diff --git a/.github/workflows/cmake-multi-platform-build.yml b/.github/workflows/cmake-multi-platform-build.yml
new file mode 100644
index 000000000..11595bbfe
--- /dev/null
+++ b/.github/workflows/cmake-multi-platform-build.yml
@@ -0,0 +1,74 @@
+# This starter workflow is for a CMake project running on multiple platforms. There is a different starter workflow if you just want a single platform.
+# See: https://github.com/actions/starter-workflows/blob/main/ci/cmake-single-platform.yml
+name: CMake on multiple platforms
+
+on:
+  push:
+    branches:
+      - 'develop'
+  pull_request:
+    branches:
+      - 'develop'
+  workflow_dispatch:
+    branches:
+      - '*'
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      # Set fail-fast to false to ensure that feedback is delivered for all matrix combinations. Consider changing this to true when your workflow is stable.
+      fail-fast: false
+
+      # Set up a matrix to run the following 3 linux versions:
+      matrix:
+        os: [ubuntu-latest, ubuntu-24.04, ubuntu-22.04, ubuntu-20.04]
+        build_type: [Release]
+        c_compiler: [gcc]
+        include:
+          - os: ubuntu-latest
+            c_compiler: gcc
+            cpp_compiler: g++
+
+          - os: ubuntu-24.04
+            c_compiler: gcc
+            cpp_compiler: g++
+
+          - os: ubuntu-22.04
+            c_compiler: gcc
+            cpp_compiler: g++
+          
+          - os: ubuntu-20.04
+            c_compiler: gcc
+            cpp_compiler: g++
+
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: recursive
+
+    - name: Install dependencies
+      run: >
+        sudo apt update && sudo apt install -y libboost-all-dev build-essential cmake cmake-curses-gui libflann-dev libgsl-dev libeigen3-dev libopenmpi-dev openmpi-bin opencl-c-headers ocl-icd-opencl-dev freeglut3-dev libhdf5-dev liblz4-dev libopencv-dev libyaml-cpp-dev libcgal-dev libgdal-dev
+
+    - name: Set reusable strings
+      # Turn repeated input strings (such as the build output directory) into step outputs. These step outputs can be used throughout the workflow file.
+      id: strings
+      shell: bash
+      run: |
+        echo "build-output-dir=${{ github.workspace }}/build" >> "$GITHUB_OUTPUT"
+
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: >
+        cmake -B ${{ steps.strings.outputs.build-output-dir }}
+        -DCMAKE_CXX_COMPILER=${{ matrix.cpp_compiler }}
+        -DCMAKE_C_COMPILER=${{ matrix.c_compiler }}
+        -DCMAKE_BUILD_TYPE=${{ matrix.build_type }}
+        -S ${{ github.workspace }}
+
+    - name: Build
+      # Build your program with the given configuration. Note that --config is needed because the default Windows generator is a multi-config generator (Visual Studio generator).
+      run: cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }}
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
deleted file mode 100644
index c3ba767a4..000000000
--- a/.github/workflows/main.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-name: CI
-
-on: [push, pull_request]
-
-jobs:
-  industrial_ci:
-    strategy:
-      matrix:
-        env:
-          - {ROS_DISTRO: melodic, ROS_REPO: testing}
-          - {ROS_DISTRO: melodic, ROS_REPO: main}
-          - {ROS_DISTRO: noetic, ROS_REPO: testing}
-          - {ROS_DISTRO: noetic, ROS_REPO: main}
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v2
-        with:
-          submodules: recursive
-      - uses: 'ros-industrial/industrial_ci@master'
-        env: ${{matrix.env}}
diff --git a/.github/workflows/ros-humble.yml b/.github/workflows/ros-humble.yml
new file mode 100644
index 000000000..2f974e4fb
--- /dev/null
+++ b/.github/workflows/ros-humble.yml
@@ -0,0 +1,31 @@
+name: humble
+on:
+  push:
+    branches:
+      - 'develop'
+      - 'humble'
+  pull_request:
+    branches:
+      - 'develop'
+      - 'humble'
+  workflow_dispatch:
+    branches:
+      - '*'
+jobs:
+  ros_humble:
+    name: humble
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    steps:
+      - name: Checkout LVR2
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Compile LVR2 in ROS 2 humble WS
+        uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          AFTER_SCRIPT: cd ~/target_ws && ./build/lvr2/bin/lvr2_reconstruct src/lvr2/dat/scan.pts
\ No newline at end of file
diff --git a/.github/workflows/ros-iron.yml b/.github/workflows/ros-iron.yml
new file mode 100644
index 000000000..c5df78b95
--- /dev/null
+++ b/.github/workflows/ros-iron.yml
@@ -0,0 +1,31 @@
+name: iron
+on:
+  push:
+    branches:
+      - 'develop'
+      - 'iron'
+  pull_request:
+    branches:
+      - 'develop'
+      - 'iron'
+  workflow_dispatch:
+    branches:
+      - '*'
+jobs:
+  ros_iron:
+    name: iron
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    steps:
+      - name: Checkout LVR2
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Compile LVR2 in ROS 2 iron WS
+        uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: iron
+          ROS_REPO: main
+          AFTER_SCRIPT: cd ~/target_ws && ./build/lvr2/bin/lvr2_reconstruct src/lvr2/dat/scan.pts
\ No newline at end of file
diff --git a/.github/workflows/ros-jazzy.yml b/.github/workflows/ros-jazzy.yml
new file mode 100644
index 000000000..c4ecb28f2
--- /dev/null
+++ b/.github/workflows/ros-jazzy.yml
@@ -0,0 +1,31 @@
+name: jazzy
+on:
+  push:
+    branches:
+      - 'develop'
+      - 'jazzy'
+  pull_request:
+    branches:
+      - 'develop'
+      - 'jazzy'
+  workflow_dispatch:
+    branches:
+      - '*'
+jobs:
+  ros_jazzy:
+    name: jazzy
+    runs-on: ubuntu-24.04
+    strategy:
+      fail-fast: false
+    steps:
+      - name: Checkout LVR2
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+
+      - name: Compile LVR2 in ROS 2 jazzy WS
+        uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: jazzy
+          ROS_REPO: main
+          AFTER_SCRIPT: cd ~/target_ws && ./build/lvr2/bin/lvr2_reconstruct src/lvr2/dat/scan.pts
\ No newline at end of file
diff --git a/.github/workflows/ros-noetic.yml b/.github/workflows/ros-noetic.yml
new file mode 100644
index 000000000..6b8dca717
--- /dev/null
+++ b/.github/workflows/ros-noetic.yml
@@ -0,0 +1,31 @@
+name: noetic
+on:
+  push:
+    branches:
+      - 'develop'
+      - 'noetic'
+  pull_request:
+    branches:
+      - 'develop'
+      - 'noetic'
+  workflow_dispatch:
+    branches:
+      - '*'
+jobs:
+  ros_noetic:
+    name: noetic
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+    steps:
+      - name: Checkout LVR2
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
+          
+      - name: Compile LVR2 in ROS2 1 noetic WS
+        uses: 'ros-industrial/industrial_ci@master'
+        env:
+          ROS_DISTRO: noetic
+          ROS_REPO: main
+          AFTER_SCRIPT: cd ~/target_ws && ./build/lvr2/bin/lvr2_reconstruct src/lvr2/dat/scan.pts
\ No newline at end of file