diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 280cc38088..12f1b7f559 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -47,7 +47,7 @@ jobs:
     - uses: actions/checkout@v4
       with:
         path: 'ros2/src/realsense-ros'
-    
+
     - name: Check Copyright & Line-Endings
       shell: bash
       run: |
@@ -67,7 +67,14 @@ jobs:
       uses: ros-tooling/setup-ros@v0.7
       with:
         required-ros-distributions: ${{ matrix.ros_distro }}
-                
+
+    - name: Checkout librealsense/development
+      uses: actions/checkout@v4
+      with:
+        repository: IntelRealSense/librealsense
+        path: librealsense
+        ref: development
+
     - name: Build RealSense SDK 2.0 (development branch) from source
       run: |
 
@@ -75,9 +82,7 @@ jobs:
         # This apt install command will be ignored in ubuntu 22.04 as libusb-1.0-0-dev already installed there
         sudo apt install -y libusb-1.0-0-dev
         
-        cd ${{github.workspace}}
-        git clone https://github.com/IntelRealSense/librealsense.git -b development
-        cd librealsense
+        cd ${{github.workspace}}/librealsense
         sudo mkdir build
         cd build
         sudo cmake ../ -DCMAKE_BUILD_TYPE=Release -DBUILD_EXAMPLES=false -DBUILD_GRAPHICAL_EXAMPLES=false
@@ -112,7 +117,7 @@ jobs:
     #    bag_filename="https://librealsense.intel.com/rs-tests/D435i_Depth_and_IMU_Stands_still.bag";
     #    wget $bag_filename -P "records/"
     #    sudo apt install ros-${{ matrix.ros_distro}}-launch-pytest
-       
+
     - name: Install Packages For Foxy Tests
       if: ${{ matrix.ros_distro == 'foxy' }}
       run: |
@@ -138,8 +143,7 @@ jobs:
         # numpy-quaternion needs numpy<2.0.0. Chose 1.26.4 as it is the lowest working version for ubuntu 24.04.
         pip3 install --force-reinstall numpy==1.26.4
         pip3 install numpy-quaternion tqdm pyyaml
-  
- 
+
     - name: Run Tests
       run: |
         cd ${{github.workspace}}/ros2
@@ -150,7 +154,7 @@ jobs:
         sudo apt install -y ros-${{matrix.ros_distro}}-sensor-msgs-py
         source ../.venv/bin/activate
         python3 src/realsense-ros/realsense2_camera/scripts/rs2_test.py non_existent_file
-    
+
     # don't run integration tests for foxy since some testing dependecies packages like 
     # tf_ros_py are not avaialble
     # TODO: check when we can run integration tests on rolling
diff --git a/.github/workflows/pre-release.yml b/.github/workflows/pre-release-development.yml
similarity index 98%
rename from .github/workflows/pre-release.yml
rename to .github/workflows/pre-release-development.yml
index 29122ffe10..d851f2a9f8 100644
--- a/.github/workflows/pre-release.yml
+++ b/.github/workflows/pre-release-development.yml
@@ -9,7 +9,7 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: pre-release
+name: pre-release-development
 
 # Controls when the workflow will run
 on:
diff --git a/.github/workflows/pre-release-master.yml b/.github/workflows/pre-release-master.yml
new file mode 100644
index 0000000000..3dbd35e155
--- /dev/null
+++ b/.github/workflows/pre-release-master.yml
@@ -0,0 +1,50 @@
+# This adds "pre-release" builds for Github Actions. These:
+#   - check if the package builds, installs without issues
+#   - if unit/system tests are defined, runs them
+# If these pass, we cover the general requirements of ROS-based repositories.
+#
+# These builds run on Github machines, but in the same environment and using the same flow as actual ROS
+# distro build farm releases, hence "pre-release".
+#
+# This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
+# For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
+
+name: pre-release-master
+
+# Controls when the workflow will run
+on:
+  # Triggers the workflow on push or pull request events but only for the ros2-development branch
+  push:
+    branches:
+      - ros2-master
+  pull_request:
+    branches:
+      - ros2-master
+  # Allows you to run this workflow manually from the Actions tab
+  workflow_dispatch:
+
+permissions: read-all
+
+jobs:
+  build:
+    name: Build pre-release tests for ROS2 ${{ matrix.ros_distro }} and ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        ros_distro: [iron, humble]
+        include:
+        - ros_distro: 'iron'
+          os: ubuntu-22.04
+        - ros_distro: 'humble'
+          os: ubuntu-22.04
+          
+    env:
+      ROS_DISTRO: ${{ matrix.ros_distro }}
+      PRERELEASE: true
+      BASEDIR: ${{ github.workspace }}/.work
+
+    steps:
+      - uses: actions/checkout@v4
+      - name: industrial_ci
+        uses: ros-industrial/industrial_ci@master
diff --git a/realsense2_camera/package.xml b/realsense2_camera/package.xml
index d2758d223a..9618ed9d78 100644
--- a/realsense2_camera/package.xml
+++ b/realsense2_camera/package.xml
@@ -21,7 +21,6 @@
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>realsense2_camera_msgs</depend>
-  <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>std_msgs</depend>
   <depend>nav_msgs</depend>