diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6d06509..abac038 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -13,23 +13,18 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        include:
-          - source_tag: focal
-            target_tag: focal
-            ros_version: ros
-          - source_tag: jammy
-            target_tag: jammy
-            ros_version: ros2
-          - source_tag: noble
-            target_tag: noble
-            ros_version: ros2
-          - source_tag: noble
-            target_tag: noble-testing
-            ros_version: ros2-testing
-    name: "ubuntu-${{ matrix.target_tag }}"
+        platform: [linux/amd64, linux/arm64]
+        base_image_tag: [focal, jammy, noble]
+        ros_testing: [false, true]
+        exclude:
+          - base_image_tag: focal
+            ros_testing: true
+          - base_image_tag: jammy
+            ros_testing: true
+    name: "ubuntu-${{ matrix.base_image_tag }}${{ matrix.ros_testing && '-testing' || ''}} ${{ matrix.platform }}"
     # always use latest linux worker, as it should not have any impact
     # when it comes to building docker images.
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-24.04${{ matrix.platform == 'linux/arm64' && '-arm' || '' }}
     steps:
       -
         name: Checkout repository
@@ -55,19 +50,20 @@ jobs:
         uses: docker/build-push-action@v6
         with:
           context: .
-          platforms: linux/amd64,linux/arm64
+          platforms: "${{ matrix.platform }}"
           push: ${{ github.event_name != 'pull_request' }}
           build-args: |
             BASE_IMAGE_NAME=ubuntu
-            BASE_IMAGE_TAG=${{ matrix.source_tag }}
+            BASE_IMAGE_TAG=${{ matrix.base_image_tag }}
             VCS_REF=${{ github.sha }}
             ROS_DISTRO=none
-            ROS_VERSION=${{ matrix.ros_version }}
+            ROS_TESTING=${{ matrix.ros_testing && 'true' || '' }}
           tags: |
-            rostooling/setup-ros-docker:ubuntu-${{ matrix.target_tag }}-latest
-            ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.target_tag }}:latest
+            rostooling/setup-ros-docker:ubuntu-${{ matrix.base_image_tag }}${{ matrix.ros_testing && '-testing' || ''}}-latest
+            ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.base_image_tag }}${{ matrix.ros_testing && '-testing' || ''}}:latest
 
   ros_variant:
+    if: false
     strategy:
       fail-fast: false
       matrix:
diff --git a/Dockerfile b/Dockerfile
index 227d1fe..b897796 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -23,8 +23,8 @@ ARG VCS_REF
 # The ROS distribution being targeted by this image
 ARG ROS_DISTRO
 
-# Override default APT sources, "ros", "ros2, or "ros2-testing"
-ARG ROS_VERSION=''
+# Use ros testing apt repositories instead of main
+ARG ROS_TESTING=''
 
 # Additional APT packages to be installed
 #
diff --git a/setup-ros.sh b/setup-ros.sh
index 810e59b..2cd9e38 100755
--- a/setup-ros.sh
+++ b/setup-ros.sh
@@ -35,17 +35,18 @@ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr
 
 RTI_CONNEXT_DDS=""
 
-if [ -z $ROS_VERSION ]; then
-	ROS_VERSION='ros2'
-	case ${ROS_DISTRO} in
-		"noetic")
-			ROS_VERSION="ros"
-			;;
-		*)
-			RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
-			ROS_VERSION="ros2"
-			;;
-	esac
+ROS_VERSION='ros2'
+case ${ROS_DISTRO} in
+	"noetic")
+		ROS_VERSION="ros"
+		;;
+	*)
+		RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
+		ROS_VERSION="ros2"
+		;;
+esac
+if [ "${ROS_TESTING}" = "true" ]; then
+	ROS_VERSION="${ROS_VERSION}-testing"
 fi
 
 echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/${ROS_VERSION}/ubuntu $(lsb_release -sc) main" |\