diff --git a/.github/workflows/ci-lts.yml b/.github/workflows/ci-lts.yml
index c3f9921..6709a75 100644
--- a/.github/workflows/ci-lts.yml
+++ b/.github/workflows/ci-lts.yml
@@ -5,42 +5,54 @@ on:
     - cron: "0 4 1-7 * 1"
     # First monday of the month, at 4am
   push:
-    branches: [ foxy humble ]
+    branches: [ jazzy ]
   pull_request:
+  workflow_dispatch: # Manually triggered:
 
 jobs:
   build:
 
-    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        v:
+          - os: ubuntu-24.04
+            ros: jazzy
+
+    runs-on: ${{ matrix.v.os }}
 
     steps:
     - name: Checkout
-      uses: actions/checkout@v2
+      uses: actions/checkout@v4
       with:
         submodules: recursive
 
     - name: Set up GNAT toolchain
-      uses: ada-actions/toolchain@ce2020
-      with:
-        distrib: fsf
+      shell: bash
+      run: >
+        sudo apt update
+        && sudo apt install -y gprbuild gnat
 
     - name: Set up ROS2
-      uses: ros-tooling/setup-ros@v0.2
+      uses: ros-tooling/setup-ros@v0.7
       with:
-        required-ros-distributions: foxy
+        required-ros-distributions: ${{ matrix.v.ros }}
 
     - name: Add additional required packages
-      run: sudo apt update && sudo apt install ros-foxy-test-msgs
+      run: |
+        sudo apt install \
+          ros-${{ matrix.v.ros }}-test-msgs \
+          ros-${{ matrix.v.ros }}-turtlebot
 
     - name: Build
       run: >
-        source /opt/ros/foxy/setup.bash &&
-        colcon build --event-handlers console_direct+ --executor sequential
+        source /opt/ros/${{ matrix.v.ros }}/setup.bash
+        && colcon build --event-handlers console_direct+ --executor sequential
 
     - name: Run tests
       run: >
-        ls -al install &&
-        source ${{ github.workspace }}/install/setup.sh &&
-        ros2 run rclada rclada_selftest_dynamic &&
-        ros2 run rclada rclada_selftest_static &&
-        ros2 run rclada rclada_test_allocators 4
+        ls -al install
+        && source ${{ github.workspace }}/install/setup.sh
+        && ros2 run rclada rclada_selftest_dynamic
+        && ros2 run rclada rclada_selftest_static
+        && ros2 run rclada rclada_test_allocators 4