diff --git a/vinca/generate_gha.py b/vinca/generate_gha.py
index de9e73c..8d541e1 100644
--- a/vinca/generate_gha.py
+++ b/vinca/generate_gha.py
@@ -238,10 +238,11 @@ def dump_for_gha(doc, f):
 
 
 def get_stage_name(batch):
+    legacy_prefix = f"ros-{config.ros_distro}-"
     stage_name = []
     for pkg in batch:
-        if len(pkg.split("-")) > 2:
-            stage_name.append("-".join(pkg.split("-")[2:]))
+        if pkg.startswith(legacy_prefix):
+            stage_name.append(pkg[len(legacy_prefix) :])
         else:
             stage_name.append(pkg)
     return " ".join(stage_name)
diff --git a/vinca/test_generate_gha.py b/vinca/test_generate_gha.py
new file mode 100644
index 0000000..79c8b8d
--- /dev/null
+++ b/vinca/test_generate_gha.py
@@ -0,0 +1,34 @@
+"""Tests for the GitHub Actions pipeline generation."""
+
+import pytest
+
+from vinca import config
+from vinca.generate_gha import get_stage_name
+
+
+@pytest.fixture(autouse=True)
+def rolling_distro():
+    previous = config.ros_distro
+    config.ros_distro = "rolling"
+    yield
+    config.ros_distro = previous
+
+
+@pytest.mark.parametrize(
+    "package,expected",
+    [
+        ("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"),
+        ("ros-humble-rclcpp", "ros-humble-rclcpp"),
+    ],
+)
+def test_get_stage_name_strips_only_the_legacy_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"