diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml
new file mode 100644
index 0000000000..a7c1510dde
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build-win.yml
@@ -0,0 +1,50 @@
+name: Rolling Windows Semi-Binary Build
+# author: Christoph Fröhlich <christoph.froehlich@ait.ac.at>
+# description: 'Build & test all dependencies from semi-binary packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-semi-binary-build-win.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'ros2_control.windows.rolling.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.py'
+      - '.github/workflows/rolling-semi-binary-build-win.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_control.rolling.repos'
+      - 'ros2_control.windows.rolling.repos'
+
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
+jobs:
+  binary-windows:
+    # if: |
+    #   (github.event_name == 'issue_comment' && contains(github.event.comment.body, '/check-windows')) ||
+    #   (github.event_name == 'pull_request' && contains(github.event.label.name, 'check-windows')) ||
+    #   (github.event_name == 'workflow_dispatch')
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
+    with:
+      ros_distro: rolling
+      pixi_dependencies: typeguard jinja2 boost compilers
+      windows_dependencies: ros2_control.windows.rolling.repos
+      ninja_packages: rsl
diff --git a/hardware_interface/include/hardware_interface/handle.hpp b/hardware_interface/include/hardware_interface/handle.hpp
index 6fbb547e6a..baaf5d449b 100644
--- a/hardware_interface/include/hardware_interface/handle.hpp
+++ b/hardware_interface/include/hardware_interface/handle.hpp
@@ -36,6 +36,7 @@
 
 namespace
 {
+#ifndef _WIN32
 template <typename T>
 std::string get_type_name()
 {
@@ -44,6 +45,14 @@ std::string get_type_name()
     abi::__cxa_demangle(typeid(T).name(), nullptr, nullptr, &status), std::free};
   return (status == 0) ? res.get() : typeid(T).name();
 }
+#else
+// not supported on Windows, use typeid directly
+template <typename T>
+std::string get_type_name()
+{
+  return typeid(T).name();
+}
+#endif
 }  // namespace
 
 namespace hardware_interface
diff --git a/ros2_control.windows.rolling.repos b/ros2_control.windows.rolling.repos
new file mode 100644
index 0000000000..82dcc34f08
--- /dev/null
+++ b/ros2_control.windows.rolling.repos
@@ -0,0 +1,29 @@
+repositories:
+  filters:
+    type: git
+    url: https://github.com/ros/filters.git
+    version: ros2
+  cpp_polyfills:
+    type: git
+    url: https://github.com/PickNikRobotics/cpp_polyfills.git
+    version: main
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: main
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: main
+  pal_statistics:
+    type: git
+    url: https://github.com/pal-robotics/pal_statistics.git
+    version: humble-devel
+  backward_ros:
+    type: git
+    url: https://github.com/pal-robotics//backward_ros.git
+    version: foxy-devel
+  diagnostics:
+    type: git
+    url: https://github.com/ros/diagnostics
+    version: ros2