diff --git a/.github/workflows/build_and_test_foxy.yaml b/.github/workflows/build_and_test_foxy.yaml
new file mode 100644
index 0000000..fb306ef
--- /dev/null
+++ b/.github/workflows/build_and_test_foxy.yaml
@@ -0,0 +1,27 @@
+name: Build and Test (foxy)
+
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ foxy ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ foxy ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:focal
+
+    steps:
+      - uses: ros-tooling/setup-ros@v0.3
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: foxy
diff --git a/.github/workflows/build_and_test_humble.yaml b/.github/workflows/build_and_test_humble.yaml
new file mode 100644
index 0000000..a15f8b7
--- /dev/null
+++ b/.github/workflows/build_and_test_humble.yaml
@@ -0,0 +1,27 @@
+name: Build and Test (humble)
+
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ humble ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ humble ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+
+    steps:
+      - uses: ros-tooling/setup-ros@v0.3
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: humble
diff --git a/.github/workflows/build_and_test_rolling.yaml b/.github/workflows/build_and_test_rolling.yaml
new file mode 100644
index 0000000..f8a31c9
--- /dev/null
+++ b/.github/workflows/build_and_test_rolling.yaml
@@ -0,0 +1,27 @@
+name: Build and Test (rolling)
+
+on:
+  # Triggers the workflow on push
+  push:
+    branches: [ ros2 ]
+
+  # Triggers the workflow on pull requests
+  pull_request:
+    branches: [ ros2 ]
+
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container:
+      image: ubuntu:jammy
+
+    steps:
+      - uses: ros-tooling/setup-ros@v0.3
+        with:
+          use-ros2-testing: true
+      - uses: ros-tooling/action-ros-ci@v0.2
+        with:
+          target-ros2-distro: rolling
diff --git a/.github/workflows/tooling-ci.yaml b/.github/workflows/tooling-ci.yaml
deleted file mode 100644
index b649d21..0000000
--- a/.github/workflows/tooling-ci.yaml
+++ /dev/null
@@ -1,23 +0,0 @@
-name: ci
-
-on: [push, pull_request]
-
-jobs:
-  ci:
-    runs-on: ${{ matrix.os }}
-    strategy:
-      matrix:
-        include:
-          - os: ubuntu-20.04
-            distro: foxy
-          - os: ubuntu-22.04
-            distro: humble
-          - os: ubuntu-22.04
-            distro: rolling
-    steps:
-      - uses: ros-tooling/setup-ros@v0.3
-        with:
-          required-ros-distributions: ${{ matrix.distro }}
-      - uses: ros-tooling/action-ros-ci@v0.2
-        with:
-          target-ros2-distro: ${{ matrix.distro }}