diff --git a/.github/workflows/cmake-ros.yml b/.github/workflows/cmake-ros.yml
index bc78b662e4..900a13af15 100644
--- a/.github/workflows/cmake-ros.yml
+++ b/.github/workflows/cmake-ros.yml
@@ -4,6 +4,9 @@ on:
   push:
     branches: 
       - master
+      - noetic-devel
+      - humble-devel
+      - jazzy-devel
   pull_request:
     branches: 
       - '**'
@@ -23,20 +26,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [ noetic, humble, iron]
+        ros_distribution: [ noetic, humble, jazzy]
         include:
         - ros_distribution: 'noetic'
           os: ubuntu-20.04
         - ros_distribution: 'humble'
           os: ubuntu-22.04
-        - ros_distribution: 'iron'
-          os: ubuntu-22.04
-        # Currently CI has some errors on setup-ros with this OS, disabling for now
-        #- ros_distribution: 'jazzy'
-        #  os: ubuntu-24.04
+        - ros_distribution: 'jazzy'
+          os: ubuntu-24.04
 
+    if: github.ref == 'refs/heads/master' || github.ref == 'refs/heads/${{ matrix.ros_distribution }}-devel'
     steps:   
-    - uses: ros-tooling/setup-ros@v0.6
+    - uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distribution }}