diff --git a/.github/workflows/humble.yaml b/.github/workflows/humble.yaml
index c98350f..51cdc49 100644
--- a/.github/workflows/humble.yaml
+++ b/.github/workflows/humble.yaml
@@ -9,11 +9,9 @@ on:
       - humble
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-22.04]
-      fail-fast: false
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -21,9 +19,6 @@ jobs:
           ref: humble
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: humble
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/humble_cron.yaml b/.github/workflows/humble_cron.yaml
index f195c9f..82bb57a 100644
--- a/.github/workflows/humble_cron.yaml
+++ b/.github/workflows/humble_cron.yaml
@@ -5,11 +5,9 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-22.04]
-      fail-fast: false
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:jammy
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -17,9 +15,6 @@ jobs:
           ref: humble
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: humble
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/jazzy.yaml b/.github/workflows/jazzy.yaml
index bb185e0..11301a4 100644
--- a/.github/workflows/jazzy.yaml
+++ b/.github/workflows/jazzy.yaml
@@ -11,11 +11,9 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -23,9 +21,6 @@ jobs:
           ref: jazzy
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: jazzy
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/jazzy_cron.yaml b/.github/workflows/jazzy_cron.yaml
index 38ebc4d..ac2a5ef 100644
--- a/.github/workflows/jazzy_cron.yaml
+++ b/.github/workflows/jazzy_cron.yaml
@@ -5,11 +5,9 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -17,9 +15,6 @@ jobs:
           ref: jazzy
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: jazzy
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/kilted.yaml b/.github/workflows/kilted.yaml
index 4e34d3b..5eff233 100644
--- a/.github/workflows/kilted.yaml
+++ b/.github/workflows/kilted.yaml
@@ -9,11 +9,9 @@ on:
       - kilted
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -21,9 +19,6 @@ jobs:
           ref: kilted
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: kilted
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/kilted_cron.yaml b/.github/workflows/kilted_cron.yaml
index 6167d6c..dc93850 100644
--- a/.github/workflows/kilted_cron.yaml
+++ b/.github/workflows/kilted_cron.yaml
@@ -5,11 +5,9 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v4
@@ -17,9 +15,6 @@ jobs:
           ref: kilted
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: kilted
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml
index ea79308..7efd701 100644
--- a/.github/workflows/rolling.yaml
+++ b/.github/workflows/rolling.yaml
@@ -9,11 +9,9 @@ on:
       - rolling
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v6-beta
@@ -21,8 +19,6 @@ jobs:
           ref: rolling
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: rolling
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with:
diff --git a/.github/workflows/rolling_cron.yaml b/.github/workflows/rolling_cron.yaml
index 39e4cd2..740df03 100644
--- a/.github/workflows/rolling_cron.yaml
+++ b/.github/workflows/rolling_cron.yaml
@@ -5,11 +5,9 @@ on:
       - cron: '0 0 * * 6'     
 jobs:
   build-and-test:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        os: [ubuntu-24.04]
-      fail-fast: false
+    runs-on: ubuntu-24.04
+    container:
+      image: ubuntu:noble
     steps:
       - name: Repo checkout
         uses: actions/checkout@v6-beta
@@ -17,9 +15,6 @@ jobs:
           ref: rolling
       - name: Setup ROS 2
         uses: ros-tooling/setup-ros@0.7.15
-        with:
-          required-ros-distributions: rolling
-
       - name: build and test
         uses: ros-tooling/action-ros-ci@0.4.5
         with: