diff --git a/.github/workflows/sphinx-docs.yml b/.github/workflows/sphinx-docs.yml
index c5d03af3..161893e6 100644
--- a/.github/workflows/sphinx-docs.yml
+++ b/.github/workflows/sphinx-docs.yml
@@ -1,10 +1,23 @@
 name: Build and Deploy Sphinx Docs
 
 on:
+  workflow_dispatch:
   push:
     branches: [main]
+    paths:
+      - ".github/workflows/sphinx-docs.yml"
+      - "README.md"
+      - "docs/**"
+      - "client/python/projectairsim/docs/**"
+      - "client/python/projectairsim/src/**"
   pull_request:
     branches: [main]
+    paths:
+      - ".github/workflows/sphinx-docs.yml"
+      - "README.md"
+      - "docs/**"
+      - "client/python/projectairsim/docs/**"
+      - "client/python/projectairsim/src/**"
 
 jobs:
   build-docs:
diff --git a/.github/workflows/test_cpp_client.yml b/.github/workflows/test_cpp_client.yml
index a6df67ed..a37f1ec8 100644
--- a/.github/workflows/test_cpp_client.yml
+++ b/.github/workflows/test_cpp_client.yml
@@ -1,4 +1,4 @@
-name: C++ Client Build and Package
+name: C++ Client and ROS 2 C++ Node CI
 
 "on":
   workflow_dispatch:
@@ -8,27 +8,56 @@ name: C++ Client Build and Package
     paths:
       - ".github/workflows/test_cpp_client.yml"
       - "client/cpp/**"
-      - "build.cmd"
-      - "build.sh"
-      - "build_windows.mk"
-      - "build_linux.mk"
+      - "client/python/example_user_scripts/sim_config/**"
+      - "core_sim/**"
+      - "ros/projectairsim_ros2_cpp/**"
   push:
     branches:
       - main
     paths:
       - ".github/workflows/test_cpp_client.yml"
       - "client/cpp/**"
-      - "build.cmd"
-      - "build.sh"
-      - "build_windows.mk"
-      - "build_linux.mk"
+      - "client/python/example_user_scripts/sim_config/**"
+      - "core_sim/**"
+      - "ros/projectairsim_ros2_cpp/**"
 
 permissions:
   contents: read
+  pull-requests: read
 
 jobs:
+  changes:
+    name: Detect changed components
+    runs-on: ubuntu-22.04
+    outputs:
+      client: ${{ steps.filter.outputs.client }}
+      ros2: ${{ steps.filter.outputs.ros2 }}
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Detect relevant changes
+        id: filter
+        if: github.event_name != 'workflow_dispatch'
+        uses: dorny/paths-filter@v3
+        with:
+          filters: |
+            client:
+              - '.github/workflows/test_cpp_client.yml'
+              - 'client/cpp/**'
+              - 'client/python/example_user_scripts/sim_config/**'
+              - 'core_sim/**'
+            ros2:
+              - '.github/workflows/test_cpp_client.yml'
+              - 'ros/projectairsim_ros2_cpp/**'
+              - 'client/cpp/**'
+              - 'client/python/example_user_scripts/sim_config/**'
+              - 'core_sim/**'
+
   windows:
     name: Windows package
+    needs: changes
+    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.client == 'true'
     runs-on: windows-2022
     timeout-minutes: 90
 
@@ -137,6 +166,8 @@ jobs:
 
   linux:
     name: Linux package (${{ matrix.os }})
+    needs: changes
+    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.client == 'true'
     runs-on: ${{ matrix.os }}
     timeout-minutes: 90
 
@@ -255,3 +286,50 @@ jobs:
             packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-linux64.tar.gz
             packages/projectairsim_cpp_client/ProjectAirSimCppClient-*-linux64.tar.gz.sha256
           if-no-files-found: error
+
+  ros2-humble:
+    name: ROS 2 Humble node build and unit tests
+    needs: changes
+    if: github.event_name == 'workflow_dispatch' || needs.changes.outputs.ros2 == 'true'
+    runs-on: ubuntu-22.04
+    timeout-minutes: 45
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up ROS 2 Humble
+        uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: humble
+
+      - name: Install package dependencies
+        shell: bash
+        run: |
+          rosdep update
+          rosdep install \
+            --from-paths ros/projectairsim_ros2_cpp \
+            --ignore-src \
+            --rosdistro humble \
+            -y
+
+      - name: Build node
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          colcon build \
+            --base-paths ros \
+            --packages-select projectairsim_ros2_cpp \
+            --cmake-args -DBUILD_TESTING=ON \
+            --event-handlers console_direct+
+
+      - name: Run unit tests
+        shell: bash
+        run: |
+          source /opt/ros/humble/setup.bash
+          source install/setup.bash
+          colcon test \
+            --base-paths ros \
+            --packages-select projectairsim_ros2_cpp \
+            --return-code-on-test-failure \
+            --event-handlers console_direct+
+          colcon test-result --test-result-base build --verbose
diff --git a/.github/workflows/test_linux_simlibs_debug.yml b/.github/workflows/test_linux_simlibs_debug.yml
deleted file mode 100644
index b57e193f..00000000
--- a/.github/workflows/test_linux_simlibs_debug.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-name: Linux SimLibs Debug Tests
-
-on:
-  pull_request:
-    branches:
-      - main
-  push:
-    branches:
-      - main
-
-jobs:
-  test-simlibs-debug:
-    runs-on: ubuntu-24.04
-    timeout-minutes: 180
-
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Linux Prerequisites
-        shell: bash
-        run: |
-          sudo apt-get update
-          sudo apt-get -y install --no-install-recommends \
-            build-essential rsync make cmake \
-            clang-18 libc++-18-dev libc++abi-18-dev \
-            ninja-build libvulkan1 vulkan-tools \
-            libeigen3-dev
-
-      - name: Configure Clang Compatibility
-        shell: bash
-        run: |
-          sudo ln -sf /usr/bin/clang-18 /usr/bin/clang-13
-          sudo ln -sf /usr/bin/clang++-18 /usr/bin/clang++-13
-
-      - name: Build SimLibs
-        shell: bash
-        run: |
-          chmod +x ./build.sh
-          ./build.sh simlibs_release
-
-      - name: Test SimLibs
-        shell: bash
-        run: |
-          ./build.sh test_simlibs_release
diff --git a/.github/workflows/test_linux_simlibs_release.yml b/.github/workflows/test_linux_simlibs_release.yml
new file mode 100644
index 00000000..0406f159
--- /dev/null
+++ b/.github/workflows/test_linux_simlibs_release.yml
@@ -0,0 +1,67 @@
+name: Linux SimLibs Release Tests
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - main
+    paths:
+      - ".github/workflows/test_linux_simlibs_release.yml"
+      - "CMakeLists.txt"
+      - "build.cmd"
+      - "build.sh"
+      - "build_linux.mk"
+      - "setup_linux_dev_tools.sh"
+      - "core_sim/**"
+      - "mavlinkcom/**"
+      - "physics/**"
+      - "rendering/**"
+      - "samples/**"
+      - "simserver/**"
+      - "tools/**"
+      - "unity/**"
+      - "vehicle_apis/**"
+  push:
+    branches:
+      - main
+    paths:
+      - ".github/workflows/test_linux_simlibs_release.yml"
+      - "CMakeLists.txt"
+      - "build.cmd"
+      - "build.sh"
+      - "build_linux.mk"
+      - "setup_linux_dev_tools.sh"
+      - "core_sim/**"
+      - "mavlinkcom/**"
+      - "physics/**"
+      - "rendering/**"
+      - "samples/**"
+      - "simserver/**"
+      - "tools/**"
+      - "unity/**"
+      - "vehicle_apis/**"
+
+jobs:
+  test-simlibs-release:
+    runs-on: ubuntu-22.04
+    timeout-minutes: 180
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Linux development tools
+        shell: bash
+        run: |
+          chmod +x ./setup_linux_dev_tools.sh
+          ./setup_linux_dev_tools.sh
+
+      - name: Build SimLibs
+        shell: bash
+        run: |
+          chmod +x ./build.sh
+          ./build.sh simlibs_release
+
+      - name: Test SimLibs
+        shell: bash
+        run: |
+          ./build.sh test_simlibs_release
diff --git a/.github/workflows/test_on_self_hosted.yml b/.github/workflows/test_on_self_hosted.yml
index e3865fa3..40be4432 100644
--- a/.github/workflows/test_on_self_hosted.yml
+++ b/.github/workflows/test_on_self_hosted.yml
@@ -4,6 +4,24 @@ on:
   pull_request:
     branches:
       - main
+    paths:
+      - ".github/workflows/test_on_self_hosted.yml"
+      - "CMakeLists.txt"
+      - "build.sh"
+      - "build_linux.mk"
+      - "setup_linux_dev_tools.sh"
+      - "unreal-linux-toolchain.cmake"
+      - "client/python/**"
+      - "core_sim/**"
+      - "mavlinkcom/**"
+      - "physics/**"
+      - "rendering/**"
+      - "samples/**"
+      - "simserver/**"
+      - "tools/**"
+      - "unity/**"
+      - "unreal/**"
+      - "vehicle_apis/**"
     # Only run when the self-hosted label is added; the job itself still
     # rejects draft PRs and PRs without run-self-hosted.
     types: [labeled]
diff --git a/.github/workflows/test_windows.yml b/.github/workflows/test_windows.yml
index 698b9bc7..2734a1b2 100644
--- a/.github/workflows/test_windows.yml
+++ b/.github/workflows/test_windows.yml
@@ -2,12 +2,41 @@ name: Windows Build and Tests
 
 # Controls when the action will run.
 on:
+  workflow_dispatch:
   pull_request:
     branches:
       - main
+    paths:
+      - ".github/workflows/test_windows.yml"
+      - "CMakeLists.txt"
+      - "build.cmd"
+      - "build_windows.mk"
+      - "core_sim/**"
+      - "mavlinkcom/**"
+      - "physics/**"
+      - "rendering/**"
+      - "samples/**"
+      - "simserver/**"
+      - "tools/**"
+      - "unity/**"
+      - "vehicle_apis/**"
   push:
     branches:
       - main
+    paths:
+      - ".github/workflows/test_windows.yml"
+      - "CMakeLists.txt"
+      - "build.cmd"
+      - "build_windows.mk"
+      - "core_sim/**"
+      - "mavlinkcom/**"
+      - "physics/**"
+      - "rendering/**"
+      - "samples/**"
+      - "simserver/**"
+      - "tools/**"
+      - "unity/**"
+      - "vehicle_apis/**"
 
 jobs:
   build:
@@ -31,4 +60,4 @@ jobs:
 
       - name: Run SimLibs Debug Tests
         shell: cmd
-        run: build test_simlibs_debug
\ No newline at end of file
+        run: build test_simlibs_debug