diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index bf47469c59..19cd6057be 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,25 +9,14 @@ on:
     - cron: '17 8 * * *'
 
 jobs:
-        #  ci_main_release:
-        #    name: Industrial CI against release repository
-        #    strategy:
-        #      matrix:
-        #        env:
-        #          - {ROS_DISTRO: foxy, ROS_REPO: main}
-        #    runs-on: ubuntu-latest
-        #    steps:
-        #      - uses: actions/checkout@v1
-        #      - uses: 'ros-industrial/industrial_ci@master'
-        #        env: ${{matrix.env}}
-
-  ci_testing_release:
-    name: Industrial CI against testing repository
+  ci_binary:
+    name: Foxy binary job
+    runs-on: ubuntu-latest
     strategy:
       matrix:
         env:
+          - {ROS_DISTRO: foxy, ROS_REPO: main}
           - {ROS_DISTRO: foxy, ROS_REPO: testing}
-    runs-on: ubuntu-latest
     steps:
       - run: sudo apt-get update -qq && sudo apt-get upgrade
       - uses: actions/checkout@v1
@@ -35,28 +24,29 @@ jobs:
         env: ${{matrix.env}}
 
   ci_source:
-    name: ros-tooling CI from source
+    name: Foxy source job
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
     steps:
       - uses: ros-tooling/setup-ros@0.0.23
+        with:
+          required-ros-distributions: foxy
       - uses: ros-tooling/action-ros-ci@0.0.17
         with:
-          package-name: controller_interface controller_manager hardware_interface test_robot_hardware ros2_control
+          source-ros-binary-installation: foxy
+          # build all packages listed in the meta package
+          package-name:
+            controller_interface
+            controller_manager
+            hardware_interface
+            test_robot_hardware
+            transmission_interface
+            ros2_control
           vcs-repo-file-url: |
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_control/ros2_control.repos
-            https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
           colcon-mixin-name: coverage-gcc
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
-      - uses: codecov/codecov-action@v1
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          file: ros_ws/lcov/total_coverage.info
-          flags: unittests
-          name: codecov-umbrella
-          yml: ./codecov.yml
-          fail_ci_if_error: true
       - uses: actions/upload-artifact@v1
         with:
           name: colcon-logs-${{ matrix.os }}