diff --git a/.github/workflows/coverage-build.yml b/.github/workflows/coverage-build.yml
index e152d6f7e..f934aa4d7 100644
--- a/.github/workflows/coverage-build.yml
+++ b/.github/workflows/coverage-build.yml
@@ -29,8 +29,6 @@ jobs:
             ur_calibration
             ur_controllers
             ur_robot_driver
-          vcs-repo-file-url: |
-            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/Universal_Robots_ROS2_Driver-not-released.${{ env.ROS_DISTRO }}.repos
           colcon-defaults: |
             {
               "build": {
diff --git a/.github/workflows/humble-binary-main.yml b/.github/workflows/humble-binary-main.yml
index a3a052d98..9f1749184 100644
--- a/.github/workflows/humble-binary-main.yml
+++ b/.github/workflows/humble-binary-main.yml
@@ -11,5 +11,4 @@ jobs:
     with:
       ros_distro: humble
       ros_repo: main
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.humble.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-binary-testing.yml b/.github/workflows/humble-binary-testing.yml
index 4d8434c6a..27b985428 100644
--- a/.github/workflows/humble-binary-testing.yml
+++ b/.github/workflows/humble-binary-testing.yml
@@ -12,5 +12,4 @@ jobs:
     with:
       ros_distro: humble
       ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.humble.repos
       ref_for_scheduled_build: humble
diff --git a/.github/workflows/humble-semi-binary-testing.yml b/.github/workflows/humble-semi-binary-testing.yml
deleted file mode 100644
index 63a1de1ed..000000000
--- a/.github/workflows/humble-semi-binary-testing.yml
+++ /dev/null
@@ -1,16 +0,0 @@
-name: Humble Semi Binary Build Testing
-on:
-  workflow_dispatch:
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '03 5 * * *'
-
-
-jobs:
-  humble_semi_testing:
-    uses: ./.github/workflows/reusable_ici.yml
-    with:
-      ros_distro: humble
-      ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver.humble.repos
-      ref_for_scheduled_build: humble
diff --git a/.github/workflows/jazzy-binary-main.yml b/.github/workflows/jazzy-binary-main.yml
index 9a5d52e3b..a1c313364 100644
--- a/.github/workflows/jazzy-binary-main.yml
+++ b/.github/workflows/jazzy-binary-main.yml
@@ -17,5 +17,4 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: main
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos
       ref_for_scheduled_build: main
diff --git a/.github/workflows/jazzy-binary-testing.yml b/.github/workflows/jazzy-binary-testing.yml
index e8a0e3a4e..06cf52886 100644
--- a/.github/workflows/jazzy-binary-testing.yml
+++ b/.github/workflows/jazzy-binary-testing.yml
@@ -17,5 +17,4 @@ jobs:
     with:
       ros_distro: jazzy
       ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.jazzy.repos
       ref_for_scheduled_build: main
diff --git a/.github/workflows/jazzy-semi-binary-testing.yml b/.github/workflows/jazzy-semi-binary-testing.yml
deleted file mode 100644
index b66ce4807..000000000
--- a/.github/workflows/jazzy-semi-binary-testing.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Jazzy Semi Binary Build Testing
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 4 * * *'
-
-jobs:
-  jazzy_semi_testing:
-    uses: ./.github/workflows/reusable_ici.yml
-    with:
-      ros_distro: jazzy
-      ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver.jazzy.repos
-      ref_for_scheduled_build: main
diff --git a/.github/workflows/reusable_ici.yml b/.github/workflows/reusable_ici.yml
index b19f1c433..572d16c91 100644
--- a/.github/workflows/reusable_ici.yml
+++ b/.github/workflows/reusable_ici.yml
@@ -12,7 +12,8 @@ on:
 
       upstream_workspace:
         description: 'UPSTREAM_WORKSPACE variable for industrial_ci. Usually path to local .repos file.'
-        required: true
+        required: false
+        default: ''
         type: string
       ros_distro:
         description: 'ROS_DISTRO variable for industrial_ci'
@@ -41,7 +42,7 @@ jobs:
     env:
       DOCKER_RUN_OPTS: '-v /var/run/docker.sock:/var/run/docker.sock --network ursim_net'
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.upstream_workspace }}-${{ inputs.ros_repo }}
     steps:
       - name: Checkout ${{ github.ref_name }} since build is not scheduled
         if: ${{ github.event_name != 'schedule' }}
diff --git a/.github/workflows/rolling-binary-main.yml b/.github/workflows/rolling-binary-main.yml
index 3ca974841..948a40622 100644
--- a/.github/workflows/rolling-binary-main.yml
+++ b/.github/workflows/rolling-binary-main.yml
@@ -17,5 +17,4 @@ jobs:
     with:
       ros_distro: rolling
       ros_repo: main
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.rolling.repos
       ref_for_scheduled_build: main
diff --git a/.github/workflows/rolling-binary-testing.yml b/.github/workflows/rolling-binary-testing.yml
index 0d042012e..92a131e31 100644
--- a/.github/workflows/rolling-binary-testing.yml
+++ b/.github/workflows/rolling-binary-testing.yml
@@ -17,5 +17,4 @@ jobs:
     with:
       ros_distro: rolling
       ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver-not-released.rolling.repos
       ref_for_scheduled_build: main
diff --git a/.github/workflows/rolling-semi-binary-testing.yml b/.github/workflows/rolling-semi-binary-testing.yml
deleted file mode 100644
index 0c9507809..000000000
--- a/.github/workflows/rolling-semi-binary-testing.yml
+++ /dev/null
@@ -1,21 +0,0 @@
-name: Rolling Semi Binary Build Testing
-on:
-  workflow_dispatch:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-  schedule:
-    # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 4 * * *'
-
-jobs:
-  rolling_semi_testing:
-    uses: ./.github/workflows/reusable_ici.yml
-    with:
-      ros_distro: rolling
-      ros_repo: testing
-      upstream_workspace: Universal_Robots_ROS2_Driver.rolling.repos
-      ref_for_scheduled_build: main
diff --git a/Universal_Robots_ROS2_Driver-not-released.jazzy.repos b/Universal_Robots_ROS2_Driver-not-released.jazzy.repos
deleted file mode 100644
index f1f74842e..000000000
--- a/Universal_Robots_ROS2_Driver-not-released.jazzy.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-# The not-released files are meant to use upstream packages in binary form whenever possible.
-# Packages get added here, if they are not released at all or when the repo's current version
-# requires a newer version than the one currently released to the target distributions.
-# Once Upstream packages are released and synced to the target distributions in the required
-# version, the entry in this file shall be removed again.
-repositories:
diff --git a/Universal_Robots_ROS2_Driver-not-released.rolling.repos b/Universal_Robots_ROS2_Driver-not-released.rolling.repos
deleted file mode 100644
index f1f74842e..000000000
--- a/Universal_Robots_ROS2_Driver-not-released.rolling.repos
+++ /dev/null
@@ -1,6 +0,0 @@
-# The not-released files are meant to use upstream packages in binary form whenever possible.
-# Packages get added here, if they are not released at all or when the repo's current version
-# requires a newer version than the one currently released to the target distributions.
-# Once Upstream packages are released and synced to the target distributions in the required
-# version, the entry in this file shall be removed again.
-repositories:
diff --git a/ur_controllers/package.xml b/ur_controllers/package.xml
index 1bdd4f76c..c5280d2e2 100644
--- a/ur_controllers/package.xml
+++ b/ur_controllers/package.xml
@@ -46,6 +46,7 @@
 
   <test_depend>controller_manager</test_depend>
   <test_depend>ros2_control_test_assets</test_depend>
+  <test_depend>hardware_interface_testing</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>