diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 80a9df17..2119c389 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -1,28 +1,24 @@
 name: ROS2 CI
 on:
   push:
+    branches:
+      - ros2
   pull_request:
   schedule:
     - cron: "0 0 * * *"
+  workflow_dispatch:
 jobs:
   industrial_ci:
     strategy:
       matrix:
-        env:
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: foxy
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
-          - ROS_DISTRO: galactic
-            ROS_REPO: testing
-            CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Release'
+        ROS_DISTRO: [humble, iron, rolling]
+        ROS_REPO: [testing, main]
+        CMAKE_ARGS: ['-DCMAKE_BUILD_TYPE=Debug', '-DCMAKE_BUILD_TYPE=Release']
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v3
       - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
+        env:
+          ROS_DISTRO: ${{ matrix.ROS_DISTRO }}
+          ROS_REP: ${{ matrix.ROS_REPO }}
+          CMAKE_ARGS: ${{ matrix.CMAKE_ARGS }}