.github/workflows/rolling-semi-binary-downstream-build.yml
+++ b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -4,20 +4,6 @@ name: Rolling Downstream Build
 
 on:
   workflow_dispatch:
-  pull_request:
-    branches:
-      - master
-    paths:
-      - '**.hpp'
-      - '**.h'
-      - '**.cpp'
-      - '**.py'
-      - '**.yaml'
-      - '.github/workflows/rolling-semi-binary-downstream-build.yml'
-      - '**/package.xml'
-      - '**/CMakeLists.txt'
-      - 'ros_controls.rolling.repos'
-      - 'ros_controls.lyrical.repos'
 
 concurrency:
   group: ${{ github.workflow }}-${{ github.ref }}