diff --git a/.github/workflows/jazzy-semi-binary-downstream-build.yml b/.github/workflows/jazzy-semi-binary-downstream-build.yml
index 3bcf417887..645941ee95 100644
--- a/.github/workflows/jazzy-semi-binary-downstream-build.yml
+++ b/.github/workflows/jazzy-semi-binary-downstream-build.yml
@@ -30,7 +30,7 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.jazzy.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.jazzy.repos
@@ -42,8 +42,10 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.jazzy.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: downstream.jazzy.repos
+      downstream_workspace: | # build also the ros_controls packages
+        ros_controls.jazzy.repos
+        downstream.jazzy.repos
       not_test_downstream: true
diff --git a/.github/workflows/rolling-semi-binary-downstream-build.yml b/.github/workflows/rolling-semi-binary-downstream-build.yml
index 57db2ae7ba..67d22def26 100644
--- a/.github/workflows/rolling-semi-binary-downstream-build.yml
+++ b/.github/workflows/rolling-semi-binary-downstream-build.yml
@@ -34,7 +34,7 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we test the downstream packages, which are part of our organization
       downstream_workspace: ros_controls.${{ matrix.ROS_DISTRO }}.repos
@@ -50,8 +50,10 @@ jobs:
       ros_repo: testing
       ref_for_scheduled_build: master
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
-      # we don't test this repository, we just build it
+      # we don't test target_workspace, we just build it
       not_test_build: true
       # we don't test the downstream packages, which are outside of our organization
-      downstream_workspace: downstream.${{ matrix.ROS_DISTRO }}.repos
+      downstream_workspace: | # build also the ros_controls packages
+        ros_controls.${{ matrix.ROS_DISTRO }}.repos
+        downstream.${{ matrix.ROS_DISTRO }}.repos
       not_test_downstream: true
diff --git a/ros_controls.humble.repos b/ros_controls.humble.repos
index 8cb447612b..a9ad96bff4 100644
--- a/ros_controls.humble.repos
+++ b/ros_controls.humble.repos
@@ -1,8 +1,4 @@
 repositories:
-  ros-controls/gazebo_ros2_control:
-    type: git
-    url: https://github.com/ros-controls/gazebo_ros2_control.git
-    version: humble
   ros-controls/gz_ros2_control:
     type: git
     url: https://github.com/ros-controls/gz_ros2_control.git
@@ -15,3 +11,11 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: humble
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: humble
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: humble
diff --git a/ros_controls.jazzy.repos b/ros_controls.jazzy.repos
index d2c3a15743..483de8548c 100644
--- a/ros_controls.jazzy.repos
+++ b/ros_controls.jazzy.repos
@@ -11,3 +11,11 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
diff --git a/ros_controls.rolling.repos b/ros_controls.rolling.repos
index 45d6fe6040..e13b0f7bba 100644
--- a/ros_controls.rolling.repos
+++ b/ros_controls.rolling.repos
@@ -11,3 +11,11 @@ repositories:
     type: git
     url: https://github.com/ros-controls/ros2_controllers.git
     version: master
+  ros-controls/control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  ros-controls/kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master