diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index c5284a70..0e8cc99a 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   abi_check:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 15b34f98..d864c250 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   binary:
diff --git a/.github/workflows/humble-build-coverage.yml b/.github/workflows/humble-build-coverage.yml
index 1571c4f3..91252c29 100644
--- a/.github/workflows/humble-build-coverage.yml
+++ b/.github/workflows/humble-build-coverage.yml
@@ -8,6 +8,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   coverage_humble:
     name: coverage build - humble
diff --git a/.github/workflows/humble-build-downstream.yml b/.github/workflows/humble-build-downstream.yml
index 23a7f60e..b952073c 100644
--- a/.github/workflows/humble-build-downstream.yml
+++ b/.github/workflows/humble-build-downstream.yml
@@ -10,6 +10,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   build-downstream:
diff --git a/.github/workflows/humble-build-source.yml b/.github/workflows/humble-build-source.yml
index b9789b7b..4c419ef0 100644
--- a/.github/workflows/humble-build-source.yml
+++ b/.github/workflows/humble-build-source.yml
@@ -8,6 +8,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   source_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
diff --git a/.github/workflows/humble-ci-pre-commit.yml b/.github/workflows/humble-ci-pre-commit.yml
index baa116ca..262abad7 100644
--- a/.github/workflows/humble-ci-pre-commit.yml
+++ b/.github/workflows/humble-ci-pre-commit.yml
@@ -9,6 +9,11 @@ on:
     branches:
       - humble
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index f27d5b6d..2adfbb76 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 5 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   debian_semi_binary_build:
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
index 350b4bb8..b96f9d2f 100644
--- a/.github/workflows/humble-rhel-semi-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 64f26c16..cbe6506e 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   semi-binary:
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
index 7b9017d7..18749781 100644
--- a/.github/workflows/jazzy-abi-compatibility.yml
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - jazzy
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   abi_check:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-abi-check.yml@master
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 12024d06..f7d4dfab 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   binary:
diff --git a/.github/workflows/jazzy-build-coverage.yml b/.github/workflows/jazzy-build-coverage.yml
index 4429c1bd..e1df203d 100644
--- a/.github/workflows/jazzy-build-coverage.yml
+++ b/.github/workflows/jazzy-build-coverage.yml
@@ -8,6 +8,11 @@ on:
     branches:
       - jazzy
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   coverage:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/jazzy-build-downstream.yml b/.github/workflows/jazzy-build-downstream.yml
index a52c3d54..884f7412 100644
--- a/.github/workflows/jazzy-build-downstream.yml
+++ b/.github/workflows/jazzy-build-downstream.yml
@@ -10,6 +10,10 @@ on:
     branches:
       - jazzy
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   build-downstream:
diff --git a/.github/workflows/jazzy-build-source.yml b/.github/workflows/jazzy-build-source.yml
index a5807257..f8498bac 100644
--- a/.github/workflows/jazzy-build-source.yml
+++ b/.github/workflows/jazzy-build-source.yml
@@ -8,6 +8,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   source_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
index 4bc94a23..68bc53e8 100644
--- a/.github/workflows/jazzy-check-docs.yml
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -18,8 +18,9 @@ on:
       - '.github/workflows/jazzy-check-docs.yml'
 
 concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   check-docs:
diff --git a/.github/workflows/jazzy-ci-pre-commit.yml b/.github/workflows/jazzy-ci-pre-commit.yml
index d29e81b1..93f94965 100644
--- a/.github/workflows/jazzy-ci-pre-commit.yml
+++ b/.github/workflows/jazzy-ci-pre-commit.yml
@@ -9,6 +9,11 @@ on:
     branches:
       - jazzy
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
index 97cf5498..04f34ead 100644
--- a/.github/workflows/jazzy-debian-build.yml
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 5 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   debian_semi_binary_build:
diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
index 96caa2a5..f0964f2d 100644
--- a/.github/workflows/jazzy-rhel-semi-binary-build.yml
+++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index de963f84..f30d36ed 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   semi-binary:
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 1aa49172..3cb50678 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -5,6 +5,11 @@ on:
     branches:
       - ros2-master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   abi_check:
     strategy:
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index de18b846..0d0a8159 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   binary:
diff --git a/.github/workflows/rolling-build-coverage.yml b/.github/workflows/rolling-build-coverage.yml
index 8ae14074..56cd892f 100644
--- a/.github/workflows/rolling-build-coverage.yml
+++ b/.github/workflows/rolling-build-coverage.yml
@@ -8,6 +8,11 @@ on:
     branches:
       - ros2-master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   coverage_rolling:
     name: coverage build - rolling
diff --git a/.github/workflows/rolling-build-downstream.yml b/.github/workflows/rolling-build-downstream.yml
index a5b747ab..7ee74ba9 100644
--- a/.github/workflows/rolling-build-downstream.yml
+++ b/.github/workflows/rolling-build-downstream.yml
@@ -10,6 +10,10 @@ on:
     branches:
       - ros2-master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   build-downstream:
diff --git a/.github/workflows/rolling-build-source.yml b/.github/workflows/rolling-build-source.yml
index 03463f07..8403ce08 100644
--- a/.github/workflows/rolling-build-source.yml
+++ b/.github/workflows/rolling-build-source.yml
@@ -8,6 +8,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   source_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index 4fa0320b..41d7667f 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -18,8 +18,9 @@ on:
       - '.github/workflows/rolling-check-docs.yml'
 
 concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: true
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   check-docs:
diff --git a/.github/workflows/rolling-ci-pre-commit.yml b/.github/workflows/rolling-ci-pre-commit.yml
index d45a1d10..cda38e46 100644
--- a/.github/workflows/rolling-ci-pre-commit.yml
+++ b/.github/workflows/rolling-ci-pre-commit.yml
@@ -9,6 +9,11 @@ on:
     branches:
       - ros2-master
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/rolling-compatibility-build.yml b/.github/workflows/rolling-compatibility-build.yml
index 5209fd0f..9a147a8f 100644
--- a/.github/workflows/rolling-compatibility-build.yml
+++ b/.github/workflows/rolling-compatibility-build.yml
@@ -12,9 +12,9 @@ on:
       - ros2-master
 
 concurrency:
-  # cancel previous runs of the same workflow, except for pushes on ros2-master branch
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
   group: ${{ github.workflow }}-${{ github.ref }}
-  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   build:
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 0c1e1af8..686be98b 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 5 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   debian_semi_binary_build:
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index 3103d6fc..b6ae8ef0 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -8,6 +8,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml
index 7787bdc0..7e787b2d 100644
--- a/.github/workflows/rolling-semi-binary-build-win.yml
+++ b/.github/workflows/rolling-semi-binary-build-win.yml
@@ -16,6 +16,11 @@ on:
   #   types:
   #     - created
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
+
 jobs:
   binary-windows:
     # if: |
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 922b5b3a..eda3fcdb 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -13,6 +13,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '28 6 * * MON-FRI'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   semi-binary:
diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
index bed9cf9a..cd607e5d 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rosdoc2.yml
@@ -8,6 +8,10 @@ on:
       - rosdoc2.yaml
       - package.xml
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on given branches branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, 'refs/heads') }}
 
 jobs:
   check: