diff --git a/.github/workflows/basic-build-ci.yaml b/.github/workflows/basic-build-ci.yaml
index e308066fb..759927eef 100644
--- a/.github/workflows/basic-build-ci.yaml
+++ b/.github/workflows/basic-build-ci.yaml
@@ -15,7 +15,7 @@ jobs:
       image: osrf/ros2:testing
     steps:
     - name: Checkout repo
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
     - name: Create Workspace
       run: |
         mkdir src_tmp
@@ -35,3 +35,36 @@ jobs:
         bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
         colcon test; \
         colcon test-result --verbose'
+  build-rolling-testing:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    container:
+      image: osrf/ros2:testing
+    steps:
+    - name: Checkout repo
+      uses: actions/checkout@v4
+    - name: Create Workspace
+      run: |
+        mkdir src_tmp
+        mv `find -maxdepth 1 -not -name . -not -name src_tmp` src_tmp/
+        mv src_tmp/ src/
+    - name: Install Prerequisites
+      run: |
+        apt update -qq
+        apt install -qq -y lsb-release wget curl gnupg2 git
+        curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros2-testing-archive-keyring.gpg
+        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+        apt-get update && apt-get upgrade -q -y
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        apt-get update && apt-get upgrade -y && rosdep update; \
+        rosdep install --from-paths src --ignore-src -y'
+    - name: Build Workspace
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        colcon build'
+    - name: Run Tests
+      run: |
+        bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \
+        colcon test; \
+        colcon test-result --verbose'
diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp
index cb079cc1d..8be05e3ce 100644
--- a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp
+++ b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi.hpp
@@ -38,9 +38,9 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/synchronizer.hpp"
 
 #include <image_transport/subscriber_filter.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp
index d4838e120..51d7bc546 100644
--- a/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp
+++ b/depth_image_proc/include/depth_image_proc/point_cloud_xyzi_radial.hpp
@@ -39,9 +39,9 @@
 #include <vector>
 
 #include "depth_image_proc/visibility.h"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <image_transport/subscriber_filter.hpp>
 #include <opencv2/core/mat.hpp>
diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp
index 47c7e0cba..c44c198c8 100644
--- a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp
+++ b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb.hpp
@@ -38,10 +38,10 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 
 #include <image_transport/image_transport.hpp>
 #include <image_transport/subscriber_filter.hpp>
diff --git a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp
index 6db3759f7..8dc3098e4 100644
--- a/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp
+++ b/depth_image_proc/include/depth_image_proc/point_cloud_xyzrgb_radial.hpp
@@ -40,10 +40,10 @@
 
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 
 #include <opencv2/core/mat.hpp>
 #include <rclcpp/rclcpp.hpp>
diff --git a/depth_image_proc/src/disparity.cpp b/depth_image_proc/src/disparity.cpp
index 4cad8eb5d..ce8a06f4a 100644
--- a/depth_image_proc/src/disparity.cpp
+++ b/depth_image_proc/src/disparity.cpp
@@ -37,8 +37,8 @@
 #include <string>
 
 #include "depth_image_proc/visibility.h"
-#include "message_filters/subscriber.h"
-#include "message_filters/time_synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/time_synchronizer.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 #include <image_transport/image_transport.hpp>
diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
index 6269f4cf4..853671967 100644
--- a/depth_image_proc/src/register.cpp
+++ b/depth_image_proc/src/register.cpp
@@ -38,9 +38,9 @@
 #include "Eigen/Geometry"
 #include "depth_image_proc/visibility.h"
 #include "image_geometry/pinhole_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 
diff --git a/image_view/include/image_view/stereo_view_node.hpp b/image_view/include/image_view/stereo_view_node.hpp
index f2c40c625..463ed1116 100644
--- a/image_view/include/image_view/stereo_view_node.hpp
+++ b/image_view/include/image_view/stereo_view_node.hpp
@@ -53,9 +53,9 @@
 #include <mutex>
 #include <string>
 
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <opencv2/highgui/highgui.hpp>
 
diff --git a/image_view/src/stereo_view_node.cpp b/image_view/src/stereo_view_node.cpp
index 5113da7f2..3cd75faca 100644
--- a/image_view/src/stereo_view_node.cpp
+++ b/image_view/src/stereo_view_node.cpp
@@ -53,10 +53,10 @@
 #include <string>
 
 #include "cv_bridge/cv_bridge.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/exact_time.h"
-#include "message_filters/synchronizer.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
+#include "message_filters/synchronizer.hpp"
 
 #include "image_view/stereo_view_node.hpp"
 
diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
index a5f9c2d63..188e3ec22 100644
--- a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
+++ b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -40,11 +40,11 @@
 
 #include "cv_bridge/cv_bridge.hpp"
 #include "image_geometry/stereo_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/approximate_epsilon_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/approximate_epsilon_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 
 #include <stereo_image_proc/stereo_processor.hpp>
 
diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
index c654f231c..14b1a047e 100644
--- a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
+++ b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -35,11 +35,11 @@
 #include <string>
 
 #include "image_geometry/stereo_camera_model.hpp"
-#include "message_filters/subscriber.h"
-#include "message_filters/synchronizer.h"
-#include "message_filters/sync_policies/approximate_time.h"
-#include "message_filters/sync_policies/approximate_epsilon_time.h"
-#include "message_filters/sync_policies/exact_time.h"
+#include "message_filters/subscriber.hpp"
+#include "message_filters/synchronizer.hpp"
+#include "message_filters/sync_policies/approximate_time.hpp"
+#include "message_filters/sync_policies/approximate_epsilon_time.hpp"
+#include "message_filters/sync_policies/exact_time.hpp"
 #include "rcutils/logging_macros.h"
 
 #include <image_transport/camera_common.hpp>