diff --git a/.github/ci/collection.yaml b/.github/ci/collection.yaml
new file mode 100644
index 000000000..bdcd46cf9
--- /dev/null
+++ b/.github/ci/collection.yaml
@@ -0,0 +1,62 @@
+---
+repositories:
+  gz-cmake:
+    type: git
+    url: https://github.com/gazebosim/gz-cmake
+    version: main
+  gz-common:
+    type: git
+    url: https://github.com/gazebosim/gz-common
+    version: main
+  gz-fuel-tools:
+    type: git
+    url: https://github.com/gazebosim/gz-fuel-tools
+    version: main
+  gz-sim:
+    type: git
+    url: https://github.com/gazebosim/gz-sim
+    version: main
+  gz-gui:
+    type: git
+    url: https://github.com/gazebosim/gz-gui
+    version: main
+  gz-math:
+    type: git
+    url: https://github.com/gazebosim/gz-math
+    version: main
+  gz-msgs:
+    type: git
+    url: https://github.com/gazebosim/gz-msgs
+    version: main
+  gz-physics:
+    type: git
+    url: https://github.com/gazebosim/gz-physics
+    version: main
+  gz-plugin:
+    type: git
+    url: https://github.com/gazebosim/gz-plugin
+    version: main
+  gz-rendering:
+    type: git
+    url: https://github.com/gazebosim/gz-rendering
+    version: main
+  gz-sensors:
+    type: git
+    url: https://github.com/gazebosim/gz-sensors
+    version: main
+  gz-tools:
+    type: git
+    url: https://github.com/gazebosim/gz-tools
+    version: main
+  gz-transport:
+    type: git
+    url: https://github.com/gazebosim/gz-transport
+    version: main
+  gz-utils:
+    type: git
+    url: https://github.com/gazebosim/gz-utils
+    version: main
+  sdformat:
+    type: git
+    url: https://github.com/gazebosim/sdformat
+    version: main
diff --git a/.github/ci/packages_up_to_sdformat.yaml b/.github/ci/packages_up_to_sdformat.yaml
new file mode 100644
index 000000000..5139ae36a
--- /dev/null
+++ b/.github/ci/packages_up_to_sdformat.yaml
@@ -0,0 +1,22 @@
+---
+repositories:
+  gz-cmake:
+    type: git
+    url: https://github.com/gazebosim/gz-cmake
+    version: main
+  gz-math:
+    type: git
+    url: https://github.com/gazebosim/gz-math
+    version: main
+  gz-tools:
+    type: git
+    url: https://github.com/gazebosim/gz-tools
+    version: scpeters/colcon-test-result
+  gz-utils:
+    type: git
+    url: https://github.com/gazebosim/gz-utils
+    version: main
+  sdformat:
+    type: git
+    url: https://github.com/gazebosim/sdformat
+    version: main
diff --git a/.github/workflows/ci_dependencies_from_source.yaml b/.github/workflows/ci_dependencies_from_source.yaml
new file mode 100644
index 000000000..b33f82f44
--- /dev/null
+++ b/.github/workflows/ci_dependencies_from_source.yaml
@@ -0,0 +1,52 @@
+name: Ubuntu CI from source
+run-name: Testing ${{ inputs.packages-to-test }} | vcs ${{ inputs.vcs-repo-file-base }} ${{ inputs.vcs-repo-file }}
+
+on:
+  push:
+    branches:
+      - 'scpeters/action_ros_ci_rotary'
+  workflow_dispatch:
+    inputs:
+      packages-to-test:
+        description: Names of packages to test (e.g. 'gz-math sdformat').
+        required: true
+        type: string
+        default: sdformat
+      vcs-repo-file-base:
+        description: Choose whether vcs-repo-file represents a relative path in the github workspace or a URL.
+        required: true
+        default: relative
+        type: choice
+        options:
+          - relative
+          - url
+      vcs-repo-file:
+        description: Relative path or URL to vcs repo file to import into colcon workspace
+        required: true
+        type: string
+        default: ".github/ci/packages_up_to_sdformat.yaml"
+
+jobs:
+  noble-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Resolute CI (from source)
+    container:
+      image: rostooling/setup-ros-docker:ubuntu-resolute-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v7
+      - name: Compile and test
+        uses: ros-tooling/action-ros-ci@v0.4
+        with:
+          package-name: gz-physics
+          target-ros2-distro: lyrical
+          vcs-repo-file-url: ${{ github.workspace }}/.github/ci/collection.yaml
+          colcon-defaults: |
+            {
+              "build": {
+                "merge-install": true
+              },
+              "test": {
+                "merge-install": true
+              }
+            }