diff --git a/.github/workflows/ci-iron.yaml b/.github/workflows/ci-iron.yaml
index c6993d08..81837e0e 100644
--- a/.github/workflows/ci-iron.yaml
+++ b/.github/workflows/ci-iron.yaml
@@ -1,10 +1,14 @@
 name: gz_ros2_control CI - Iron
 
 on:
+  workflow_dispatch:
   pull_request:
     branches: [ iron ]
   push:
     branches: [ iron ]
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 4 * * *'
 
 jobs:
   build:
@@ -38,7 +42,14 @@ jobs:
     container:
       image: ${{ matrix.docker-image }}
     steps:
-    - uses: actions/checkout@v4
+    - name: Checkout code
+      if: github.event_name != 'schedule'
+      uses: actions/checkout@v4
+    - name: Checkout code for scheduled workflow
+      if: github.event_name == 'schedule'
+      uses: actions/checkout@v4
+      with:
+        ref: iron
     - name: Setup colcon workspace
       id: configure
       shell: bash
diff --git a/README.md b/README.md
index cc1a30a5..38347ec3 100644
--- a/README.md
+++ b/README.md
@@ -24,7 +24,7 @@ Rolling | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tr
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
 **Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/master/index.html) <br /> [API Reference](https://control.ros.org/master/doc/api/index.html)
-**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
+**Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [![ign_ros2_control CI - Humble](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 ## Documentation
 See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/gz_ros2_control/doc/index.html)