diff --git a/.github/workflows/humble.yml b/.github/workflows/humble.yml
index 8a829e4..d83cc25 100644
--- a/.github/workflows/humble.yml
+++ b/.github/workflows/humble.yml
@@ -7,7 +7,7 @@ on:
     branches: [ "main" ]
 
 jobs:
-  build_docker:
+  build_humble:
     runs-on: ubuntu-latest
     container:
       image: ubuntu:jammy
@@ -15,13 +15,13 @@ jobs:
       - name: cancle preivious run
         uses: styfle/cancel-workflow-action@0.11.0
       - name: setup ROS2
-        uses: ros-tooling/setup-ros@v0.5
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: humble
       - name: Install dependencies
         run: pip install black
       - name: ROS2 build and test
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           target-ros2-distro: humble
diff --git a/.github/workflows/iron.yml b/.github/workflows/iron.yml
new file mode 100644
index 0000000..3fe36aa
--- /dev/null
+++ b/.github/workflows/iron.yml
@@ -0,0 +1,27 @@
+name: iron build
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+jobs:
+  build_iron:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+    steps:
+      - name: cancle preivious run
+        uses: styfle/cancel-workflow-action@0.11.0
+      - name: setup ROS2
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: iron
+      - name: Install dependencies
+        run: pip install black
+      - name: ROS2 build and test
+        uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          target-ros2-distro: iron
diff --git a/.github/workflows/rolling.yml b/.github/workflows/rolling.yml
index eb31ab2..9427e27 100644
--- a/.github/workflows/rolling.yml
+++ b/.github/workflows/rolling.yml
@@ -7,7 +7,7 @@ on:
     branches: [ "main" ]
 
 jobs:
-  build_docker:
+  build_rolling:
     runs-on: ubuntu-latest
     container:
       image: ubuntu:jammy
@@ -15,13 +15,13 @@ jobs:
       - name: cancle preivious run
         uses: styfle/cancel-workflow-action@0.11.0
       - name: setup ROS2
-        uses: ros-tooling/setup-ros@v0.5
+        uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: rolling
       - name: Install dependencies
         run: pip install black
       - name: ROS2 build and test
-        uses: ros-tooling/action-ros-ci@v0.2
+        uses: ros-tooling/action-ros-ci@v0.3
         with:
           import-token: ${{ secrets.GITHUB_TOKEN }}
           target-ros2-distro: rolling
diff --git a/README.md b/README.md
index 01bdf65..e878eba 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,6 @@
 # freeflyer2
 ![humble build](https://github.com/StanfordASL/freeflyer2/actions/workflows/humble.yml/badge.svg?event=push)
+![iron build](https://github.com/StanfordASL/freeflyer2/actions/workflows/iron.yml/badge.svg?event=push)
 ![rolling build](https://github.com/StanfordASL/freeflyer2/actions/workflows/rolling.yml/badge.svg?event=push)
 
 ASL FreeFlyer software stack with ROS2. See build status for support on ROS2 distrbutions.