diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index f7534eac9..f63e0728f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -20,6 +20,39 @@ jobs:
       - uses: docker://koalaman/shellcheck-alpine
         with:
           args: /bin/sh -c "shellcheck -x *.sh industrial_ci/scripts/*_ci industrial_ci/src/*.sh industrial_ci/src/*/*.sh"
+
+  distro:
+    strategy:
+      fail-fast: false
+      matrix:
+        distro:
+        - indigo
+        - jade
+        - kinetic
+        - lunar
+        - melodic
+        - noetic
+        - ardent
+        - bouncy
+        - crystal
+        - dashing
+        - eloquent
+        - foxy
+        - galactic
+        - humble
+        - iron
+        - rolling
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: ardent does not support conditions in package.xml
+        run: |
+          echo "BEFORE_BUILD_TARGET_WORKSPACE=sed -i /condition/d /root/target_ws/src/industrial_ci/industrial_ci/package.xml" >> "$GITHUB_ENV"
+        if: matrix.distro == 'ardent'
+      - uses: './'
+        env:
+          ROS_DISTRO: ${{ matrix.distro }}
+
   ici:
     env:
       TRACE: true
@@ -44,7 +77,6 @@ jobs:
           - {ROS_DISTRO: kinetic, UPSTREAM_WORKSPACE: file, ROSINSTALL_FILENAME: .ci.rosinstall}  # Testing arbitrary file name without ROS_DISTRO suffix. As of 6/3/2016 this fails due to https://github.com/ros-industrial/industrial_core/pull/144#issuecomment-223186764
           - {ROS_DISTRO: kinetic, UPSTREAM_WORKSPACE: file, ROSINSTALL_FILENAME: .i.do.not.exist, EXPECT_EXIT_CODE: 1}
           - {DOCKER_IMAGE: 'ros:kinetic-ros-base', ROS_REPO: ros, NOT_TEST_BUILD: true, DEBUG_BASH: true, VERBOSE_OUTPUT: false, DOCKER_COMMIT: img_temp, POST_PROCESS: 'eval docker image inspect $$DOCKER_COMMIT --format="$$DOCKER_COMMIT:\ \"{{.Size}}\" bytes"'}
-          - {ROS_DISTRO: lunar, ROS_REPO: 'ros-shadow-fixed', TARGET_WORKSPACE: 'industrial_ci/mockups/industrial_ci_testpkg'}
           - {ROS_DISTRO: noetic, AFTER_SCRIPT: 'grep -q ID=ubuntu /etc/os-release && grep -q VERSION_CODENAME=focal /etc/os-release'}
           - {ROS_DISTRO: noetic, BEFORE_INIT: 'grep -q ID=debian /etc/os-release && grep -q VERSION_ID=\"10\" /etc/os-release', EXPECT_EXIT_CODE: 1}
           - {ROS_DISTRO: noetic, OS_NAME: debian, OS_CODE_NAME: buster, AFTER_SCRIPT: 'grep -q ID=debian /etc/os-release && grep -q VERSION_ID=\"10\" /etc/os-release'}
@@ -55,14 +87,9 @@ jobs:
           - {DOCKER_IMAGE: "ros:noetic", ROS_REPO: testing, AFTER_INIT: "grep -r ros-testing /etc/apt && ici_exit 1 || ici_exit 2", EXPECT_EXIT_CODE: 1}
           - {DOCKER_IMAGE: "ros:melodic", AFTER_INIT: "grep -r ros-testing /etc/apt && ici_exit 1 || ici_exit 2", EXPECT_EXIT_CODE: 2}
           - {DOCKER_IMAGE: "ros:melodic", ROS_REPO: testing, AFTER_INIT: "grep -r ros-testing /etc/apt && ici_exit 1 || ici_exit 2", EXPECT_EXIT_CODE: 1}
-          - {ROS_DISTRO: noetic, TARGET_WORKSPACE: 'industrial_ci/mockups/industrial_ci_testpkg'}
           - {ROS_DISTRO: noetic, PRERELEASE: true}
           - {ROS_DISTRO: noetic, AFTER_SCRIPT: 'rosenv rosrun industrial_ci run_travis', ADDITIONAL_DEBS: "ros-noetic-rosbash"}
           - {ROS_DISTRO: foxy, AFTER_SCRIPT: 'rosenv ros2 run industrial_ci run_travis', ADDITIONAL_DEBS: "ros-foxy-ros2run"}
-          - {ROS_DISTRO: galactic, TRACE: true}
-          - {ROS_DISTRO: humble}
-          - {ROS_DISTRO: iron}
-          - {ROS_DISTRO: rolling}
 
           # Are CXXFLAGS correctly passed? These tests should fail due to -Werror (exit code is for catkin tools: 1 and for colcon: 2)
           - {ROS_DISTRO: melodic, CXXFLAGS: "-Werror", EXPECT_EXIT_CODE: 1, TARGET_WORKSPACE: 'industrial_ci/mockups/industrial_ci_testpkg'}
diff --git a/industrial_ci/CMakeLists.txt b/industrial_ci/CMakeLists.txt
index dbca39770..ee96a6ee9 100644
--- a/industrial_ci/CMakeLists.txt
+++ b/industrial_ci/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 2.8.12)
 project(industrial_ci)
 
 if("$ENV{ROS_VERSION}" EQUAL "2")
diff --git a/industrial_ci/package.xml b/industrial_ci/package.xml
index 609a66a0e..fd2e13142 100644
--- a/industrial_ci/package.xml
+++ b/industrial_ci/package.xml
@@ -24,12 +24,12 @@
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
-  <buildtool_depend>ros_environment</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
+  <buildtool_depend condition="$ROS_DISTRO != indigo and $ROS_DISTRO != jade">ros_environment</buildtool_depend>
+  <buildtool_depend condition="$ROS_DISTRO == indigo or $ROS_DISTRO == jade">roslib</buildtool_depend>
 
   <exec_depend>coreutils</exec_depend>
-  <exec_depend>python3-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-yaml</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-yaml</exec_depend>
 
   <export>
       <build_type condition="$ROS_VERSION == 1">catkin</build_type>
diff --git a/industrial_ci/src/builders/colcon.sh b/industrial_ci/src/builders/colcon.sh
index b2233df7b..7ca44096a 100644
--- a/industrial_ci/src/builders/colcon.sh
+++ b/industrial_ci/src/builders/colcon.sh
@@ -21,7 +21,7 @@ function builder_setup {
     ici_install_pkgs_for_command colcon python3-colcon-common-extensions
     if [ "$ROS_DISTRO" = "kinetic" ] || [ "$ROS_DISTRO" = "ardent" ]; then
         ici_install_pkgs_for_command pip3 python3-pip
-        ici_asroot pip3 install -U setuptools
+        ici_asroot pip3 install -U setuptools==30.3.0
     fi
 }