diff --git a/.github/workflows/rust-minimal.yml b/.github/workflows/rust-minimal.yml
new file mode 100644
index 0000000..53b635e
--- /dev/null
+++ b/.github/workflows/rust-minimal.yml
@@ -0,0 +1,75 @@
+name: Rust Minimal
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  schedule:
+    # Run the CI at 01:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 1 * * 2'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - humble
+          - jazzy
+          - kilted
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+            ros_distribution: jazzy
+            ros_version: 2
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
+            ros_distribution: kilted
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Setup ROS environment
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Setup Rust
+      uses: dtolnay/rust-toolchain@1.75
+      with:
+        components: clippy, rustfmt
+
+    - name: Test default features
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo test --workspace
+
+    - name: Test with serde
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo test --workspace -F=serde
+
+    - name: Build docs
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo doc --all-features
diff --git a/.github/workflows/rust-stable.yml b/.github/workflows/rust-stable.yml
new file mode 100644
index 0000000..82a96db
--- /dev/null
+++ b/.github/workflows/rust-stable.yml
@@ -0,0 +1,75 @@
+name: Rust Stable
+
+on:
+  push:
+    branches: [ main ]
+  pull_request:
+    branches: [ main ]
+  schedule:
+    # Run the CI at 01:22 UTC every Tuesday
+    # We pick an arbitrary time outside of most of the world's work hours
+    # to minimize the likelihood of running alongside a heavy workload.
+    - cron: '22 1 * * 2'
+
+env:
+  CARGO_TERM_COLOR: always
+
+jobs:
+  build:
+    strategy:
+      matrix:
+        ros_distribution:
+          - humble
+          - jazzy
+          - kilted
+          - rolling
+        include:
+          # Humble Hawksbill (May 2022 - May 2027)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
+            ros_distribution: humble
+            ros_version: 2
+          # Jazzy Jalisco (May 2024 - May 2029)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-jazzy-ros-base-latest
+            ros_distribution: jazzy
+            ros_version: 2
+          # Kilted Kaiju (May 2025 - Dec 2026)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-kilted-ros-base-latest
+            ros_distribution: kilted
+            ros_version: 2
+          # Rolling Ridley  (June 2020 - Present)
+          - docker_image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
+            ros_distribution: rolling
+            ros_version: 2
+
+    runs-on: ubuntu-latest
+    continue-on-error: ${{ matrix.ros_distribution == 'rolling' }}
+    container:
+      image: ${{ matrix.docker_image }}
+    steps:
+    - uses: actions/checkout@v4
+
+    - name: Setup ROS environment
+      uses: ros-tooling/setup-ros@v0.7
+      with:
+        required-ros-distributions: ${{ matrix.ros_distribution }}
+        use-ros2-testing: ${{ matrix.ros_distribution == 'rolling' }}
+
+    - name: Setup Rust
+      uses: dtolnay/rust-toolchain@stable
+      with:
+        components: clippy, rustfmt
+
+    - name: Test default features
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo test --workspace
+
+    - name: Test with serde
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo test --workspace -F=serde
+
+    - name: Build docs
+      run: |
+        . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+        cargo doc --all-features
diff --git a/.gitignore b/.gitignore
index 0104787..b1e52d5 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,4 +14,8 @@ target/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
\ No newline at end of file
+#.idea/
+
+# Do not commit cargo lockfiles since they create git history churn and are not
+# necessarily compatible across different Rust versions.
+Cargo.lock
diff --git a/Cargo.lock b/Cargo.lock
deleted file mode 100644
index 31aa1c1..0000000
--- a/Cargo.lock
+++ /dev/null
@@ -1,210 +0,0 @@
-# This file is automatically @generated by Cargo.
-# It is not intended for manual editing.
-version = 4
-
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-
-[[package]]
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-
-[[package]]
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- "quickcheck",
- "serde",
- "serde_json",
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-
-[[package]]
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-
-[[package]]
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-
-[[package]]
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diff --git a/Cargo.toml b/Cargo.toml
index e60fee1..862a6d2 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -1,3 +1,3 @@
 [workspace]
 members = ["rosidl_runtime_rs"]
-resolver = "3"
+resolver = "2"
diff --git a/rosidl_runtime_rs/Cargo.lock b/rosidl_runtime_rs/Cargo.lock
deleted file mode 100644
index 604d332..0000000
--- a/rosidl_runtime_rs/Cargo.lock
+++ /dev/null
@@ -1,210 +0,0 @@
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-# It is not intended for manual editing.
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diff --git a/rosidl_runtime_rs/src/string.rs b/rosidl_runtime_rs/src/string.rs
index 9f0251c..5da7ef4 100644
--- a/rosidl_runtime_rs/src/string.rs
+++ b/rosidl_runtime_rs/src/string.rs
@@ -522,10 +522,24 @@ mod tests {
         }
     }
 
+    /// If we use char::arbitrary(g) then we can get back characters which are
+    /// outside the ASCII range. Since the length calculated by [`String`] is
+    /// based on the utf-8 length of the string (not based on the number of bytes
+    /// in the string), putting non-ASCII characters into it can skew the length
+    /// calculation in strange ways.
+    ///
+    /// This function generates only ASCII characters by cutting their values
+    /// off at 127. This does not give an even distribution of ASCII characters,
+    /// but that fact is not important for this smoke test.
+    fn generate_ascii(g: &mut Gen) -> char {
+        let c = u8::min(u8::arbitrary(g), 127);
+        c as char
+    }
+
     impl Arbitrary for BoundedString<256> {
         fn arbitrary(g: &mut Gen) -> Self {
             let len = u8::arbitrary(g);
-            let s: std::string::String = (0..len).map(|_| char::arbitrary(g)).collect();
+            let s: std::string::String = (0..len).map(|_| generate_ascii(g)).collect();
             s.as_str().try_into().unwrap()
         }
     }
@@ -533,7 +547,7 @@ mod tests {
     impl Arbitrary for BoundedWString<256> {
         fn arbitrary(g: &mut Gen) -> Self {
             let len = u8::arbitrary(g);
-            let s: std::string::String = (0..len).map(|_| char::arbitrary(g)).collect();
+            let s: std::string::String = (0..len).map(|_| generate_ascii(g)).collect();
             s.as_str().try_into().unwrap()
         }
     }