diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
index 50e6d7205b..1d0df06981 100644
--- a/.github/workflows/build.yaml
+++ b/.github/workflows/build.yaml
@@ -11,6 +11,7 @@ jobs:
           - noetic
           - foxy
           - humble
+          - iron
           - rolling
         system:
           - x86_64-linux
diff --git a/distros/default.nix b/distros/default.nix
index dc898cc708..bd3958d92c 100644
--- a/distros/default.nix
+++ b/distros/default.nix
@@ -29,6 +29,12 @@ self: super: {
       python = self.python3;
     } self super;
 
+    iron = import ./distro-overlay.nix {
+      version = 2;
+      distro = "iron";
+      python = self.python3;
+    } self super;
+
     rolling = import ./distro-overlay.nix {
       version = 2;
       distro = "rolling";
diff --git a/distros/iron/overrides.nix b/distros/iron/overrides.nix
new file mode 100644
index 0000000000..d2a751f326
--- /dev/null
+++ b/distros/iron/overrides.nix
@@ -0,0 +1,105 @@
+# Top level package set
+self:
+# Distro package set
+rosSelf: rosSuper: with rosSelf.lib; {
+  cyclonedds = rosSuper.cyclonedds.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = [
+      # Fix paths in pkg-config file
+      # https://github.com/eclipse-cyclonedds/cyclonedds/pull/1453
+      (self.fetchpatch {
+        url = "https://github.com/eclipse-cyclonedds/cyclonedds/commit/3ff967e32b8078d497a8b9c70735849c04eaebf6.patch";
+        hash = "sha256-F5zofoO0YbYfqLrb6s30un9k9+R8rQazLHw+uND1UxE=";
+      })
+    ];
+  });
+
+  gazebo = self.gazebo_11;
+
+  iceoryx-hoofs = rosSuper.iceoryx-hoofs.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      (self.fetchpatch {
+        url = "https://github.com/eclipse-iceoryx/iceoryx/commit/acc1e979a2d5ca30737efb077b00b42f1c4a8429.patch";
+        hash = "sha256-npFHdb0a3JBA8T6vke54DA08C93aNc/7c6xrfMBo7zI=";
+        stripLen = 1;
+      })
+    ];
+  });
+
+  iceoryx-posh = (patchVendorGit rosSuper.iceoryx-posh {
+    url = "https://github.com/skystrife/cpptoml.git";
+    file = "cmake/cpptoml/cpptoml.cmake.in";
+    fetchgitArgs = {
+      rev = "v0.1.1";
+      sha256 = "0gxzzi4xbjszzlvmzaniayrd190kag1pmkn1h384s80cvqphbr00";
+    };
+  }).overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      (self.fetchpatch {
+        url = "https://github.com/eclipse-iceoryx/iceoryx/commit/d4519632964794553791ef3f951ed47ca52ebbb6.patch";
+        hash = "sha256-f4kITUql8uFSptFmu7LZGChlfDG63b0gmsRyHp1NsWw=";
+        stripLen = 1;
+      })
+    ];
+  });
+
+  libphidget22 = patchVendorUrl rosSuper.libphidget22 {
+    url = "https://www.phidgets.com/downloads/phidget22/libraries/linux/libphidget22/libphidget22-1.9.20220203.tar.gz";
+    sha256 = "sha256-CJ1ZC7ydrZzEsZChrKuWg4/d20r6szFWeQCctiKFLgY=";
+  };
+
+  libyaml-vendor = patchVendorGit rosSuper.libyaml-vendor {
+    url = "https://github.com/yaml/libyaml.git";
+    fetchgitArgs = {
+      rev = "2c891fc7a770e8ba2fec34fc6b545c672beb37e6";
+      hash = "sha256-S7PnooyfyAsIiRAlEPGYkgkVACGaBaCItuqOwrq2+qM=";
+    };
+  };
+
+  mcap-vendor = patchVendorGit (patchVendorUrl rosSuper.mcap-vendor {
+    url = "https://github.com/foxglove/mcap/archive/refs/tags/releases/cpp/v0.8.0.tar.gz";
+    sha256 = "sha256-KDP3I0QwjqWGOfOzY6DPF2aVgK56tDX0PzsQTP9u9Ug=";
+  }) {
+    url = "https://github.com/lz4/lz4.git";
+    fetchgitArgs = {
+      rev = "d44371841a2f1728a3f36839fd4b7e872d0927d3";
+      hash = "sha256-f7GZgOzUrkAfw1mqwlIKQQqDvkvIahGlHvq6AL+aAvA=";
+    };
+  };
+
+  rviz-ogre-vendor = patchVendorUrl rosSuper.rviz-ogre-vendor {
+    url = "https://github.com/OGRECave/ogre/archive/v1.12.1.zip";
+    sha256 = "1iv6k0dwdzg5nnzw2mcgcl663q4f7p2kj7nhs8afnsikrzxxgsi4";
+  };
+
+  urdfdom = rosSuper.urdfdom.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # Fix CMake relative install dir assumptions
+      # https://github.com/ros/urdfdom/pull/142
+      (self.fetchpatch {
+        url = "https://github.com/ros/urdfdom/commit/cbe6884d267779463bb444be851f6404e692cc0a.patch";
+        hash = "sha256-1gTRKIGqiSRion76bGecSfFJSBskYUJguUIa6ePIiX4=";
+      })
+    ];
+  });
+
+  urdfdom-headers = rosSuper.urdfdom-headers.overrideAttrs ({
+    patches ? [], ...
+  }: {
+    patches = patches ++ [
+      # Fix CMake relative install dir assumptions
+      # https://github.com/ros/urdfdom_headers/pull/66
+      (self.fetchpatch {
+        url = "https://github.com/ros/urdfdom_headers/commit/c9c993147bbf18d5ec83bae684c5780281e529b4.patch";
+        hash = "sha256-BnYPdcetYSim2O1R38N0d1tY0Id++AgKNic8+dlM6Vg=";
+      })
+    ];
+  });
+}