diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 2356960..96a6919 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -66,6 +66,7 @@ jobs:
           - fortress
           - harmonic
           - ionic
+          - jetty
         exclude:
           # Gazebo Fortress (Sep 2021 - Sep 2026)
           # Compatible ubuntu distributions: 22.04
@@ -76,6 +77,12 @@ jobs:
           # Compatible ubuntu distributions: 24.04
           - ubuntu_distribution: ubuntu-22.04
             gazebo_distribution: ionic
+
+          # Gazebo Jetty (Sep 2024 - Sep 2026)
+          # Compatible ubuntu distributions: 24.04
+          - ubuntu_distribution: ubuntu-22.04
+            gazebo_distribution: jetty
+
     steps:
       - uses: actions/checkout@v5
         with:
@@ -186,7 +193,7 @@ jobs:
       - name: 'Check Gazebo installation on Ubuntu runner'
         uses: ./
         with:
-          required-gazebo-distributions: 'ionic'
+          required-gazebo-distributions: 'jetty'
           use-gazebo-nightly: 'true'
       - name: 'Test Gazebo installation'
         run: 'gz sim --versions'
diff --git a/README.md b/README.md
index c4d8f92..9e4e978 100644
--- a/README.md
+++ b/README.md
@@ -339,6 +339,40 @@ This example shows the installation of ROS 2 Kilted and Gazebo Ionic. Kilted use
             gz sim --version | grep -E 'version 9\.[0-9]+\.[0-9]+'
 ```
 
+- *Installing ROS 2 Rolling with Gazebo Jetty*
+
+This example shows the installation of ROS 2 Rolling and Gazebo Jetty. Rolling uses vendor packages like Jazzy and Kilted, so Gazebo libraries will be installed as ROS packages.
+
+```yaml
+  jobs:
+    test_gazebo:
+      env:
+        ROS_DISTROS: 'rolling'
+      runs-on: ubuntu-latest
+      container:
+        image: ubuntu:noble
+      steps:
+        - uses: actions/checkout@v4
+        - uses: actions/setup-node@v4.0.3
+          with:
+            node-version: '20.x'
+        - name: 'Install ROS 2 Rolling'
+          uses: ros-tooling/setup-ros@v0.7
+          with:
+            required-ros-distributions: ${{ env.ROS_DISTROS }}
+        - name: 'Install Gazebo with ros_gz'
+          uses: gazebo-tooling/setup-gazebo@v0.3.0
+          with:
+            required-gazebo-distributions: 'jetty'
+            install-ros-gz: ${{ env.ROS_DISTROS }}
+        - name: Test Rolling ros_gz installation
+          run: |
+            source /opt/ros/rolling/setup.bash
+            ! [ $(apt list --installed gz-jetty) ]
+            ros2 pkg list | grep ros_gz
+            gz sim --version | grep 'version 10.[0-9*].[0-9*]'
+```
+
 ### macOS
 
 #### Setting up worker to install Gazebo on macOS
diff --git a/__test__/main.test.ts b/__test__/main.test.ts
index 445ddb2..729e3ac 100644
--- a/__test__/main.test.ts
+++ b/__test__/main.test.ts
@@ -83,9 +83,14 @@ describe("validate Gazebo distribution test", () => {
 	it("test valid distro", async () => {
 		await expect(utils.validateDistro(["fortress"])).resolves.not.toThrow();
 		await expect(utils.validateDistro(["harmonic"])).resolves.not.toThrow();
+		await expect(utils.validateDistro(["ionic"])).resolves.not.toThrow();
+		await expect(utils.validateDistro(["jetty"])).resolves.not.toThrow();
 		await expect(
 			utils.validateDistro(["fortress", "harmonic"]),
 		).resolves.not.toThrow();
+		await expect(
+			utils.validateDistro(["ionic", "jetty"]),
+		).resolves.not.toThrow();
 	});
 	it("test invalid distro", async () => {
 		await expect(utils.validateDistro(["acropolis"])).rejects.toThrow();
@@ -192,7 +197,7 @@ describe("generate APT package names for ros_gz", () => {
 			utils.generateROSGzAptPackageNames(["kilted"], ["ionic"]),
 		).toEqual(["ros-kilted-ros-gz"]);
 		await expect(
-			utils.generateROSGzAptPackageNames(["rolling"], ["harmonic"]),
+			utils.generateROSGzAptPackageNames(["rolling"], ["jetty"]),
 		).toEqual(["ros-rolling-ros-gz"]);
 	});
 });
diff --git a/action.yml b/action.yml
index d4d831e..17a82fa 100644
--- a/action.yml
+++ b/action.yml
@@ -13,6 +13,7 @@ inputs:
         - fortress
         - harmonic
         - ionic
+        - jetty
 
         Multiple values can be passed using a whitespace delimited list
         "fortress harmonic".
diff --git a/dist/index.js b/dist/index.js
index 23a14d4..54a531f 100644
--- a/dist/index.js
+++ b/dist/index.js
@@ -26395,8 +26395,8 @@ const validROSGzDistrosList = [
     },
     {
         rosDistro: "rolling",
-        officialROSGzWrappers: ["harmonic"],
-        unofficialROSGzWrappers: [],
+        officialROSGzWrappers: ["jetty"],
+        unofficialROSGzWrappers: [""],
         vendorPackagesAvailable: true,
     },
 ];
diff --git a/src/utils.ts b/src/utils.ts
index e1e9ea1..6b22177 100644
--- a/src/utils.ts
+++ b/src/utils.ts
@@ -36,8 +36,8 @@ const validROSGzDistrosList: {
 	},
 	{
 		rosDistro: "rolling",
-		officialROSGzWrappers: ["harmonic"],
-		unofficialROSGzWrappers: [],
+		officialROSGzWrappers: ["jetty"],
+		unofficialROSGzWrappers: [""],
 		vendorPackagesAvailable: true,
 	},
 ];