diff --git a/.github/workflows/ros-build-test.yml b/.github/workflows/ros-build-test.yml
index 7d3bf629..a9d92072 100644
--- a/.github/workflows/ros-build-test.yml
+++ b/.github/workflows/ros-build-test.yml
@@ -2,9 +2,9 @@ name: Build and Test legged control
 
 on:
   push:
-    branches: [ ros-one-devel ]
+    branches: [ ros2-jazzy-devel ]
   pull_request:
-    branches: [ ros-one-devel ]
+    branches: [ ros2-jazzy-devel ]
 
 jobs:
   build:
@@ -30,46 +30,71 @@ jobs:
         apt-get update
         apt-get install -y git ninja-build liburdfdom-dev liboctomap-dev libassimp-dev liblcm-dev checkinstall wget rsync curl
 
-    - name: ROS One installation
+    - name: ROS Jazzy installation
       run: |
-        curl -sSL https://ros.packages.techfak.net/gpg.key -o /etc/apt/keyrings/ros-one-keyring.gpg
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/ros-one-keyring.gpg] https://ros.packages.techfak.net $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros1.list
-        apt-get update
-        apt-get install -y python3-rosdep python3-catkin-tools
-        rosdep init
-        echo "yaml https://ros.packages.techfak.net/ros-one.yaml one" | tee /etc/ros/rosdep/sources.list.d/1-ros-one.list
-        rosdep update
-        apt-get install -y ros-one-desktop
-        apt-get install -y ros-one-controller-interface ros-one-realtime-tools ros-one-joint-state-controller ros-one-imu-sensor-controller ros-one-gazebo-ros ros-one-gazebo-ros-control
-
+        locale
+        apt update
+        apt install -y locales
+        locale-gen en_US en_US.UTF-8
+        update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+        export LANG=en_US.UTF-8
+        locale
+        apt install -y software-properties-common
+        add-apt-repository universe
+        apt update
+        export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}')
+        curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb"
+        dpkg -i /tmp/ros2-apt-source.deb
+        apt update
+        apt install -y ros-dev-tools
+        apt update
+        apt upgrade -y
+        apt install -y ros-jazzy-desktop
+        apt install -y ros-jazzy-ros-base
+        apt install -y \
+          ros-jazzy-controller-interface \
+          ros-jazzy-hardware-interface \
+          ros-jazzy-realtime-tools \
+          ros-jazzy-joint-state-broadcaster \
+          ros-jazzy-imu-sensor-broadcaster \
+          ros-jazzy-simulation-interfaces \
+          ros-jazzy-ros-gz-interfaces \
+          ros-jazzy-gz-ros2-control \
+          ros-jazzy-ros-gz
+        
     - name: Pinocchio from robotpkg
       run: |
+        apt install -qqy lsb-release
+        mkdir -p /etc/apt/keyrings
         curl http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | tee /etc/apt/keyrings/robotpkg.asc
         echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | tee /etc/apt/sources.list.d/robotpkg.list
-        apt-get update
-        apt-get install -y robotpkg-coal robotpkg-pinocchio
-        echo "CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
+        apt update
+        apt install -y robotpkg-pinocchio robotpkg-coal
+        echo "/opt/openrobots/bin" >> $GITHUB_PATH
+        echo "PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:${PKG_CONFIG_PATH}" >> $GITHUB_ENV
         echo "LD_LIBRARY_PATH=/opt/openrobots/lib:${LD_LIBRARY_PATH}" >> $GITHUB_ENV
+        echo "PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:${PYTHONPATH}" >> $GITHUB_ENV
+        echo "CMAKE_PREFIX_PATH=/opt/openrobots:${CMAKE_PREFIX_PATH}" >> $GITHUB_ENV
 
     - name: Checkout dependencies
       run: |
-        git clone -b ros-one-devel https://github.com/idra-lab/ocs2.git src/ocs2
-        git clone https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
+        git clone -b ros2 https://github.com/idra-lab/ocs2.git src/ocs2
+        git clone -b ros2 https://github.com/leggedrobotics/ocs2_robotic_assets.git src/ocs2_robotic_assets
 
     - uses: actions/checkout@v4
       with: 
-        ref: ros-one-devel
+        ref: ros2-jazzy-devel
         path: src/legged_control 
 
     - name: Rosdep
       run: |
+        rosdep init || true
         rosdep update
         rosdep install --from-paths src --ignore-src -r -y
 
     - name: Build Release
       shell: bash
       run: |
-        source /opt/ros/one/setup.bash
-        catkin init
-        catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-        catkin build legged_controllers legged_unitree_description legged_gazebo legged_unitree_hw  
+        source /opt/ros/jazzy/setup.bash
+        echo "CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH"
+        colcon build --packages-up-to legged_controllers legged_unitree_description legged_gazebo legged_unitree_hw --cmake-args -DCMAKE_BUILD_TYPE=Release