diff --git a/.github/workflows/ci-coverage-build-humble.yml b/.github/workflows/ci-coverage-build-humble.yml
deleted file mode 100644
index 0065223501..0000000000
--- a/.github/workflows/ci-coverage-build-humble.yml
+++ /dev/null
@@ -1,65 +0,0 @@
-name: Coverage Build - Humble
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - humble
-  pull_request:
-    branches:
-      - humble
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: humble
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            ackermann_steering_controller
-            admittance_controller
-            bicycle_steering_controller
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            gripper_controllers
-            imu_sensor_broadcaster
-            joint_state_broadcaster
-            joint_trajectory_controller
-            position_controllers
-            range_sensor_broadcaster
-            steering_controllers_library
-            tricycle_controller
-            tricycle_steering_controller
-            velocity_controllers
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.3.1
-        with:
-          name: colcon-logs-coverage-humble
-          path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build-iron.yml b/.github/workflows/ci-coverage-build-iron.yml
deleted file mode 100644
index 201a631923..0000000000
--- a/.github/workflows/ci-coverage-build-iron.yml
+++ /dev/null
@@ -1,65 +0,0 @@
-name: Coverage Build - Iron
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - iron
-  pull_request:
-    branches:
-      - iron
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: iron
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            ackermann_steering_controller
-            admittance_controller
-            bicycle_steering_controller
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            gripper_controllers
-            imu_sensor_broadcaster
-            joint_state_broadcaster
-            joint_trajectory_controller
-            position_controllers
-            range_sensor_broadcaster
-            steering_controllers_library
-            tricycle_controller
-            tricycle_steering_controller
-            velocity_controllers
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.3.1
-        with:
-          name: colcon-logs-coverage-iron
-          path: ros_ws/log
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
deleted file mode 100644
index ffda7a2066..0000000000
--- a/.github/workflows/ci-coverage-build.yml
+++ /dev/null
@@ -1,65 +0,0 @@
-name: Coverage Build
-on:
-  workflow_dispatch:
-  push:
-    branches:
-      - master
-  pull_request:
-    branches:
-      - master
-
-jobs:
-  coverage:
-    name: coverage build
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-    env:
-      ROS_DISTRO: rolling
-    steps:
-      - uses: ros-tooling/setup-ros@0.7.1
-        with:
-          required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v4
-      - uses: ros-tooling/action-ros-ci@0.3.6
-        with:
-          target-ros2-distro: ${{ env.ROS_DISTRO }}
-          import-token: ${{ secrets.GITHUB_TOKEN }}
-          # build all packages listed here
-          package-name:
-            ackermann_steering_controller
-            admittance_controller
-            bicycle_steering_controller
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            gripper_controllers
-            imu_sensor_broadcaster
-            joint_state_broadcaster
-            joint_trajectory_controller
-            position_controllers
-            range_sensor_broadcaster
-            steering_controllers_library
-            tricycle_controller
-            tricycle_steering_controller
-            velocity_controllers
-
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
-          colcon-defaults: |
-            {
-              "build": {
-                "mixin": ["coverage-gcc"]
-              }
-            }
-          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v4.0.1
-        with:
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-      - uses: actions/upload-artifact@v4.3.1
-        with:
-          name: colcon-logs-coverage-rolling
-          path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
deleted file mode 100644
index 824baf1b77..0000000000
--- a/.github/workflows/ci-format.yml
+++ /dev/null
@@ -1,22 +0,0 @@
-# This is a format job. Pre-commit has a first-party GitHub action, so we use
-# that: https://github.com/pre-commit/action
-
-name: Format
-
-on:
-  pull_request:
-
-jobs:
-  pre-commit:
-    name: Format
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v4
-    - uses: actions/setup-python@v5.0.0
-      with:
-        python-version: '3.10'
-    - name: Install system hooks
-      run: sudo apt install -qq clang-format-14 cppcheck
-    - uses: pre-commit/action@v3.0.1
-      with:
-        extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
deleted file mode 100644
index b95e3c36a2..0000000000
--- a/.github/workflows/ci-ros-lint.yml
+++ /dev/null
@@ -1,80 +0,0 @@
-name: ROS Lint
-on:
-  pull_request:
-
-jobs:
-  ament_lint:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cppcheck, copyright, lint_cmake]
-    env:
-      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@0.7.1
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        distribution: iron
-        linter: ${{ matrix.linter }}
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
-
-
-  ament_lint_100:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [cpplint]
-    steps:
-    - uses: actions/checkout@v4
-    - uses: ros-tooling/setup-ros@master
-    - uses: ros-tooling/action-ros-lint@master
-      with:
-        distribution: iron
-        linter: cpplint
-        arguments: "--linelength=100 --filter=-whitespace/newline"
-        package-name:
-          ackermann_steering_controller
-          admittance_controller
-          bicycle_steering_controller
-          diff_drive_controller
-          effort_controllers
-          force_torque_sensor_broadcaster
-          forward_command_controller
-          gripper_controllers
-          imu_sensor_broadcaster
-          joint_state_broadcaster
-          joint_trajectory_controller
-          position_controllers
-          range_sensor_broadcaster
-          ros2_controllers
-          ros2_controllers_test_nodes
-          rqt_joint_trajectory_controller
-          steering_controllers_library
-          tricycle_controller
-          tricycle_steering_controller
-          velocity_controllers
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
new file mode 100644
index 0000000000..0910572227
--- /dev/null
+++ b/.github/workflows/humble-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Humble
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - humble
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  coverage_humble:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
new file mode 100644
index 0000000000..be8c84b05b
--- /dev/null
+++ b/.github/workflows/humble-pre-commit.yml
@@ -0,0 +1,14 @@
+name: Pre-Commit - Humble
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
new file mode 100644
index 0000000000..d82c52bf51
--- /dev/null
+++ b/.github/workflows/iron-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Iron
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - iron
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  coverage_iron:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: iron
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
new file mode 100644
index 0000000000..60ad26d073
--- /dev/null
+++ b/.github/workflows/iron-pre-commit.yml
@@ -0,0 +1,14 @@
+name: Pre-Commit - Iron
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: iron
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
new file mode 100644
index 0000000000..4d4750c54c
--- /dev/null
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -0,0 +1,17 @@
+name: Coverage Build - Rolling
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage_rolling:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
new file mode 100644
index 0000000000..9c87311bd7
--- /dev/null
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -0,0 +1,14 @@
+name: Pre-Commit - Rolling
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: rolling
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
new file mode 100644
index 0000000000..8b9545dff1
--- /dev/null
+++ b/.github/workflows/update-pre-commit.yml
@@ -0,0 +1,12 @@
+name: Auto Update pre-commit
+# Update pre-commit config and create PR if changes are detected
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+
+jobs:
+  auto_update_and_create_pr:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-update-pre-commit.yml@master
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 32d194d73d..6da427c6ee 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,3 +1,4 @@
+
 # To use:
 #
 #     pre-commit run -a
@@ -15,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -29,57 +30,57 @@ repos:
       - id: end-of-file-fixer
       - id: mixed-line-ending
       - id: trailing-whitespace
+        exclude_types: [rst]
       - id: fix-byte-order-marker
 
+
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.3.1
+    rev: v3.15.1
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
 
-  - repo: https://github.com/psf/black
-    rev: 22.12.0
-    hooks:
-      - id: black
-        args: ["--line-length=99"]
-
   # PyDocStyle
   - repo: https://github.com/PyCQA/pydocstyle
-    rev: 6.2.2
+    rev: 6.3.0
     hooks:
     - id: pydocstyle
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
+  - repo: https://github.com/psf/black
+    rev: 24.2.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   - repo: https://github.com/pycqa/flake8
-    rev: 6.0.0
+    rev: 7.0.0
     hooks:
     - id: flake8
-      args: ["--ignore=E501"]
+      args: ["--extend-ignore=E501"]
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v17.0.6
     hooks:
       - id: clang-format
+        args: ['-fallback-style=none', '-i']
 
   - repo: local
     hooks:
       - id: ament_cppcheck
         name: ament_cppcheck
         description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cppcheck
+        entry: env AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1 ament_cppcheck
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
 
-  # Maybe use https://github.com/cpplint/cpplint instead
   - repo: local
     hooks:
       - id: ament_cpplint
         name: ament_cpplint
         description: Static code analysis of C/C++ files.
-        stages: [commit]
         entry: ament_cpplint
         language: system
         files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
@@ -91,7 +92,6 @@ repos:
       - id: ament_lint_cmake
         name: ament_lint_cmake
         description: Check format of CMakeLists.txt files.
-        stages: [commit]
         entry: ament_lint_cmake
         language: system
         files: CMakeLists\.txt$
@@ -102,7 +102,6 @@ repos:
       - id: ament_copyright
         name: ament_copyright
         description: Check if copyright notice is available in all files.
-        stages: [commit]
         entry: ament_copyright
         language: system
 
@@ -125,8 +124,18 @@ repos:
   # Spellcheck in comments and docs
   # skipping of *.svg files is not working...
   - repo: https://github.com/codespell-project/codespell
-    rev: v2.2.2
+    rev: v2.2.6
     hooks:
       - id: codespell
-        args: ['--write-changes', '--uri-ignore-words-list=ist']
+        args: ['--write-changes', '--uri-ignore-words-list=ist', '-L manuel']
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
+
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.28.0
+    hooks:
+      - id: check-github-workflows
+        args: ["--verbose"]
+      - id: check-github-actions
+        args: ["--verbose"]
+      - id: check-dependabot
+        args: ["--verbose"]
diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
index 162977cdfe..72c11625e4 100644
--- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
+++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/joint_trajectory_controller.py
@@ -214,9 +214,9 @@ def restore_settings(self, plugin_settings, instance_settings):
             try:
                 idx = jtc_list.index(jtc_name)
                 jtc_combo.setCurrentIndex(idx)
-            except (ValueError):
+            except ValueError:
                 pass
-        except (ValueError):
+        except ValueError:
             pass
 
     # def trigger_configuration(self):
@@ -427,7 +427,7 @@ def _update_cmd_cb(self):
             cmd = pos
             try:
                 cmd = self._joint_pos[name]["command"]
-            except (KeyError):
+            except KeyError:
                 pass
             max_vel = self._robot_joint_limits[name]["max_velocity"]
             dur.append(max(abs(cmd - pos) / max_vel, self._min_traj_dur))
@@ -445,7 +445,7 @@ def _update_joint_widgets(self):
             try:
                 joint_pos = self._joint_pos[joint_name]["position"]
                 joint_widgets[id].setValue(joint_pos)
-            except (KeyError):
+            except KeyError:
                 pass  # Can happen when first connected to controller
 
     def _joint_widgets(self):  # TODO: Cache instead of compute every time?
diff --git a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
index f0b632322f..6f736910e2 100644
--- a/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
+++ b/rqt_joint_trajectory_controller/rqt_joint_trajectory_controller/update_combo.py
@@ -36,7 +36,7 @@ def update_combo(combo, new_vals):
         selected_id = -1
         try:
             selected_id = new_vals.index(selected_val)
-        except (ValueError):
+        except ValueError:
             combo.setCurrentIndex(-1)
 
         # Re-populate items
diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
index d72a13ad45..d4248d5f7c 100644
--- a/rqt_joint_trajectory_controller/setup.py
+++ b/rqt_joint_trajectory_controller/setup.py
@@ -1,5 +1,19 @@
 #!/usr/bin/env python
 
+# Copyright 2024 Apache License, Version 2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 from setuptools import setup
 from glob import glob