diff --git a/.github/workflows/ros_integration_tests.yml b/.github/workflows/ros_integration_tests.yml
index 022b46fb10..d45c6cd36c 100644
--- a/.github/workflows/ros_integration_tests.yml
+++ b/.github/workflows/ros_integration_tests.yml
@@ -89,7 +89,17 @@ jobs:
         . /opt/ros/galactic/setup.bash
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
-        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        # 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: $BRANCH"
+          git clone --recursive --branch "$BRANCH" "$REPO_URL"
+        else
+          echo "Branch '$BRANCH' not found in px4-ros2-interface-lib, using default (main)"
+          git clone --recursive "$REPO_URL"
+        fi
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"