diff --git a/.github/workflows/lint.yaml b/.github/workflows/lint.yaml
index 28bcfcb2..b90cd80f 100644
--- a/.github/workflows/lint.yaml
+++ b/.github/workflows/lint.yaml
@@ -32,7 +32,7 @@ jobs:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: 1
     steps:
       - uses: actions/checkout@v1
-      - uses: ros-tooling/setup-ros@master
+      - uses: ros-tooling/setup-ros@0.7.15
         with:
           required-ros-distributions: ${{ matrix.distro }}
       - uses: ros-tooling/action-ros-lint@master
diff --git a/.github/workflows/test.yaml b/.github/workflows/test.yaml
index d92ce5f4..8ef934b6 100644
--- a/.github/workflows/test.yaml
+++ b/.github/workflows/test.yaml
@@ -9,8 +9,40 @@ on:
     - cron: "0 20 * * 0"
 
 jobs:
+  ros_distro_from_branch_name:
+    runs-on: ubuntu-latest
+    outputs:
+      distro: ${{ steps.set-distro.outputs.distro }}
+    steps:
+      - name: Set ROS distro from branch name
+        id: set-distro
+        run: |
+          if [[ "${{ github.event_name }}" == "pull_request" ]]; then
+            echo "This is a PR. Getting branch name from base ref."
+            branch_name="${{ github.event.pull_request.base.ref }}"
+          else
+            echo "This is a push. Getting branch name from head ref."
+            branch_name="${{ github.head_ref }}"
+          fi
+          echo "> Branch name is: ${branch_name}"
+
+          if [[ "${branch_name}" == *"ros2"* ]]; then
+            distro="rolling"
+          elif [[ "${branch_name}" == *"ros2-humble"* ]]; then
+            distro="humble"
+          elif [[ "${branch_name}" == *"ros2-jazzy"* ]]; then
+            distro="jazzy"
+          elif [[ "${branch_name}" == *"ros2-kilted"* ]]; then
+            distro="kilted"
+          else
+            echo "! Unknown branch for determining ROS distro: ${GITHUB_REF##*/}"
+            exit 1
+          fi
+          echo "> Determined ROS distro to be: ${distro}!"
+          echo "distro=$distro" >> $GITHUB_OUTPUT
   build_and_test:
-    name: ${{ matrix.package }} on ${{ matrix.distro }}
+    name: ${{ matrix.package }} under ${{ matrix.distro }}
+    needs: ros_distro_from_branch_name
     strategy:
       fail-fast: false
       matrix:
@@ -22,17 +54,51 @@ jobs:
             self_test,
           ]
         include:
-          - distro: rolling
+          - distro: ${{ needs.ros_distro_from_branch_name.outputs.distro }}
             os: 24.04
     runs-on: ubuntu-latest
     container: ubuntu:${{ matrix.os }}
     steps:
-      - uses: ros-tooling/setup-ros@master
+      - uses: ros-tooling/setup-ros@0.7.15
         with:
           required-ros-distributions: ${{ matrix.distro }}
-      - uses: ros-tooling/action-ros-ci@master
+      - uses: ros-tooling/action-ros-ci@0.4.5
         with:
           target-ros2-distro: ${{ matrix.distro }}
           package-name: ${{ matrix.package }}
           # vcs-repo-file-url: |
           #   https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+  build_and_test_win:
+    name: ${{ matrix.package }} under ${{ matrix.distro }} (windows)
+    needs: ros_distro_from_branch_name
+    strategy:
+      fail-fast: false
+      matrix:
+        package: [
+            diagnostic_aggregator,
+            diagnostic_common_diagnostics,
+            diagnostic_remote_logging,
+            diagnostic_updater,
+            self_test,
+          ]
+        include:
+          - distro: ${{ needs.ros_distro_from_branch_name.outputs.distro }}
+    runs-on: windows-2022
+    steps:
+      - uses: ros-tooling/setup-ros@0.7.15
+        with:
+          required-ros-distributions: ${{ matrix.distro }}
+      - name: Upgrade colcon-meson
+      # Workaround for "Exception in package identification extension 'meson' in 'src\ohkszihoidm': __init__() missing 2 required positional arguments: 'subproject_dir' and 'env'"
+        run: python -m pip install -U colcon-meson==0.5.0
+      - name: Install package dependencies
+        run: |
+          rosdep update
+          rosdep install ${{ matrix.package }} -r -y
+      - uses: ros-tooling/action-ros-ci@0.4.5
+        with:
+          target-ros2-distro: ${{ matrix.distro }}
+          package-name: ${{ matrix.package }}
+          # vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ matrix.distro }}/ros2.repos
+        # All of this is quite unstable, atm:
+        # continue-on-error: true
\ No newline at end of file