diff --git a/.github/workflows/ros_integration_tests.yml b/.github/workflows/ros_integration_tests.yml
index 7629522837..f5b38292f0 100644
--- a/.github/workflows/ros_integration_tests.yml
+++ b/.github/workflows/ros_integration_tests.yml
@@ -89,7 +89,9 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        BRANCH="${GITHUB_HEAD_REF:-$GITHUB_REF_NAME}"
+        # On a PR, target the branch we're merging into (main or release/X.Y).
+        # On a direct push, fall back to the branch we're running on.
+        BRANCH="${GITHUB_BASE_REF:-$GITHUB_REF_NAME}"
         REPO_URL="https://github.com/Auterion/px4-ros2-interface-lib.git"
         if git ls-remote --heads "$REPO_URL" "$BRANCH" | grep -q "$BRANCH"; then
           echo "Cloning px4-ros2-interface-lib with matching branch: $BRANCH"