diff --git a/.github/workflows/colcon-workspace.yml b/.github/workflows/colcon-workspace.yml
index e02db9b3..f878a095 100644
--- a/.github/workflows/colcon-workspace.yml
+++ b/.github/workflows/colcon-workspace.yml
@@ -5,15 +5,14 @@ on: [push, pull_request]
 jobs:
   # build on Ubuntu docker images
   build_linux:
-    name: Ubuntu (${{ matrix.ros_distribution }}, ${{ matrix.config }})
+    name: "Ubuntu (${{ matrix.ros_distribution }}, shared: ${{ matrix.cmake_shared_libs }})"
 
     runs-on: ubuntu-latest
 
     strategy:
       matrix:
         ros_distribution: [noetic, humble]
-        config: ["default"] # nice name
-        cmake_args: ['[ ]'] # empty list of options
+        cmake_shared_libs: ["ON", "OFF"]
         include:
           - docker_image: ubuntu:20.04
             ros_distribution: noetic
@@ -23,13 +22,6 @@ jobs:
             ros_distribution: humble
             ros_version: 2
 
-          # build static library, this will set BUILD_PYTHON_WRAPPER to OFF
-          - docker_image: ubuntu:22.04
-            ros_distribution: humble
-            ros_version: 2
-            config: "static"
-            cmake_args: '[ "-DBUILD_SHARED_LIBS=OFF" ]'
-
     container:
       image: ${{ matrix.docker_image }}
 
@@ -40,8 +32,6 @@ jobs:
           apt install --no-install-recommends -y git ca-certificates
 
       - uses: actions/checkout@v4
-        #with:
-        #  submodules: recursive
 
       - name: Setup ROS environment
         uses: ros-tooling/setup-ros@v0.7
@@ -52,6 +42,7 @@ jobs:
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
@@ -59,23 +50,19 @@ jobs:
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": ${{ matrix.cmake_args }}
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
 
   # build on Windows native
   build_windows:
-    name: Windows (${{ matrix.ros_distribution }})
+    name: "Windows (${{ matrix.ros_distribution }}, shared: ${{ matrix.cmake_shared_libs }})"
 
     runs-on: windows-2022
 
     strategy:
       matrix:
         ros_distribution: [noetic, humble]
+        cmake_shared_libs: ["ON", "OFF"]
         include:
           - ros_distribution: noetic
             ros_version: 1
@@ -97,12 +84,7 @@ jobs:
         with:
           package-name: apriltag
           target-ros1-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
       - name: ROS 2 CI Action
         if: ${{ matrix.ros_version == 2 }}
@@ -110,16 +92,11 @@ jobs:
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_SHARED_LIBS=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_SHARED_LIBS=${{ matrix.cmake_shared_libs }}"
 
   # build on macOS native
   build_macos:
-    name: macOS (${{ matrix.ros_distribution }})
+    name: "macOS (${{ matrix.ros_distribution }})"
 
     runs-on: macos-latest
 
@@ -145,9 +122,4 @@ jobs:
         with:
           package-name: apriltag
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          colcon-defaults: |
-            {
-              "build": {
-                "cmake-args": [ "-DBUILD_PYTHON_WRAPPER=OFF" ]
-              }
-            }
+          extra-cmake-args: "-DBUILD_PYTHON_WRAPPER=OFF"