diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 6d06509..2bfcffe 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -72,7 +72,7 @@ jobs:
       fail-fast: false
       matrix:
           base_image_name: [ubuntu]
-          ros_distro: [noetic, humble, jazzy, rolling]
+          ros_distro: [noetic, humble, jazzy, kilted, rolling]
           ros_variant: [desktop, ros-base]
           include:
 
@@ -112,6 +112,18 @@ jobs:
             rmw_implementations: ros-jazzy-rmw-fastrtps-cpp,ros-jazzy-rmw-cyclonedds-cpp,ros-jazzy-rmw-connextdds
             output_image_tag: ubuntu-noble-ros-jazzy-ros-base
 
+          # Kilted Kaiju (May 2025 - December 2026)
+          - ros_distro: kilted
+            base_image_tag: noble
+            ros_variant: desktop
+            rmw_implementations: ros-kilted-rmw-fastrtps-cpp,ros-kilted-rmw-cyclonedds-cpp,ros-kilted-rmw-connextdds
+            output_image_tag: ubuntu-noble-ros-kilted-desktop
+          - ros_distro: kilted
+            base_image_tag: noble
+            ros_variant: ros-base
+            rmw_implementations: ros-kilted-rmw-fastrtps-cpp,ros-kilted-rmw-cyclonedds-cpp,ros-kilted-rmw-connextdds
+            output_image_tag: ubuntu-noble-ros-kilted-ros-base
+
           # Rolling Ridley (June 2020 - Ongoing)
           - ros_distro: rolling
             base_image_tag: noble
diff --git a/setup-ros.sh b/setup-ros.sh
index 810e59b..aa1da9f 100755
--- a/setup-ros.sh
+++ b/setup-ros.sh
@@ -36,14 +36,16 @@ curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr
 RTI_CONNEXT_DDS=""
 
 if [ -z $ROS_VERSION ]; then
-	ROS_VERSION='ros2'
+	ROS_VERSION="ros2"
 	case ${ROS_DISTRO} in
 		"noetic")
 			ROS_VERSION="ros"
 			;;
-		*)
+		"humble" | "jazzy")
 			RTI_CONNEXT_DDS="rti-connext-dds-6.0.1"
-			ROS_VERSION="ros2"
+			;;
+		*)
+			RTI_CONNEXT_DDS="rti-connext-dds-7.3.0-ros"
 			;;
 	esac
 fi