diff --git a/vinca/generate_gha.py b/vinca/generate_gha.py
index 6db5927..27f553a 100644
--- a/vinca/generate_gha.py
+++ b/vinca/generate_gha.py
@@ -159,12 +159,16 @@ def dump_for_gha(doc, f):
 
 
 def get_stage_name(batch):
-    legacy_prefix = f"ros-{config.ros_distro}-"
+    """Job name: the batch's packages without their ros-<distro>- or ros2- prefix, each
+    once (with package_name_mode: both a package has a recipe under either name)."""
+    prefixes = (f"ros-{config.ros_distro}-", "ros2-")
     stage_name = []
     for pkg in batch:
-        if pkg.startswith(legacy_prefix):
-            stage_name.append(pkg[len(legacy_prefix) :])
-        else:
+        for prefix in prefixes:
+            if pkg.startswith(prefix):
+                pkg = pkg[len(prefix) :]
+                break
+        if pkg not in stage_name:
             stage_name.append(pkg)
     return " ".join(stage_name)
 
diff --git a/vinca/test_generate_gha.py b/vinca/test_generate_gha.py
index 1d4cb1f..7226414 100644
--- a/vinca/test_generate_gha.py
+++ b/vinca/test_generate_gha.py
@@ -27,19 +27,21 @@ def rolling_distro():
     [
         ("ros-rolling-rclcpp", "rclcpp"),
         ("ros-rolling-ament-package", "ament-package"),
-        ("ros2-rclcpp", "ros2-rclcpp"),
-        ("ros2-ament-package", "ros2-ament-package"),
-        ("ros2-distro-mutex", "ros2-distro-mutex"),
+        ("ros2-rclcpp", "rclcpp"),
+        ("ros2-ament-package", "ament-package"),
+        ("ros2-distro-mutex", "distro-mutex"),
+        ("ros2-ros2-control", "ros2-control"),
+        ("ros2cli", "ros2cli"),
         ("ros-humble-rclcpp", "ros-humble-rclcpp"),
     ],
 )
-def test_get_stage_name_strips_only_the_legacy_prefix(package, expected):
+def test_get_stage_name_strips_the_package_prefix(package, expected):
     assert get_stage_name([package]) == expected
 
 
-def test_get_stage_name_joins_a_batch():
-    batch = ["ros-rolling-rclcpp", "ros2-ament-package"]
-    assert get_stage_name(batch) == "rclcpp ros2-ament-package"
+def test_get_stage_name_joins_a_batch_and_lists_each_package_once():
+    batch = ["ros2-rclcpp", "ros-rolling-rclcpp", "ros2-ament-package"]
+    assert get_stage_name(batch) == "rclcpp ament-package"
 
 
 def test_unix_pipeline_sets_up_pixi(tmp_path):