diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 38f5d54e9b..6e57d1abf0 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -12,11 +12,13 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: rolling, BUILDER: colcon}
+          - {ROS_DISTRO: noetic, BUILDER: catkin_tools}
+          - {ROS_DISTRO: rolling}
+          - {ROS_DISTRO: iron}
+          - {ROS_DISTRO: humble}
     env:
       CCACHE_DIR: /github/home/.ccache             # Enable ccache
-      # The following is a work-around for ROS tooling in conjunction with jrl-cmakemodules:
+      # The following is a work-around for ROS1 tooling in conjunction with jrl-cmakemodules:
       #  - catkin_make_isolated has issues with Industrial-CI right now
       #  - colcon cannot find example-robot-data's python bindings due to ROS1 workspace integration hooks
       #  - catkin_tools correctly finds example-robot-data in the upstream_ws, but does not execute the 'run_tests' target
@@ -24,7 +26,6 @@ jobs:
       # The work-around is thus to use catkin_tools for building and sourcing, and to manually specify execution of the test
       # target after completion of the regular test target. The output of this step does affect the output of the CI process.
       # Note, this does not affect projects that do not have pure CMake projects in their upstream_ws.
-      BUILDER: catkin_tools
       AFTER_RUN_TARGET_TEST: 'ici_with_unset_variables source /root/target_ws/install/setup.bash && cd /root/target_ws/build/pinocchio && make test'
       IMMEDIATE_TEST_OUTPUT: 1
     runs-on: ubuntu-latest
diff --git a/package.xml b/package.xml
index 0c04ca395a..58397562d3 100644
--- a/package.xml
+++ b/package.xml
@@ -15,12 +15,12 @@
   <build_depend>doxygen</build_depend>
   <doc_depend>doxygen</doc_depend>
   <doc_depend>texlive-latex-base</doc_depend>
+  <!-- Required for the environment variables (ROS_VERSION, ROS_DISTRO) to be available -->
+  <depend>ros_environment</depend>
   <!-- The following tags are recommended by REP-136 -->
   <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <depend>python3</depend>
+  <depend>python3-numpy</depend>
   <depend>liburdfdom-dev</depend>
   <depend>eigen</depend>
   <depend>boost</depend>