From 7e70950bc23bda9e04489b75eccb3e436f7d7147 Mon Sep 17 00:00:00 2001
From: Nick Linthacum <73039714+nlinthacum@users.noreply.github.com>
Date: Wed, 18 Jan 2023 23:56:57 -0800
Subject: [PATCH 01/23] Update services.md (#393)

Spelling Correction
---
 _docs/tutorials/programming_rcl_rclc/service/services.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/programming_rcl_rclc/service/services.md b/_docs/tutorials/programming_rcl_rclc/service/services.md
index 1afaa19b..f117354b 100644
--- a/_docs/tutorials/programming_rcl_rclc/service/services.md
+++ b/_docs/tutorials/programming_rcl_rclc/service/services.md
@@ -22,7 +22,7 @@ Ready to use code related to this concepts can be found in [`micro-ROS-demos/rcl
 ## Service server
 
 ### Initialization
-Starting from a code where RCL is initialized and a micro-ROS node is created, there are tree ways to initialize a service server:
+Starting from a code where RCL is initialized and a micro-ROS node is created, there are three ways to initialize a service server:
 
 - Reliable (default):
 

From 86d4d34f6fa44e10afd02ba036dd236eb3357636 Mon Sep 17 00:00:00 2001
From: Ralph Lange <ralph-lange@users.noreply.github.com>
Date: Tue, 7 Feb 2023 18:08:25 +0100
Subject: [PATCH 02/23] Added blog post and link to new book chapter on
 micro-ROS. (#395)

Signed-off-by: Ralph Lange <ralph.lange@de.bosch.com>
---
 _posts/2023-02-06-micro-ROS-book-chapter.md | 10 ++++++++++
 index.html                                  |  3 +++
 2 files changed, 13 insertions(+)
 create mode 100644 _posts/2023-02-06-micro-ROS-book-chapter.md

diff --git a/_posts/2023-02-06-micro-ROS-book-chapter.md b/_posts/2023-02-06-micro-ROS-book-chapter.md
new file mode 100644
index 00000000..09baf75f
--- /dev/null
+++ b/_posts/2023-02-06-micro-ROS-book-chapter.md
@@ -0,0 +1,10 @@
+---
+title: Book chapter on micro-ROS published
+author: ralph-lange
+---
+
+We are pleased to announce that our comprehensive book chapter on micro-ROS, which appeared in Volume 7 of _'Robot Operating System (ROS): The Complete Reference'_, is now available at [Springer Link](https://doi.org/10.1007/978-3-031-09062-2_2). The 53 pages cover all aspects of the micro-ROS stack, from requirements, design rationales, and architecture to three very different use-cases. To cite the chapter please use:
+
+Kaiwalya Belsare, Antonio Cuadros Rodriguez, Pablo Garrido Sánchez, Juanjo Hierro, Tomasz Kołcon, Ralph Lange, Ingo Lütkebohle, Alexandre Malki, Jaime Martin Losa, Francisco Melendez, Maria Merlan Rodriguez, Arne Nordmann, Jan Staschulat, and Julian von Mendel: Micro-ROS. In: _Anis Koubaa (ed.) Robot Operating System (ROS): The Complete Reference (Volume 7)_, Springer International Publishing, pp. 3–55, 2023.
+
+A reading sample is available on [Google Books](https://books.google.de/books?hl=de&lr=&id=6RGrEAAAQBAJ&oi=fnd&pg=PA3).
diff --git a/index.html b/index.html
index 09fd3501..f5a9036f 100644
--- a/index.html
+++ b/index.html
@@ -133,6 +133,9 @@ <h3 class="text-center"><i class="fa fa-code-fork" aria-hidden="true" style="fon
             <p style="text-align:justify;">micro-ROS represents one of four exclusive elements of <a href="https://vulcanexus.org/">Vulcanexus</a>, the all-in-one ROS 2 tool set. Vulcanexus offers free Dockers for Galactic and Humble.</p>
             <p style="text-align:justify;">Developed an new feature or found a bug? We answer both Github pull requests and issues.</p>
 
+            <!-- BOOK CHAPTER -->
+            <h3 class="text-center"><i class="fa fa-book" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Book chapter</h3>
+            <p style="text-align:justify;">The chapter <a href="https://doi.org/10.1007/978-3-031-09062-2_2">'Micro-ROS'</a> in Volume 7 of Springer's ROS Book Series gives a comprehensive overview to the whole micro-ROS stack. A reading sample is available on <a href="https://books.google.de/books?hl=de&lr=&id=6RGrEAAAQBAJ&oi=fnd&pg=PA3">Google Books</a>.</p>
         </div>
     </div>
     <script>

From 192c839e1d2a58cf7550e58a87651886780a8eba Mon Sep 17 00:00:00 2001
From: Phaedrus Leeds <mwl458@gmail.com>
Date: Tue, 14 Feb 2023 09:07:24 -0800
Subject: [PATCH 03/23] execution_management: Fix typos/grammar (#396)

Authored-by: Phaedrus Leeds <phaedrus.leeds@aero.org>
---
 .../client_library/execution_management/index.md     | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md
index b4596d9d..3532ea62 100644
--- a/_docs/concepts/client_library/execution_management/index.md
+++ b/_docs/concepts/client_library/execution_management/index.md
@@ -71,7 +71,7 @@ Given the goals for a Real-Time Executor and the limitations of the ROS 2 standa
 - to model requirements (like latencies, determinism in subsystems)
 - mapping of ROS 2 framework and operating system schedulers (semi-automated and optimized mapping is desired as well as generic, well-understood framework mechanisms)
 
-Our approach is to provide a real-time-capable Executor for the rcl+rclc layer (as described in section [Introduction to Client Library](../).) in the C programming language .
+Our approach is to provide a real-time-capable Executor for the rcl+rclc layer (as described in section [Introduction to Client Library](../).) in the C programming language.
 
 As the first step, we propose the rclc Executor for the rcl-layer in C programming language with several new features to support real-time and deterministic execution: It supports 1.) user-defined static sequential execution, 2) conditional execution semantics, 3) multi-threaded execution with scheduling configuration, and 4) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). Configuration of scheduling parameters for multi-threaded application accomplishes prioritized execution. The logical execution time concept (LET) provides data synchronization for fixed periodic task scheduling of embedded applications. 
 
@@ -218,7 +218,7 @@ Figure 7: Processes with sequentially executed tasks.
 While there are different ways to assign priorities to a given number of processes,
 the rate-monotonic scheduling assignment, in which processes with a shorter period have a higher priority, has been shown optimal if the processor utilization is less than 69% [[LL1973](#LL1973)].
 
- In the last decades many different scheduling approaches have been presented, however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [[KZH2015](#KZH2015)]. This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain.
+ In the last decades many different scheduling approaches have been presented; however fixed-periodic preemptive scheduling is still widely used in embedded real-time systems [[KZH2015](#KZH2015)]. This becomes also obvious, when looking at the features of current operating systems. Like Linux, real-time operating systems, such as NuttX, Zephyr, FreeRTOS, QNX etc., support fixed-periodic preemptive scheduling and the assignment of priorities, which makes the time-triggered paradigm the dominant design principle in this domain.
 
 However, data consistency is often an issue when preemptive scheduling is used and if data is being shared across multiple processes via global variables. Due to scheduling effects and varying execution times of processes, writing and reading these variables could occur sometimes sooner or later. This results in a latency jitter of update times (the timepoint at which a variable change becomes visible to other processes). Race conditions can occur when multiple processes access a variable at the same time. So to solve this problem, the concept of logical-execution time (LET) was introduced in [[HHK2001](#HHK2001)], in which communication of data occurs only at pre-defined periodic time instances: Reading data only at the beginning of the period and writing data only at the end of the period. The cost of an additional latency delay is traded for data consistency and reduced jitter. This concept has also recently been applied to automotive applications[[NSP2018](#NSP2018)].
 
@@ -350,7 +350,7 @@ The selection of the Executor semantics is optional. The default semantics is "R
 
 #### Multi-threading and scheduling configuration
 
-The rclc Executor has been extended for multi-threading. It supports the assignment of scheduling policies, like priorities or more advanced scheduling algorithms as reservation-based scheduling, to subscription callbacks. [[Pull Request](https://github.com/ros2/rclc/pull/87), Pre-print [SLD2021](#SLD2021)]. The overall architecture is shown in Figure 15. One Executor thread is responsible for checking for new data from the DDS queue. For every callback, a thread is spawned with the dedicted scheduling policy provided by the operating system. The Executor then dispatches new data of a subscription to it's corresponding callback function, which is then executed in its own thread by operating system.
+The rclc Executor has been extended for multi-threading. It supports the assignment of scheduling policies, like priorities or more advanced scheduling algorithms as reservation-based scheduling, to subscription callbacks. [[Pull Request](https://github.com/ros2/rclc/pull/87), Pre-print [SLD2021](#SLD2021)]. The overall architecture is shown in Figure 15. One Executor thread is responsible for checking for new data from the DDS queue. For every callback, a thread is spawned with the dedicted scheduling policy provided by the operating system. The Executor then dispatches new data of a subscription to its corresponding callback function, which is then executed in its own thread by operating system.
 
 <center>
 <img src="png/rclc_executor_multi_threaded.png" alt="Multi-threaded rclc Executor" width="90%" />
@@ -505,9 +505,9 @@ rclc_executor_spin(&exe);
 
 #### Real-time embedded applications example
 
-With seqential execution the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own tread, to which an appropriate priority can be assigned.
+With sequential execution, the co-operative scheduling of tasks within a process can be modeled. The trigger condition is used to periodically activate the process which will then execute all callbacks in a pre-defined order. Data will be communicated using the LET-semantics. Every Executor is executed in its own thread, to which an appropriate priority can be assigned.
 
-In the following example, the Executor is setup with 4 handles. We assume a process has three subscriptions `sub1`, `sub2`, `sub3`. The sequential processing order is given by the order as they are added to the Executor. A timer `timer` defines the period.  The `trigger_one` with the paramter `timer` is used, so that whenever the timer is ready, all callbacks are processed. Finally the data communication semantics LET is defined.
+In the following example, the Executor is setup with 4 handles. We assume a process has three subscriptions `sub1`, `sub2`, `sub3`. The sequential processing order is given by the order as they are added to the Executor. A timer `timer` defines the period.  The `trigger_one` with the parameter `timer` is used, so that whenever the timer is ready, all callbacks are processed. Finally the data communication semantics LET is defined.
 ```C
 #include "rcl_executor/let_executor.h"
 
@@ -578,7 +578,7 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4
   - one publisher that periodically publishes
   - if Executors are running in multiple threads,
     publishing needs to be atomic
-- Multi-threaded executor with assignment of scheduling policies of unerlying operating system. [[Pull Request](https://github.com/ros2/rclc/pull/87), pre-print [SLD2021](#SLD2021)].
+- Multi-threaded executor with assignment of scheduling policies of underlying operating system. [[Pull Request](https://github.com/ros2/rclc/pull/87), pre-print [SLD2021](#SLD2021)].
 
 ### Download
 The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic, Humble and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples.

From 6903e3198809957b57f544a60f81471b27406414 Mon Sep 17 00:00:00 2001
From: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Date: Thu, 16 Feb 2023 14:20:13 +0100
Subject: [PATCH 04/23] Fix ping pong plantuml and update ruby CI action (#397)

* Fix ping pong plantuml

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Fix typo

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Update ruby version

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Modify ruby action

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Set specific ruby version

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

---------

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 .github/workflows/ci.yml                             | 6 +++---
 _includes/first_application_common/pingpong_logic.md | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 742791b0..386e2204 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,9 +16,9 @@ jobs:
         submodules: true
 
     - name: Set up Ruby 2.7
-      uses: actions/setup-ruby@v1
+      uses: ruby/setup-ruby@v1
       with:
-        ruby-version: 2.7.x
+        ruby-version: 2.7.0
 
     - name: Install Bundler
       run: gem install bundler
@@ -29,7 +29,7 @@ jobs:
         key: ${{ runner.os }}-gems-${{ hashFiles('**/Gemfile.lock') }}
         restore-keys: |
           ${{ runner.os }}-gems-
-    
+
     - name: Bundle install
       run: |
         bundle config path vendor/bundle
diff --git a/_includes/first_application_common/pingpong_logic.md b/_includes/first_application_common/pingpong_logic.md
index f82731a1..72490952 100644
--- a/_includes/first_application_common/pingpong_logic.md
+++ b/_includes/first_application_common/pingpong_logic.md
@@ -11,4 +11,4 @@ with a `pong`. To test that this logic is correctly functioning, we implement co
 
 The diagram below clarifies the communication flow between these entities:
 
-![pingpong](http://www.plantuml.com/plantuml/png/ZOwnIWGn48RxFCNFzSkoUG2vqce5jHEHi1dtWZkPa6GByNntavZY10yknMJu-ORlFwPiOjvvK-d3-M2YOR1uMKvHc93ZJafvoMML07d7h1NAE-DPWblg_na8vnwEx9OeZmzFOt1-BK7AzetJciPxCfRYVw1S0SbRLBEg1IpXPIvpUWLCmZpXIm6BS3addt7uQpu0ZQlxT1MK2r0g-7sfqbsbRrVfMrMwgbev3CDTlsqJGtJhATUmSMrMg5TKwaZUxfcttuMt7m00)
\ No newline at end of file
+![pingpong](https://www.plantuml.com/plantuml/png/ZOv1IyGm48Nl-HMFlPVI_W3PewSAwar4GZjsWvrCIAO7SVtlTc8FAxYmbydZyONl7Olwh2ilhdo4c7ps39OeuoaB4pIlv5oKYV0oRBTx1Np1qE7B0QDmaaXHSMWvZ5aU7vxQ5E9y02fdkRiAoWKe1dvVglfTrT-kwczLzQQguz0qT_lVUj7aC9_KoihLMw4wqGOgGIL1tZ6O43ZZML8OxVrCXFDU_jsv5KMdDovpQU_9JvJ_0-KAI762cPqxRd5LNdu3Bpy0)
\ No newline at end of file

From 083ed8a22f41cbfccfc1d06ef679798591e81afc Mon Sep 17 00:00:00 2001
From: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Date: Thu, 2 Mar 2023 16:10:06 +0100
Subject: [PATCH 05/23] Fix zephyr logo (#399)

* Update zephyr logo

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Fix part of missing links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

---------

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 _docs/concepts/rtos/index.md                    |   2 +-
 _docs/overview/docker_ci_status/index.md        |   2 +-
 _docs/overview/ext_tools/index.md               |   2 +-
 _docs/overview/hardware/index.md                |   2 +-
 _docs/overview/rtos/index.md                    |   2 +-
 .../microxrcedds_rmw_configuration/index.md     |   2 +-
 .../core/first_application_rtos/index.md        |   2 +-
 _docs/tutorials/core/zephyr_emulator/imgs/4.jpg | Bin 77092 -> 0 bytes
 _docs/tutorials/core/zephyr_emulator/index.md   |   2 +-
 .../programming_rcl_rclc/executor/executor.md   |   4 ++--
 _posts/2019-03-20-micro-ROS_at_ERF2019.md       |   2 +-
 _posts/2020-03-03-micro-ROS-at-ERF2020.md       |   2 +-
 _posts/2020-10-01-zephyr_partnership.md         |   2 +-
 _posts/2021-04-13-ERF2021.md                    |   2 +-
 img/posts/logo-zephyr.jpg                       | Bin 0 -> 43686 bytes
 15 files changed, 14 insertions(+), 14 deletions(-)
 delete mode 100644 _docs/tutorials/core/zephyr_emulator/imgs/4.jpg
 create mode 100644 img/posts/logo-zephyr.jpg

diff --git a/_docs/concepts/rtos/index.md b/_docs/concepts/rtos/index.md
index 3ba8275e..625e17e7 100644
--- a/_docs/concepts/rtos/index.md
+++ b/_docs/concepts/rtos/index.md
@@ -21,7 +21,7 @@ By clicking on the logos below, you'll be redirected to the Overview section, wh
 <table style="border:none;">
  <tr>
   <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#freertos"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="263" height="100" src="https://upload.wikimedia.org/wikipedia/commons/4/4e/Logo_freeRTOS.png"><br/>FreeRTOS</a></td>
-  <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#zephyr"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg"><br/>Zephyr</a></td>
+  <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#zephyr"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="/img/posts/logo-zephyr.jpg"><br/>Zephyr</a></td>
   <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="/docs/overview/rtos/#nuttx"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="125" height="125" src="https://upload.wikimedia.org/wikipedia/commons/b/b0/NuttX_logo.png"><br/>NuttX</a></td>
  </tr>
 </table>
diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
index ba903d49..45f67c64 100644
--- a/_docs/overview/docker_ci_status/index.md
+++ b/_docs/overview/docker_ci_status/index.md
@@ -49,7 +49,7 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 | [micro-ROS-demos](https://github.com/micro-ROS/micro-ROS-demos) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/foxy) | Collection of generic demos, using publishers, subscribers, custom messages, services and graph introspection | [![Build status](https://img.shields.io/github/workflow/status/micro-ROS/micro-ROS-demos/CI)](https://github.com/micro-ROS/micro-ROS-demos/actions?query=workflow%3ACI) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/pulls)                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/README.md)          |
 | [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/foxy)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/foxy/README.md)            |
 | [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/foxy)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/foxy/README.md)              |
-| [raspbian_apps](https://github.com/micro-ROS/raspian_apps) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/foxy)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/foxy/README.md)            |
+| [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/foxy)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/foxy/README.md)            |
 | [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/foxy)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps/blob/foxy/README.md)               |
 | [Kobuki demo](https://github.com/micro-ROS/micro-ROS_kobuki_demo)                                                                                                                                                                                                                                         | Kobuki (Turtlebot 2) controller demo application using micro-ROS in an Olimex board over NuttX                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/blob/master/README.md)  |
 | [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
diff --git a/_docs/overview/ext_tools/index.md b/_docs/overview/ext_tools/index.md
index b853885b..03057515 100644
--- a/_docs/overview/ext_tools/index.md
+++ b/_docs/overview/ext_tools/index.md
@@ -88,7 +88,7 @@ The modules that exist up to date for integrating into external build systems ar
   </div>
 
   <div class="extplatitem_image">
-    <img src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg">
+    <img src="/img/posts/logo-zephyr.jpg">
   </div>
 </div>
 
diff --git a/_docs/overview/hardware/index.md b/_docs/overview/hardware/index.md
index 02bb32a0..a51221e3 100644
--- a/_docs/overview/hardware/index.md
+++ b/_docs/overview/hardware/index.md
@@ -109,7 +109,7 @@ The officially supported boards are those which have been carried out or tested
   </div>
 
   <div class="hardwareitem_image">
-    <img src="imgs/4.jpg">
+    <img src="/img/posts/logo-zephyr.jpg">
   </div>
 </div>
 
diff --git a/_docs/overview/rtos/index.md b/_docs/overview/rtos/index.md
index 108ee3ea..f148f681 100644
--- a/_docs/overview/rtos/index.md
+++ b/_docs/overview/rtos/index.md
@@ -116,7 +116,7 @@ Zephyr is a fairly new open-source RTOS, developed in a Linux Foundation Project
   </div>
 
   <div class="rtositem_image">
-    <img src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg">
+    <img src="/img/posts/logo-zephyr.jpg">
   </div>
 </div>
 
diff --git a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
index 6782fad7..4a524d1c 100644
--- a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
+++ b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
@@ -90,7 +90,7 @@ For example, in the [ping-pong application](https://micro-ros.github.io//docs/tu
 There are some build time parameters related to Client-to-Agent connection (such as **CONFIG_RMW_DEFAULT_UDP_PORT**, **CONFIG_RMW_DEFAULT_UDP_IP** and **CONFIG_RMW_DEFAULT_SERIAL_DEVICE**) that can be configured either at build time or at run-time.
 This means that you can set them in the [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/foxy/config/host/generic/client-host-colcon.meta) mentioned above and that micro-ROS provides a user configuration API for setting some RMW and middleware parameters at run-time.
 
-The following example code shows the [API](https://github.com/micro-ROS/rmw-microxrcedds/blob/foxy/rmw_microxrcedds_c/include/rmw_uros/init_options.h) calls needed to set the agent's IP address, port or serial device:
+The following example code shows the [API](https://github.com/micro-ROS/rmw_microxrcedds/blob/humble/rmw_microxrcedds_c/include/rmw_microros/init_options.h) calls needed to set the agent's IP address, port or serial device:
 
 ```c
 #include <rmw_microros/rmw_microros.h>
diff --git a/_docs/tutorials/core/first_application_rtos/index.md b/_docs/tutorials/core/first_application_rtos/index.md
index ad03517c..e3ce3049 100644
--- a/_docs/tutorials/core/first_application_rtos/index.md
+++ b/_docs/tutorials/core/first_application_rtos/index.md
@@ -11,7 +11,7 @@ Micro-ROS currently supports three different RTOS, namely NuttX, FreeRTOS, and Z
  <tr>
   <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="nuttx/"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="125" height="125" src="https://upload.wikimedia.org/wikipedia/commons/b/b0/NuttX_logo.png"><br/>NuttX</a></td>
   <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="freertos/"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="263" height="100" src="https://upload.wikimedia.org/wikipedia/commons/4/4e/Logo_freeRTOS.png"><br/>FreeRTOS</a></td>
-  <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="zephyr/"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg"><br/>Zephyr</a></td>
+  <td style="width:33%; text-align:center; vertical-align:bottom; font-weight:bold;"><a href="zephyr/"><img style="margin-left:auto; margin-right:auto; padding-bottom:5px;" width="220" height="114" src="/img/posts/logo-zephyr.jpg"><br/>Zephyr</a></td>
  </tr>
 </table>
 
diff --git a/_docs/tutorials/core/zephyr_emulator/imgs/4.jpg b/_docs/tutorials/core/zephyr_emulator/imgs/4.jpg
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diff --git a/_docs/tutorials/core/zephyr_emulator/index.md b/_docs/tutorials/core/zephyr_emulator/index.md
index d97f870d..9cd7dd4d 100644
--- a/_docs/tutorials/core/zephyr_emulator/index.md
+++ b/_docs/tutorials/core/zephyr_emulator/index.md
@@ -10,7 +10,7 @@ emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boa
 by testing a Ping Pong application.
 
 <div>
-<img  width="300" style="padding-right: 25px;" src="imgs/4.jpg">
+<img  width="300" style="padding-right: 25px;" src="/img/posts/logo-zephyr.jpg">
 </div>
 
 {% include first_application_common/build_system.md %}
diff --git a/_docs/tutorials/programming_rcl_rclc/executor/executor.md b/_docs/tutorials/programming_rcl_rclc/executor/executor.md
index e1db6489..9bab34fa 100644
--- a/_docs/tutorials/programming_rcl_rclc/executor/executor.md
+++ b/_docs/tutorials/programming_rcl_rclc/executor/executor.md
@@ -300,7 +300,7 @@ return 0;
 } // main
 ```
 
-This completes the example. The source code can be found in the package rclc-examples [rclc-examples/example_executor_convenience.c](https://github.com/ros2/rclc/blob/master/rclc_examples/src/example_executor_convenience.c).
+This completes the example. The source code can be found in the package rclc-examples [rclc-examples/example_executor_only_rcl.c](https://github.com/ros2/rclc/blob/master/rclc_examples/src/example_executor_only_rcl.c).
 
 ### Example 2: Triggered execution
 
@@ -821,6 +821,6 @@ The following code will setup the executor accordingly:
 
 The custom structs `pub_trigger_object_t` are used to save the pointer of the handles. The timers `my_string_timer` and `my_int_timer` for the publishing executor; and, likewise, the subscriptions `my_string_sub` and `my_int_sub` for the subscribing executor. The configuration is done also with the `rclc_executor_set_trigger` by passing the trigger function and the trigger object, e.g. `pub_trigger` and `comm_obj_pub` for the `executor_pub`, respectivly.
 
-The complete source code of this example can be found in the file [rclc-examples/example_executor_trigger.c](https://github.com/ros2/rclc/rclc_examples/example_executor_trigger.c).
+The complete source code of this example can be found in the file [rclc-examples/example_executor_trigger.c](https://github.com/ros2/rclc/blob/humble/rclc_examples/src/example_executor_trigger.c).
 
 
diff --git a/_posts/2019-03-20-micro-ROS_at_ERF2019.md b/_posts/2019-03-20-micro-ROS_at_ERF2019.md
index 9d11ea59..618ce532 100644
--- a/_posts/2019-03-20-micro-ROS_at_ERF2019.md
+++ b/_posts/2019-03-20-micro-ROS_at_ERF2019.md
@@ -3,7 +3,7 @@ title: micro-ROS at European Robotics Forum 2019
 author: borjaouterelo
 ---
 
-The [European Robotics Forum](https://www.eu-robotics.net/robotics_forum/), the most influential meeting of the robotics community in Europe, was held in Bucharest, Romania, in March 2019. Over 900 European robotics top experts attended the 10th edition of the conference.
+The [European Robotics Forum](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/), the most influential meeting of the robotics community in Europe, was held in Bucharest, Romania, in March 2019. Over 900 European robotics top experts attended the 10th edition of the conference.
 
 OFERA consortium, taking advantage of the opportunity, arranged one of their face-to-face meetings the days before the ERF as some of the members will also be attending to the forum.
 
diff --git a/_posts/2020-03-03-micro-ROS-at-ERF2020.md b/_posts/2020-03-03-micro-ROS-at-ERF2020.md
index e5207940..f5a46bb8 100644
--- a/_posts/2020-03-03-micro-ROS-at-ERF2020.md
+++ b/_posts/2020-03-03-micro-ROS-at-ERF2020.md
@@ -3,7 +3,7 @@ title: micro-ROS at European Robotics Forum 2020
 author: ralph-lange
 ---
 
-The 11th edition of the [**European Robotics Forum (ERF)**](https://www.eu-robotics.net/robotics_forum/) was held in Malaga, Spain from 3rd to 5th March 2020. The ERF is one of the most important events in the European robotics community and especially the place where almost all EU-funded robotics projects present their works.
+The 11th edition of the [**European Robotics Forum (ERF)**](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/) was held in Malaga, Spain from 3rd to 5th March 2020. The ERF is one of the most important events in the European robotics community and especially the place where almost all EU-funded robotics projects present their works.
 
 All partners of the EU project behind micro-ROS together organized a booth to display our latest developments. Most important, we showed a demo with a Kobuki platform, a Crazyflie quadcopter, and an IoT sensor running three different RTOS (NuttX, FreeRTOS, and Zephyr) supported by micro-ROS. In the front right of the following photo, you can also see our demo box to illustrate the different boot times and power consumptions of microprocessors versus microcontrollers running ROS 2 and micro-ROS, respectively.
 
diff --git a/_posts/2020-10-01-zephyr_partnership.md b/_posts/2020-10-01-zephyr_partnership.md
index 314f7348..603a8e33 100644
--- a/_posts/2020-10-01-zephyr_partnership.md
+++ b/_posts/2020-10-01-zephyr_partnership.md
@@ -5,7 +5,7 @@ author: francesca-finocchiaro
 
 micro-ROS is now an Associate Partner of the [Zephyr Project](https://www.zephyrproject.org/)!
 
-<img alt="Zephyr" src="https://www.linuxfoundation.org/wp-content/uploads/zephyr-color.svg" width="45%"/>
+<img alt="Zephyr" src="/img/posts/logo-zephyr.jpg" width="45%"/>
 
 Zephyr is a scalable open source Real-Time Operating System (RTOS) designed to fit resource constrained and embedded systems, with safety and security in mind. It forms part of [the Linux Foundation](https://www.linuxfoundation.org/), which supports a wide range of open source projects. Zephyr targets the same range of systems and applications with deterministic and time-critical constraints as micro-ROS, such as connected sensors and actuators, microcontrollers and small IoT devices of all kinds. micro-ROS and Zephyr complement each other by allowing to easily create heterogeneous distributed robotic systems and also integrate these devices seamlessly into the ROS 2 ecosystem.
 
diff --git a/_posts/2021-04-13-ERF2021.md b/_posts/2021-04-13-ERF2021.md
index 0fee024b..16ecb02e 100644
--- a/_posts/2021-04-13-ERF2021.md
+++ b/_posts/2021-04-13-ERF2021.md
@@ -3,7 +3,7 @@ title: micro-ROS at European Robotics Forum 2021
 author: JanStaschulat
 ---
 
-On April 13th 2021, we presented micro-ROS at the [European Robotics Forum 2021](https://www.eu-robotics.net/robotics_forum/) in a dedicated workshop organized by several partners of this project. First, Francesca Finoccharo (eProsima) presented in detail the micro-ROS architecture, the supported platforms, several demonstrations and reported on new features: A versatile API for custom transports, continuous fragment mode, static memory pools in the RMW and time synchronization between client and agent:
+On April 13th 2021, we presented micro-ROS at the [European Robotics Forum 2021](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/) in a dedicated workshop organized by several partners of this project. First, Francesca Finoccharo (eProsima) presented in detail the micro-ROS architecture, the supported platforms, several demonstrations and reported on new features: A versatile API for custom transports, continuous fragment mode, static memory pools in the RMW and time synchronization between client and agent:
 
 <embed src="/download/2021-04-13-ERF-eprosima.pdf" type="application/pdf" width="100%" height="450px"/>
 
diff --git a/img/posts/logo-zephyr.jpg b/img/posts/logo-zephyr.jpg
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HcmV?d00001


From 192c1b3d45dd5dec9718f79645c2251ca61f2b13 Mon Sep 17 00:00:00 2001
From: Bad Chicken <103160002+lamecube@users.noreply.github.com>
Date: Tue, 21 Mar 2023 01:38:30 -0500
Subject: [PATCH 06/23] Cleaning up docs a bit. (#402)

---
 _docs/tutorials/core/first_application_linux/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/core/first_application_linux/index.md b/_docs/tutorials/core/first_application_linux/index.md
index 16abb99c..24ec6976 100644
--- a/_docs/tutorials/core/first_application_linux/index.md
+++ b/_docs/tutorials/core/first_application_linux/index.md
@@ -27,7 +27,7 @@ Each app is represented by a folder containing the following files:
 * `main.c`: This file contains the logic of the application.
 * `CMakeLists.txt`: This is the CMake file containing the script to compile the application.
 
-For the user to create its custom application, a folder `<my_app>` will need to be registered in this location,
+For the user to create a custom application, a folder `<my_app>` will need to be registered in this location,
 containing the two files just described.
 Also, any such new application folder needs to be registered in
 `src/uros/micro-ROS-demos/rclc/CMakeLists.txt` by adding the following line:

From 4726abba384f5eab408c115bfb0621451628ee55 Mon Sep 17 00:00:00 2001
From: Reza Babakhani <babakhani.reza@gmail.com>
Date: Mon, 10 Apr 2023 09:25:58 +0330
Subject: [PATCH 07/23] Fix a typo (#404)

---
 _docs/overview/comparison/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/overview/comparison/index.md b/_docs/overview/comparison/index.md
index 0c60753e..44f4797d 100644
--- a/_docs/overview/comparison/index.md
+++ b/_docs/overview/comparison/index.md
@@ -24,7 +24,7 @@ Reference: [ROSserial Wiki](http://wiki.ros.org/rosserial)
 
 RIOT-ROS2 is a modification of the main ROS 2 stack, to make it able to run on microcontrollers thanks to the RIOT Operating System.
 
-ROS 2 is composed of several layers. Some have been modified to be able to run on the microcontroller, this is a list of the available layers for RIOS-ROS2 project:
+ROS 2 is composed of several layers. Some have been modified to be able to run on the microcontroller, this is a list of the available layers for RIOT-ROS2 project:
 - ROS Client Library bindings: RCLC
 - ROS Client Library: RCL
 - ROS MiddleWare: rmw_ndn

From 19c17993fa504e8aeffa710b08fc150f46a5f21e Mon Sep 17 00:00:00 2001
From: TheCranston <TheCranston@gmail.com>
Date: Mon, 17 Apr 2023 07:58:47 -0400
Subject: [PATCH 08/23] update spin call example to actual function def (#405)

From executor.h

RCLC_PUBLIC rcl_ret_t rclc_executor_spin_some(  rclc_executor_t * executor,  const uint64_t timeout_ns);

The examples given are missing the second non-optional parameter for timeout.
I'm not sure what a good value would be so I opted to use 100ms from the examples.
---
 .../client_library/execution_management/index.md       | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md
index 3532ea62..619d5130 100644
--- a/_docs/concepts/client_library/execution_management/index.md
+++ b/_docs/concepts/client_library/execution_management/index.md
@@ -429,9 +429,9 @@ rclc_executor_add_subscription(&exe_act, &act, &my_sub_cb4, ON_NEW_DATA);
 
 // spin all executors
 while (true) {
-  rclc_executor_spin_some(&exe_sense);
-  rclc_executor_spin_some(&exe_plan);
-  rclc_executor_spin_some(&exe_act);
+  rclc_executor_spin_some(&exe_sense, RCL_MS_TO_NS(100));
+  rclc_executor_spin_some(&exe_plan, RCL_MS_TO_NS(100));
+  rclc_executor_spin_some(&exe_act, RCL_MS_TO_NS(100));
 }
 ```
 
@@ -455,8 +455,8 @@ rclc_executor_set_trigger(&exe_sense, rclc_executor_trigger_all, NULL);
 
 // spin all executors
 while (true) {
-  rclc_executor_spin_some(&exe_aggr);
-  rclc_executor_spin_some(&exe_sense);
+  rclc_executor_spin_some(&exe_aggr, RCL_MS_TO_NS(100));
+  rclc_executor_spin_some(&exe_sense, RCL_MS_TO_NS(100));
 }
 ```
 

From f2249ec8915da33f52c2c4247ca42536001c64b6 Mon Sep 17 00:00:00 2001
From: Jan Staschulat <jan.staschulat@de.bosch.com>
Date: Wed, 26 Apr 2023 10:26:39 +0200
Subject: [PATCH 09/23] removed ros2_tracing page (#407)

* removed tracing page, see related PR: https://github.com/micro-ROS/micro-ROS.github.io/pull/358

Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>

* removed tracing from docs.yml

Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>

---------

Signed-off-by: Jan Staschulat <jan.staschulat@de.bosch.com>
---
 _data/docs.yml                            |   1 -
 _docs/tutorials/advanced/tracing/index.md | 155 ----------------------
 2 files changed, 156 deletions(-)
 delete mode 100644 _docs/tutorials/advanced/tracing/index.md

diff --git a/_data/docs.yml b/_data/docs.yml
index 9481b4d8..437a5b12 100644
--- a/_data/docs.yml
+++ b/_data/docs.yml
@@ -74,7 +74,6 @@
    - tutorials/advanced/create_custom_transports
    - tutorials/advanced/create_custom_static_library
    - tutorials/advanced/benchmarking
-   - tutorials/advanced/tracing
 
 - title: Unmaintained Tutorials
   docs:
diff --git a/_docs/tutorials/advanced/tracing/index.md b/_docs/tutorials/advanced/tracing/index.md
deleted file mode 100644
index 862baf7f..00000000
--- a/_docs/tutorials/advanced/tracing/index.md
+++ /dev/null
@@ -1,155 +0,0 @@
----
-title: Getting started with ROS 2 tracing
-author: christophebedard
-permalink: /docs/tutorials/advanced/tracing/
-redirect_from:
-  - /tracing/
----
-
-<img src="https://img.shields.io/badge/Applies_to-all_current_distros-green" style="display:inline"/>
-
-**Note: While `ros2_tracing` has been associated with micro-ROS, `ros2_tracing` does not currently officially support nor target microcontrollers.**
-
-**Note: For a more up-to-date tutorial, please refer to the [`ros2_tracing` tutorial on the ROS 2 Real-Time Working Group documentation](https://real-time-working-group.readthedocs.io/en/latest/Guides/ros2_tracing_trace_and_analyze.html).**
-
-- [Introduction](#introduction)
-- [Setup](#setup)
-- [Simple tracing example](#simple-tracing-example)
-- [Callback duration analysis](#callback-duration-analysis)
-- [Relevant links](#relevant-links)
-
-## Introduction
-
-Robotic systems can be hard to analyze and debug, and one big reason is that internal processing is always changing in response to sensory input. Therefore, the ability to continuously monitor and record data about the robotic software is important, to make sure it behaves deterministically, stays within resource limits, and also for later analysis.
-
-On modern systems, the operating system and other running software has a big influence on the exact execution of the software. Therefore, we also need information about these aspects.
-
-Tracing is a well-established method that allows to record run-time data, which is already well integrated with operating systems. For example, we can trace when a process is being scheduled, or when I/O occurs. Current tracing systems have minimal overhead and are very configurable to reduce overhead (and data size) even further.
-
-This post aims to introduce our ongoing effort to instrument ROS 2 and provide trace analysis tools. I'll show how we can use the instrumentation and the current analysis tools to plot callback durations, like the plot shown below.
-
-<center>
-<img src="/img/tutorials/tracing_result_plot.png" />
-</center>
-
-## Setup
-
-We'll assume you're using Ubuntu 18.04 bionic.
-
-First, let's [install LTTng](https://lttng.org/docs/#doc-ubuntu-ppa).
-
-```bash
-$ sudo apt-add-repository ppa:lttng/stable-2.10
-$ sudo apt-get update
-$ sudo apt-get install lttng-tools lttng-modules-dkms liblttng-ust-dev
-```
-
-As part of the installation, a new group _tracing_ is created. Add your user to this group by running
-
-```bash
-$ sudo usermod -aG tracing $USER
-```
-
-and log off and on to take the new membership effect.
-
-We'll also need these Python packages to read traces and setup a tracing session through ROS.
-
-```bash
-$ sudo apt-get install python3-babeltrace python3-lttng
-```
-
-If the ROS 2 development tools and dependencies are not installed on your machine, install them by following the *System setup* section [here](https://index.ros.org/doc/ros2/Installation/Dashing/Linux-Development-Setup/#system-setup).
-
-Now we'll download all the necessary packages. First, create your workspace.
-
-```bash
-$ mkdir -p ~/ros2_ws/src
-$ cd ros2_ws/
-```
-
-The `rcl` and `rclcpp` instrumentation has been integrated into Eloquent, so we simply need to recompile `ros2_tracing` & compile `tracetools_analysis`.
-
-```bash
-$ wget https://gitlab.com/ros-tracing/ros2_tracing/raw/master/tracing.repos
-$ vcs import src < tracing.repos
-```
-
-Now let's build and source.
-
-```bash
-$ colcon build --symlink-install
-$ source install/local_setup.bash
-```
-
-## Simple tracing example
-
-Let's try tracing with a simple ping-pong example.
-
-The `tracetools_test` package contains two nodes we can use. The first node, `test_ping`, publishes messages on the `ping` topic and waits for a message on the `pong` topic before shutting down. The second node, `test_pong`, waits for a message on the `ping` topic, then sends a message on the `pong` topic and shuts down.
-
-To trace these nodes, we can use the `example.launch.py` launch file in the `tracetools_launch` package.
-
-```bash
-$ ros2 launch tracetools_launch example.launch.py
-```
-
-<center>
-<img src="/img/tutorials/tracing_launch.svg" style="padding: 10px;" />
-</center>
-
-As shown above, you should see a few output lines, and that's it.
-
-By default, traces are written in the `~/.ros/tracing/` directory. You can take a look at the trace's events using `babeltrace`.
-
-```bash
-$ cd ~/.ros/tracing/
-$ babeltrace my-tracing-session/
-```
-
-If you only want to see the ROS events, you can instead do:
-
-```bash
-$ babeltrace my-tracing-session/ust/
-```
-
-<center>
-<img src="/img/tutorials/tracing_babeltrace.svg" style="padding: 10px;" />
-</center>
-
-The last part of the `babeltrace` output is shown above. This is a human-readable version of the raw Common Trace Format (CTF) data, which is a list of events. Each event has a timestamp, an event type, some information on the process that generated the event, and the fields corresponding to the event type. The last events of our trace are pairs of `ros2:callback_start` and `ros2:callback_end` events. Each one contains a reference to its corresponding callback.
-
-It's now time to process the trace data! The `tracetools_analysis` package provides tools to import a trace and process it. Since reading a CTF trace is slow, it first converts it to a file which we can read much faster later on. Then we can process it to get `pandas` dataframes and use those to run analyses.
-
-```bash
-$ ros2 trace-analysis process ~/.ros/tracing/my-tracing-session/ust/
-```
-
-<center>
-<img src="/img/tutorials/tracing_process.svg" style="padding: 10px;" />
-</center>
-
-The output of the `process` command is shown above. In the last dataframe, named "Callback instances," you should see three rows. The first one is the timer callback that triggered the ping-pong sequence. The second one is the ping callback, and the third one is the pong callback! Callback function symbols are shown in the previous dataframe.
-
-This is simple, but it isn't really nice visually. We can use a Jupyter notebook to analyze the data and display the results.
-
-## Callback duration analysis
-
-Add the following line to the arguments of each of the two `Node` objects in your launch file, which should be under `ros2_ws/src/ros-tracing/ros2_tracing/tracetools_launch/launch/`. It will stop the nodes from shutting down after 1 exchange.
-
-```python
-arguments=['do_more']
-```
-
-Delete the previous trace directory, rebuild the workspace, and execute the launch file again. Let it run for some time (e.g. 10-20 seconds), then kill it with `Ctrl+C`.
-
-To run an analysis that displays durations of callbacks over time, use [this Jupyter notebook](https://gitlab.com/ros-tracing/tracetools_analysis/blob/master/tracetools_analysis/analysis/callback_duration.ipynb), which should be under `ros2_ws/src/tracetools_analysis/tracetools_analysis/analysis/`.
-
-The resulting plots for the `/ping` and `/pong` subscriptions are shown below. We can see that the durations vary greatly.
-
-<center>
-<img src="/img/tutorials/tracing_analysis_plots.png" />
-</center>
-
-## Relevant links
-
-The tracing packages can be found in the [`ros2_tracing` repo](https://gitlab.com/ros-tracing/ros2_tracing). The analysis tools can be found in the [`tracetools_analysis` repo](https://gitlab.com/ros-tracing/tracetools_analysis).

From 95380a86ae43fdf40cf805525450d69ec3a53f93 Mon Sep 17 00:00:00 2001
From: Antonio Cuadros <49162117+Acuadros95@users.noreply.github.com>
Date: Mon, 12 Jun 2023 17:11:14 +0200
Subject: [PATCH 10/23] Initial iron release (#408)

* Initial iron release

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Replace Foxy with Humble and fix links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Update .github/workflows/generate_api_reference.yml

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>

* Fix broken links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Fix CI

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

* Remove micro badger

Signed-off-by: acuadros95 <acuadros1995@gmail.com>

---------

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
---
 .github/workflows/generate_api_reference.yml  |  16 +-
 .../external_build_systems/index.md           |   2 +-
 .../execution_management/index.md             |   4 +-
 .../concepts/client_library/features/index.md |   2 +-
 .../concepts/fiware_interoperability/index.md |   6 +-
 _docs/overview/docker_ci_status/index.md      |  93 +++---
 _docs/overview/ext_tools/index.md             |   6 +-
 _docs/overview/license/index.md               |   2 +-
 _docs/overview/users_and_clients/index.md     |   4 +-
 .../advanced/handling_type_memory/index.md    |  12 +-
 .../microxrcedds_rmw_configuration/index.md   |   6 +-
 _docs/tutorials/advanced/overview/index.md    |   4 -
 .../core/first_application_linux/index.md     |   8 +-
 .../core/first_application_rtos/freertos.md   |   8 +-
 .../core/first_application_rtos/nuttx.md      |  16 +-
 .../core/first_application_rtos/zephyr.md     |  12 +-
 _docs/tutorials/core/zephyr_emulator/index.md |  12 +-
 _docs/tutorials/old/6lowpan/index.md          |   2 +-
 .../programming_rcl_rclc/executor/executor.md |   6 +-
 .../micro-ROS/micro-ROS.md                    |   8 +-
 .../programming_rcl_rclc/node/node.md         |  36 +--
 .../parameters/parameters.md                  | 272 ++++++------------
 .../programming_rcl_rclc/pub_sub/pub_sub.md   |   6 +-
 .../tutorials/programming_rcl_rclc/qos/QoS.md |   2 +-
 .../programming_rcl_rclc/service/services.md  |   4 +-
 .../first_application_common/build_system.md  |   8 +-
 _includes/thumper_demo                        |   2 +-
 _posts/2020-10-05-moveit.md                   |   2 +-
 index.html                                    |   4 +-
 scripts/cibuild                               |   2 +-
 30 files changed, 219 insertions(+), 348 deletions(-)

diff --git a/.github/workflows/generate_api_reference.yml b/.github/workflows/generate_api_reference.yml
index f55aa4c8..2f666340 100644
--- a/.github/workflows/generate_api_reference.yml
+++ b/.github/workflows/generate_api_reference.yml
@@ -10,7 +10,7 @@ on:
 jobs:
   generate_rmw_api_reference:
     runs-on: ubuntu-latest
-    container: ros:foxy
+    container: ros:iron
     steps:
       - uses: actions/checkout@v3
       - run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
@@ -28,10 +28,10 @@ jobs:
             unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
 
             mkdir -p ros2_ws/src; cd ros2_ws
-            git clone -b foxy https://github.com/eProsima/Micro-CDR src/Micro-CDR
-            git clone -b foxy https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
-            git clone -b foxy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
-            git clone -b foxy https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
+            git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
+            git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
+            git clone -b iron https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
+            git clone -b iron https://github.com/micro-ROS/rmw-microxrcedds src/rmw-microxrcedds
 
             source /opt/ros/$ROS_DISTRO/setup.bash
             colcon build --packages-up-to rmw_microxrcedds --cmake-args -DBUILD_DOCUMENTATION=ON
@@ -50,7 +50,7 @@ jobs:
 
   generate_utils_api_reference:
     runs-on: ubuntu-latest
-    container: ros:foxy
+    container: ros:iron
     steps:
       - uses: actions/checkout@v3
       - run: git config --global --add safe.directory "$GITHUB_WORKSPACE"
@@ -61,14 +61,14 @@ jobs:
         shell: bash
         run: |
           apt update
-          apt install -y doxygen wget git unzip cmake ros-foxy-osrf-testing-tools-cpp
+          apt install -y doxygen wget git unzip cmake ros-iron-osrf-testing-tools-cpp
 
           pushd /
             wget https://github.com/matusnovak/doxybook2/releases/download/v1.3.3/doxybook2-linux-amd64-v1.3.3.zip
             unzip doxybook2-linux-amd64-v1.3.3.zip -d doxybook2
 
             mkdir -p ros2_ws/src; cd ros2_ws
-            git clone -b humble https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities
+            git clone -b iron https://github.com/micro-ROS/micro_ros_utilities src/micro_ros_utilities
 
             source /opt/ros/$ROS_DISTRO/setup.bash
             colcon build --packages-up-to micro_ros_utilities --cmake-args -DBUILD_DOCUMENTATION=ON
diff --git a/_docs/concepts/build_system/external_build_systems/index.md b/_docs/concepts/build_system/external_build_systems/index.md
index e0a4e982..6dad01c4 100644
--- a/_docs/concepts/build_system/external_build_systems/index.md
+++ b/_docs/concepts/build_system/external_build_systems/index.md
@@ -27,4 +27,4 @@ Along with this support package, there are [detailed instructions](https://githu
 
 The [micro-ROS for STM32CubeMX](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) package is a set of utilities which enables the seamless configuration, set-up and integration of micro-ROS into an STM32 controller based project. As such, it allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>.
 
-Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/docker/blob/foxy/micro-ROS-static-library-builder/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.
+Its usage is based on Dockers, via a prepared [Dockerfile](https://github.com/micro-ROS/docker/blob/humble/micro-ROS-static-library-builder/Dockerfile) which eases micro-ROS library generation outside of a ROS 2 environment.
diff --git a/_docs/concepts/client_library/execution_management/index.md b/_docs/concepts/client_library/execution_management/index.md
index 619d5130..a376db71 100644
--- a/_docs/concepts/client_library/execution_management/index.md
+++ b/_docs/concepts/client_library/execution_management/index.md
@@ -75,7 +75,7 @@ Our approach is to provide a real-time-capable Executor for the rcl+rclc layer (
 
 As the first step, we propose the rclc Executor for the rcl-layer in C programming language with several new features to support real-time and deterministic execution: It supports 1.) user-defined static sequential execution, 2) conditional execution semantics, 3) multi-threaded execution with scheduling configuration, and 4) logical execution semantics (LET). Sequential execution refers to the runtime behavior, that all callbacks are executed in a pre-defined order independent of the arrival time of messages. Conditional execution is available with a trigger condition which enables typical processing patterns in robotics (which are analyzed in detail in section [Analysis of processing patterns](#analysis-of-processing-patterns). Configuration of scheduling parameters for multi-threaded application accomplishes prioritized execution. The logical execution time concept (LET) provides data synchronization for fixed periodic task scheduling of embedded applications. 
 
-Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Humble release.
+Beyond the advanced execution management mechanisms for micro-ROS, we also contributed to improving and extending the Executor concept in rclcpp for standard ROS 2: the callback group-level Executor. It is not a new Executor but rather a refinement of the ROS 2 Executor API allowing to prioritize a group of callbacks which is not possible with the ROS 2 default Executor in its current Iron release.
 
 
 ## Analysis of rclcpp standard Executor
@@ -581,7 +581,7 @@ The slides can be downloaded [here](https://ec2a4d36-bac8-4759-b25e-bb1f794177f4
 - Multi-threaded executor with assignment of scheduling policies of underlying operating system. [[Pull Request](https://github.com/ros2/rclc/pull/87), pre-print [SLD2021](#SLD2021)].
 
 ### Download
-The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Foxy, Galactic, Humble and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples.
+The rclc Executor can be downloaded from the [ros2/rclc repository](https://github.com/ros2/rclc). It is available for the ROS 2 versions Humble, Iron and Rolling. The repository provides several packages including the [rclc Executor](https://github.com/ros2/rclc/tree/master/rclc) and an [rclc_examples package](https://github.com/ros2/rclc/tree/master/rclc_examples) with several application examples.
 
 ## Callback-group-level Executor
 
diff --git a/_docs/concepts/client_library/features/index.md b/_docs/concepts/client_library/features/index.md
index 7da9dd64..104aead2 100644
--- a/_docs/concepts/client_library/features/index.md
+++ b/_docs/concepts/client_library/features/index.md
@@ -13,4 +13,4 @@ The micro-ROS Client Library, formed by standard [ROS 2 Client Support Library (
 * Lifecycle
 * Parameters
 
-Most features are already available in the Foxy release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/programming_rcl_rclc/).
+Most features are already available in the Humble release. Please see our [Feature Overview page](/docs/overview/features/) for details on the status. To learn developing your own application nodes with rcl + rclc, please head to the corresponding [programming tutorial](/docs/tutorials/programming_rcl_rclc/).
diff --git a/_docs/concepts/fiware_interoperability/index.md b/_docs/concepts/fiware_interoperability/index.md
index 47810978..9edd8eb3 100644
--- a/_docs/concepts/fiware_interoperability/index.md
+++ b/_docs/concepts/fiware_interoperability/index.md
@@ -31,7 +31,7 @@ To accomplish this, two different approaches can be taken:
 * Relying on an integration platform that uses a common types language representation, and defines a conversion library from/to the generic type to the specific type of each middleware.
 
 While the first approach might result in a more lightweight tool, it has several flaws, for instance a more difficult maintenance and the incapability of communicating with any other middleware, rather than ROS2 or micro-ROS.
-On the other hand, using an integration service platform, such as [SOSS](https://github.com/eProsima/soss_v2), enables automatically the possibility of communicating with a wide (and growing) set of middlewares, if their System Handle implementation is available.
+On the other hand, using an integration service platform, such as [SOSS](https://github.com/eProsima/Integration-Service), enables automatically the possibility of communicating with a wide (and growing) set of middlewares, if their System Handle implementation is available.
 
 ## SOSS: System-Of-Systems-Synthesizer
 
@@ -63,7 +63,7 @@ For this reason, if a type defined in the topics section of the configuration fi
 This is something important to notice when connecting to ROS2, because in ROS2 most of the types have a / in their names.
 To deal with this issue, using SOSS [remapping](https://soss.docs.eprosima.com/en/latest/yaml_config.html?highlight=remap#remapping) capabilities come in handy.
 
-Of course, given that micro-ROS applications act as a bridge between microcontrollers and the ROS 2 dataspace (using the micro-ROS Agent), FIROS2 should also take care of communicating FIWARE's Context Broker with ROS 2, leveraging the existing [ROS 2 System Handle](https://github.com/eProsima/soss_v2/tree/feature/xtypes-dds/packages/ros2), which comes natively included into the SOSS package.
+Of course, given that micro-ROS applications act as a bridge between microcontrollers and the ROS 2 dataspace (using the micro-ROS Agent), FIROS2 should also take care of communicating FIWARE's Context Broker with ROS 2, leveraging the existing [ROS 2 System Handle](https://github.com/eProsima/Integration-Service), which comes natively included into the SOSS package.
 
 This is exactly the situation reflected in the use case that is explained below.
 
@@ -79,7 +79,7 @@ This is exactly the situation reflected in the use case that is explained below.
 
 * Clone the SOSS project into the source subfolder.
   ```bash
-    $ git clone https://github.com/osrf/soss_v2.git src/soss --branch feature/xtypes-dds
+    $ git clone https://github.com/eProsima/Integration-Service.git src/soss --branch feature/xtypes-dds
   ```
 
 * Clone the SOSS-FIWARE project into the source subfolder.
diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
index 45f67c64..90d2597d 100644
--- a/_docs/overview/docker_ci_status/index.md
+++ b/_docs/overview/docker_ci_status/index.md
@@ -14,14 +14,14 @@ permalink: /docs/overview/docker_ci_status/
 
 | Repository                                                                                                                                                                                                                                                                                                                                                            | Description                                                                | CI                                                                                                                                                                                                                 | Issues / Pull Requests                                                                                                                                                                                                                                                                                                      | Documentation                                                                                                                                 |
 | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- |
-| [micro-ros-setup](https://github.com/micro-ROS/micro_ros_setup) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/foxy)                                                             | Micro-ROS tool to build and flash Micro-ROS to every supported platform    | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml)                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS/micro_ros_setup/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS//micro_ros_setup/pulls)                                                            | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_setup/blob/galactic/README.md)                |
-| [micro-ros-espidf-component](https://github.com/micro-ROS/micro_ros_espidf_component) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/foxy)                 | Component to used Micro-ROS in ESP IDF build system                        | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/pulls)                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_espidf_component/blob/galactic/README.md)     |
-| [micro-ros-arduino](https://github.com/micro-ROS/micro_ros_arduino) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/foxy)                                                     | Micro-ROS precompiled libraries to directly interface with the Arduino IDE | [![Github Actions status](https://github.com/micro-ROS/micro_ros_arduino/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_arduino/actions)                                                          | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/README.md)              |
-| [micro-ros-zephyr-module](https://github.com/micro-ROS/micro_ros_zephyr_module) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/foxy)                             | Integration of micro-ROS within Zephyr West build system                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml)       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/pulls)                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_zephyr_module/blob/galactic/README.md)        |
-| [micro_ros_raspberrypi_pico_sdk](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/foxy) | Integration of micro-ROS within Raspberry PI Pico SDK                      | [![Github Actions status](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/actions)                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/blob/galactic/README.md) |
-| [micro_ros_mbed](https://github.com/micro-ROS/micro_ros_mbed) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/galactic)                                                                                                                                                                                 | Integration of micro-ROS within Mbed RTOS                                  | [![Github Actions status](https://github.com/micro-ROS/micro_ros_mbed/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_mbed/actions)                                                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_mbed/blob/galactic/README.md)                 |
-| [micro_ros_nuttx_app](https://github.com/micro-ROS/micro_ros_nuttx_app) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/galactic)                                                                                                                                                                  | Integration of micro-ROS within Nuttx 10                                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_nuttx_app/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/actions)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_nuttx_app/blob/galactic/README.md)            |
-| [micro_ros_stm32cubemx_utils](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/galactic)                                                                                                                                          | Integration of micro-ROS within STM32CubeMX and STM32CubeIDE               | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/galactic/README.md)    |
+| [micro-ros-setup](https://github.com/micro-ROS/micro_ros_setup) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/humble)                                                             | Micro-ROS tool to build and flash Micro-ROS to every supported platform    | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml)                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS/micro_ros_setup/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS//micro_ros_setup/pulls)                                                            | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_setup/blob/iron/README.md)                |
+| [micro-ros-espidf-component](https://github.com/micro-ROS/micro_ros_espidf_component) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/humble)                 | Component to used Micro-ROS in ESP IDF build system                        | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/pulls)                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_espidf_component/blob/iron/README.md)     |
+| [micro-ros-arduino](https://github.com/micro-ROS/micro_ros_arduino) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/humble)                                                     | Micro-ROS precompiled libraries to directly interface with the Arduino IDE | [![Github Actions status](https://github.com/micro-ROS/micro_ros_arduino/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_arduino/actions)                                                          | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_arduino/blob/iron/README.md)              |
+| [micro-ros-zephyr-module](https://github.com/micro-ROS/micro_ros_zephyr_module) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/humble)                             | Integration of micro-ROS within Zephyr West build system                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml)       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/pulls)                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_zephyr_module/blob/iron/README.md)        |
+| [micro_ros_raspberrypi_pico_sdk](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/humble) | Integration of micro-ROS within Raspberry PI Pico SDK                      | [![Github Actions status](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/actions)                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/blob/iron/README.md) |
+| [micro_ros_mbed](https://github.com/micro-ROS/micro_ros_mbed) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/iron)                                                                                                                                                                                 | Integration of micro-ROS within Mbed RTOS                                  | [![Github Actions status](https://github.com/micro-ROS/micro_ros_mbed/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_mbed/actions)                                                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_mbed/blob/iron/README.md)                 |
+| [micro_ros_nuttx_app](https://github.com/micro-ROS/micro_ros_nuttx_app) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/iron)                                                                                                                                                                  | Integration of micro-ROS within Nuttx 10                                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_nuttx_app/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/actions)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_nuttx_app/blob/iron/README.md)            |
+| [micro_ros_stm32cubemx_utils](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/iron)                                                                                                                                          | Integration of micro-ROS within STM32CubeMX and STM32CubeIDE               | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/iron/README.md)    |
 | [NuttX fork](https://github.com/micro-ROS/NuttX)                                                                                                                                                                                                                                                                                                                      | NuttX fork to use with micro-ROS. Current status is **discontinued**       | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                       | [![](https://img.shields.io/github/issues/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/pulls)                                                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/NuttX/blob/master/README.md)                            |
 
 
@@ -31,39 +31,39 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 
 | Repository                                                                                                                                                                                                                                                                                                                                                                                                                                                     | Description                                                                                                            | CI                                                                                                                                                                                                                                                                  | Issues / Pull Requests                                                                                                                                                                                                                                                                                                          | Documentation                                                                                                                                |
 | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------- |
-| [Micro XRCE-DDS Client](https://github.com/eProsima/Micro-XRCE-DDS-Client) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/foxy) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/foxy)                                                                                                                                     | Client C99 library of eProsima's open-source implementation of DDS-XRCE                                                | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Client%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Client%20Github/) | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/client.html)                     |
-| [Micro XRCE-DDS Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/foxy) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/foxy)                                                                                                                                         | Agent (bridge to DDS) C++11 library of eProsima's open-source implementation of DDS-XRCE                               | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Agent%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Agent%20Github/)   | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/agent.html)                      |
-| [rmw-microxrcedds](https://github.com/micro-ROS/rmw-microxrcedds) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/foxy)                                                                                                                                                  | ROS 2 RMW adapter for Micro-XRCE-DDS Client library                                                                    | [![Build status](https://img.shields.io/github/workflow/status/micro-ROS/rmw-microxrcedds/CI%20RMW_MicroXRCEDDS)](https://github.com/micro-ROS/rmw-microxrcedds/actions?query=workflow%3A%22CI+RMW_MicroXRCEDDS%22)                                                 | [![](https://img.shields.io/github/issues/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/pulls)                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rmw-microxrcedds/blob/foxy/README.md)                  |
-| [rosidl-typesupport-microxrcedds](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/foxy)                                                                                      | ROS 2 type support for Micro-XRCE-DDS Client library                                                                   | [![Build status](https://img.shields.io/github/workflow/status/micro-ROS/rosidl_typesupport_microxrcedds/CI%20TypeSupport_MicroXRCEDDS)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/actions?query=workflow%3A%22CI+TypeSupport_MicroXRCEDDS%22)   | [![](https://img.shields.io/github/issues/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/blob/master/README.md) |
-| [micro-ROS-Agent](https://github.com/micro-ROS/micro-ROS-Agent) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/galactic)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/foxy)                                                                                                                                                     | Agent (bridge) to ROS 2                                                                                                | [![](https://img.shields.io/github/workflow/status/micro-ROS/micro-ROS-Agent/CI%20micro-ROS%20Agent)](https://github.com/micro-ROS/micro-ROS-Agent/actions?query=workflow%3A%22CI+micro-ROS+Agent%22)                                                               | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-Agent/blob/master/README.md)                 |
-| [micro-ros-msgs](https://github.com/micro-ROS/micro_ros_msgs) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/foxy)                                                                                                                                                          | Specific ROS 2 messages used within micro-ROS architecture                                                             | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                                                                        | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/pulls)                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_msgs/blob/main/README.md)                    |
-| [micro_ros_utilities](https://github.com/micro-ROS/micro_ros_utilities) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/foxy)                                                                                                                                                                                                                                                               | micro-ROS utilities for embedded applications                                                                          | [![Build status](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml)                                                                                   | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_utilities/blob/main/README.md)               |
-| [system_modes](https://github.com/micro-ROS/system_modes) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/system_modes/releases) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/micro-ROS/system_modes/releases)                                                                                                                                                                    | Extension for `rclcpp`                                                                                                 | [![Build Status](https://img.shields.io/github/workflow/status/micro-ROS/system_modes/Test%20system%20modes)](https://github.com/micro-ROS/system_modes/actions?query=workflow%3A%22Test+system+modes%22)                                                           | [![](https://img.shields.io/github/issues/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/pulls)                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/system_modes/blob/master/README.md)                    |
-| [rclc](https://github.com/ros2/rclc) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/ros2/rclc/tree/dashing) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/ros2/rclc/tree/galactic) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://img.shields.io/github/workflow/status/ros2/rclc/CI%20RCLC)](https://github.com/ros2/rclc/actions?query=workflow%3A%22CI+RCLC%22)                                                                                                           | [![](https://img.shields.io/github/issues/ros2/rclc.svg)](https://github.com/ros2/rclc/issues) [![](https://img.shields.io/github/issues-pr/ros2/rclc.svg)](https://github.com/ros2/rclc/pulls)                                                                                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/ros2/rclc/blob/master/README.md)                                 |
+| [Micro XRCE-DDS Client](https://github.com/eProsima/Micro-XRCE-DDS-Client) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2)                                                                                                                                     | Client C99 library of eProsima's open-source implementation of DDS-XRCE                                                | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Client%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Client%20Github/) | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/client.html)                     |
+| [Micro XRCE-DDS Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2)                                                                                                                                         | Agent (bridge to DDS) C++11 library of eProsima's open-source implementation of DDS-XRCE                               | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Agent%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Agent%20Github/)   | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/agent.html)                      |
+| [rmw-microxrcedds](https://github.com/micro-ROS/rmw-microxrcedds) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/humble)                                                                                                                                                  | ROS 2 RMW adapter for Micro-XRCE-DDS Client library                                                                    | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rmw-microxrcedds/ci.yml)](https://github.com/micro-ROS/rmw-microxrcedds/actions?query=workflow%3A%22CI+rmw_microxrcedds_c%22)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/pulls)                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rmw-microxrcedds/blob/humble/README.md)                  |
+| [rosidl-typesupport-microxrcedds](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/humble)                                                                                      | ROS 2 type support for Micro-XRCE-DDS Client library                                                                   | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rosidl_typesupport_microxrcedds/ci.yml)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/actions?query=workflow%3A%22CI+rosidl_typesupport_microxrcedds%22)           | [![](https://img.shields.io/github/issues/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/blob/master/README.md) |
+| [micro-ROS-Agent](https://github.com/micro-ROS/micro-ROS-Agent) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/iron)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/humble)                                                                                                                                                     | Agent (bridge) to ROS 2                                                                                                | [![](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS-Agent/ci.yml)](https://github.com/micro-ROS/micro-ROS-Agent/actions?query=workflow%3A%22CI+micro-ROS+Agent%22)                                                               | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-Agent/blob/master/README.md)                 |
+| [micro-ros-msgs](https://github.com/micro-ROS/micro_ros_msgs) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/humble)                                                                                                                                                          | Specific ROS 2 messages used within micro-ROS architecture                                                             | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                                                                        | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/pulls)                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_msgs/blob/main/README.md)                    |
+| [micro_ros_utilities](https://github.com/micro-ROS/micro_ros_utilities) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/humble)                                                                                                                                                                                                                                                               | micro-ROS utilities for embedded applications                                                                          | [![Build status](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml)                                                                                   | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_utilities/blob/main/README.md)               |
+| [system_modes](https://github.com/micro-ROS/system_modes) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/system_modes/releases) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/micro-ROS/system_modes/releases)                                                                                                                                                                    | Extension for `rclcpp`                                                                                                 | [![Build Status](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS/system_modes/ci.yml)](https://github.com/micro-ROS/system_modes/actions?query=workflow%3A%22Test+system+modes%22)                                                           | [![](https://img.shields.io/github/issues/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/pulls)                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/system_modes/blob/master/README.md)                    |
+| [rclc](https://github.com/ros2/rclc) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/ros2/rclc/tree/dashing) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/ros2/rclc/tree/iron) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://img.shields.io/github/actions/workflow/status/micro-ROS/ros2/rclc/ci.yml)](https://github.com/ros2/rclc/actions?query=workflow%3A%22CI+RCLC%22)                                                                                                           | [![](https://img.shields.io/github/issues/ros2/rclc.svg)](https://github.com/ros2/rclc/issues) [![](https://img.shields.io/github/issues-pr/ros2/rclc.svg)](https://github.com/ros2/rclc/pulls)                                                                                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/ros2/rclc/blob/master/README.md)                                 |
 
 
 ## Example Application Repositories Status
 
 | Name                                                                                                                                                                                                                                                                                                      | Description                                                                                                   | CI                                                                                                                                                                      | Issues / Pull Requests                                                                                                                                                                                                                                                                              | Documentation                                                                                                                       |
 | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------ | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------- |
-| [micro-ROS-demos](https://github.com/micro-ROS/micro-ROS-demos) [![](https://img.shields.io/badge/ROS-galactic-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/galactic) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/foxy) | Collection of generic demos, using publishers, subscribers, custom messages, services and graph introspection | [![Build status](https://img.shields.io/github/workflow/status/micro-ROS/micro-ROS-demos/CI)](https://github.com/micro-ROS/micro-ROS-demos/actions?query=workflow%3ACI) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/pulls)                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/README.md)          |
-| [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/foxy)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/foxy/README.md)            |
-| [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/foxy)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/foxy/README.md)              |
-| [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/foxy)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/foxy/README.md)            |
-| [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/foxy)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps/blob/foxy/README.md)               |
+| [micro-ROS-demos](https://github.com/micro-ROS/micro-ROS-demos) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/humble) | Collection of generic demos, using publishers, subscribers, custom messages, services and graph introspection | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS/micro-ROS-demos/ci.yml)](https://github.com/micro-ROS/micro-ROS-demos/actions?query=workflow%3ACI) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/pulls)                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/README.md)          |
+| [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/humble)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/humble/README.md)            |
+| [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/humble)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/humble/README.md)              |
+| [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/humble)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/humble/README.md)            |
+| [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/humble)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps/blob/humble/README.md)               |
 | [Kobuki demo](https://github.com/micro-ROS/micro-ROS_kobuki_demo)                                                                                                                                                                                                                                         | Kobuki (Turtlebot 2) controller demo application using micro-ROS in an Olimex board over NuttX                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/blob/master/README.md)  |
-| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-foxy-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
+| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/humble)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/humble/README.md) |
 
 ## Docker Images Status
 
-| Image                            | Description                                                                                                                  | Status                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
-| -------------------------------- | ---------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| base                             | Base image with a ROS 2 Foxy installation + micro-ROS specific build system tools. Used as base of any other micro-ROS image | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)[![Compare Images](https://images.microbadger.com/badges/image/microros/base.svg)](https://microbadger.com/images/microros/base)                                                                                                                                                                         |
-| micro-ros-agent                  | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application                                    | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)[![Compare Images](https://images.microbadger.com/badges/image/microros/micro-ros-agent.svg)](https://microbadger.com/images/microros/micro-ros-agent)                                                                                                       |
-| micro-ros-demos                  | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities                     | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)[![Compare Images](https://images.microbadger.com/badges/image/microros/micro-ros-demos.svg)](https://microbadger.com/images/microros/micro-ros-demos)                                                                                                       |
-| micro-ros-olimex-nuttx           | Contains a ready to flash example for  Olimex STM32 E407                                                                     | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[![Compare Images](https://images.microbadger.com/badges/image/microros/micro-ros-olimex-nuttx.svg)](https://microbadger.com/images/microros/micro-ros-olimex-nuttx)                                                             |
-| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications using Arduino IDE                                     | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[![Compare Images](https://images.microbadger.com/badges/image/microros/micro_ros_static_library_builder.svg)](https://microbadger.com/images/microros/micro_ros_static_library_builder) |
-| esp-idf-microros                 | Allows to use micro-ROS as a component of the ESP-IDF build system                                                           | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)[![Compare Images](https://images.microbadger.com/badges/image/microros/esp-idf-microros.svg)](https://microbadger.com/images/microros/esp-idf-microros)                                                                                                 |
+| Image                            | Description                                                                                                                    | Status                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
+| -------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| base                             | Base image with a ROS 2 Humble installation + micro-ROS specific build system tools. Used as base of any other micro-ROS image | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)                                                                                                                    |
+| micro-ros-agent                  | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application                                      | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)                                                                        |
+| micro-ros-demos                  | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)                                                                        |
+| micro-ros-olimex-nuttx           | Contains a ready to flash example for  Olimex STM32 E407                                                                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)                                            |
+| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications using Arduino IDE                                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)    |
+| esp-idf-microros                 | Allows to use micro-ROS as a component of the ESP-IDF build system                                                             | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)                                                                    |
 
 ## Webpage Source Code Repository Status
 
@@ -76,21 +76,16 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 
 Bloom release status of packages in repository [github.com/ros2/rclc/](https://github.com/ros2/rclc) for different architectures and releases.
 
-| Package                                                                   | Release  | amd64                                                                                                                                                                                                     | arm64                                                                                                                                                                                                                       | armhf                                                                                                                                                                                                               |
-| :------------------------------------------------------------------------ | :------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [rclc](https://github.com/ros2/rclc/tree/master/rclc)                     | Dashing  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dpr__rclc__ubuntu_bionic_amd64)](https://build.ros2.org/job/Dpr__rclc__ubuntu_bionic_amd64/)                                                 | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubv8_uBv8__rclc__ubuntu_bionic_arm64__binary)](https://build.ros2.org/job/Dbin_ubv8_uBv8__rclc__ubuntu_bionic_arm64__binary/)                             | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubhf_uBhf__rclc__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Dbin_ubhf_uBhf__rclc__ubuntu_bionic_armhf__binary/)                     |
-|                                                                           | Eloquent | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Epr__rclc__ubuntu_bionic_amd64)](https://build.ros2.org/job/Epr__rclc__ubuntu_bionic_amd64/)                                                 | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubv8_uBv8__rclc__ubuntu_bionic_arm64__binary)](https://build.ros2.org/job/Ebin_ubv8_uBv8__rclc__ubuntu_bionic_arm64__binary/)                             | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubhf_uBhf__rclc__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Ebin_ubhf_uBhf__rclc__ubuntu_bionic_armhf__binary/)                     |
-|                                                                           | Foxy     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fpr__rclc__ubuntu_focal_amd64)](https://build.ros2.org/job/Fpr__rclc__ubuntu_focal_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fbin_ubv8_uFv8__rclc__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Fbin_ubv8_uFv8__rclc__ubuntu_focal_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                           | Galactic | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rpr__rclc__ubuntu_focal_amd64)](https://build.ros2.org/job/Gpr__rclc__ubuntu_focal_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Gbin_ufv8_uFv8__rclc__ubuntu_focal_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                           | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rpr__rclc__ubuntu_focal_amd64)](https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc__ubuntu_focal_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                           |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
-| [rclc_examples](https://github.com/ros2/rclc/tree/master/rclc_examples)   | Dashing  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_uB64__rclc_examples__ubuntu_bionic_amd64__binary)](https://build.ros2.org/job/Dbin_uB64__rclc_examples__ubuntu_bionic_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubv8_uBv8__rclc_examples__ubuntu_bionic_arm64__binary&build=8)](https://build.ros2.org/job/Dbin_ubv8_uBv8__rclc_examples__ubuntu_bionic_arm64__binary/8/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubhf_uBhf__rclc_examples__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Dbin_ubhf_uBhf__rclc_examples__ubuntu_bionic_armhf__binary/)   |
-|                                                                           | Eloquent | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_uB64__rclc_examples__ubuntu_bionic_amd64__binary)](https://build.ros2.org/job/Ebin_uB64__rclc_examples__ubuntu_bionic_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubv8_uBv8__rclc_examples__ubuntu_bionic_arm64__binary&build=8)](https://build.ros2.org/job/Ebin_ubv8_uBv8__rclc_examples__ubuntu_bionic_arm64__binary/8/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubhf_uBhf__rclc_examples__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Ebin_ubhf_uBhf__rclc_examples__ubuntu_bionic_armhf__binary/)   |
-|                                                                           | Foxy     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fbin_uF64__rclc_examples__ubuntu_focal_amd64__binary)](https://build.ros2.org/job/Fbin_uF64__rclc_examples__ubuntu_focal_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fbin_ubv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Fbin_ubv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                           | Galactic | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Gbin_uF64__rclc_examples__ubuntu_focal_amd64__binary)](https://build.ros2.org/job/Gbin_uF64__rclc_examples__ubuntu_focal_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Gbin_ufv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Gbin_ufv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                           | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_examples__ubuntu_focal_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_examples__ubuntu_focal_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_examples__ubuntu_focal_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                           |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
-| [rclc_lifecycle](https://github.com/ros2/rclc/tree/master/rclc_lifecycle) | Dashing  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_uB64__rclc_lifecycle__ubuntu_bionic_amd64__binary)](https://build.ros2.org/job/Dbin_uB64__rclc_lifecycle__ubuntu_bionic_amd64__binary/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubv8_uBv8__rclc_lifecycle__ubuntu_bionic_arm64__binary)](https://build.ros2.org/job/Dbin_ubv8_uBv8__rclc_lifecycle__ubuntu_bionic_arm64__binary/)         | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Dbin_ubhf_uBhf__rclc_lifecycle__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Dbin_ubhf_uBhf__rclc_lifecycle__ubuntu_bionic_armhf__binary/) |
-|                                                                           | Eloquent | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_uB64__rclc_lifecycle__ubuntu_bionic_amd64__binary)](https://build.ros2.org/job/Ebin_uB64__rclc_lifecycle__ubuntu_bionic_amd64__binary/) | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubv8_uBv8__rclc_lifecycle__ubuntu_bionic_arm64__binary)](https://build.ros2.org/job/Ebin_ubv8_uBv8__rclc_lifecycle__ubuntu_bionic_arm64__binary/)         | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ebin_ubhf_uBhf__rclc_lifecycle__ubuntu_bionic_armhf__binary)](https://build.ros2.org/job/Ebin_ubhf_uBhf__rclc_lifecycle__ubuntu_bionic_armhf__binary/) |
-|                                                                           | Foxy     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fbin_uF64__rclc_lifecycle__ubuntu_focal_amd64__binary)](https://build.ros2.org/job/Fbin_uF64__rclc_lifecycle__ubuntu_focal_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Fbin_ubv8_uFv8__rclc_lifecycle__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Fbin_ubv8_uFv8__rclc_lifecycle__ubuntu_focal_arm64__binary/)           |                                                                                                                                                                                                                     |
-|                                                                           | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_lifecycle__ubuntu_focal_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_lifecycle__ubuntu_focal_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_focal_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_focal_arm64__binary/)           |                                                                                                                                                                                                                     |
+| Package                                                                    | Release  | amd64                                                                                                                                                                                                     | arm64                                                                                                                                                                                                                       | armhf                                                                                                                                                                                                               |
+| :------------------------------------------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
+| [rclc](https://github.com/ros2/rclc/tree/rolling/rclc)                     | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hpr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Hpr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
+|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ipr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Ipr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Ibin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rpr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Rpr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
+|                                                                            |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
+| [rclc_examples](https://github.com/ros2/rclc/tree/rolling/rclc_examples)   | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
+|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Ibin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
+|                                                                            |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
+| [rclc_lifecycle](https://github.com/ros2/rclc/tree/rolling/rclc_lifecycle) | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uB64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uB64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uBv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uBv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubhf_uBhf__rclc_lifecycle__ubuntu_jammy_armhf__binary)](https://build.ros2.org/job/Hbin_ubhf_uBhf__rclc_lifecycle__ubuntu_jammy_armhf__binary/) |
+|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_ubv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           |                                                                                                                                                                                                                     |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           |                                                                                                                                                                                                                     |
diff --git a/_docs/overview/ext_tools/index.md b/_docs/overview/ext_tools/index.md
index 03057515..807e134a 100644
--- a/_docs/overview/ext_tools/index.md
+++ b/_docs/overview/ext_tools/index.md
@@ -41,7 +41,7 @@ The modules that exist up to date for integrating into external build systems ar
 <div class="extplatcontainer">
   <div class="extplatitem_description">
     <div>
-      <a href="https://vulcanexus.org">Vulcanexus</a> is an all-in-one ROS 2 tool set for easy and customized robotics development. It offers natively integrated solutions for ROS 2 networks in terms of performance improvement, simulation, cloud/edge communication, and microcontroller integration. The latter relies on micro-ROS. Vulcanexus is free and open source, and available as a Docker image for Galactic and Humble. All components enjoy continuous updates so users benefit from the latest features at all times.
+      <a href="https://vulcanexus.org">Vulcanexus</a> is an all-in-one ROS 2 tool set for easy and customized robotics development. It offers natively integrated solutions for ROS 2 networks in terms of performance improvement, simulation, cloud/edge communication, and microcontroller integration. The latter relies on micro-ROS. Vulcanexus is free and open source, and available as a Docker image for Humble and Iron. All components enjoy continuous updates so users benefit from the latest features at all times.
     </div>
   </div>
 </div>
@@ -121,11 +121,11 @@ The modules that exist up to date for integrating into external build systems ar
   <div class="extplatitem_description">
     <div>
         The STM32CubeMX is a graphical tool by ST for configuring STM32 microcontrollers and microprocessors. It enables to optimally program and manipulate the software thanks to a set of utilities that help setting up pinouts, peripherals, and middleware stacks.
-        <i>micro-ROS for STM32CubeMX</i> is based on a <a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/foxy/microros_component/Dockerfile">Dockerfile</a> and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com/content/st_com/en.html">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
+        <i>micro-ROS for STM32CubeMX</i> is based on a <a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/humble/microros_component/Dockerfile">Dockerfile</a> and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
         <hr><b>Resources:</b>
         <ul>
             <li><a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils">micro-ROS for STM32CubeMX on GitHub</a></li>
-            <li><a href="https://www.st.com/content/st_com/en.html">STMicroelectronics official webpage</a></li>
+            <li><a href="https://www.st.com">STMicroelectronics official webpage</a></li>
             <li><a href="https://github.com/STMicroelectronics/STM32Cube_MCU_Overall_Offer">STMicroelectronics official webpage</a></li>
         </ul>
     </div>
diff --git a/_docs/overview/license/index.md b/_docs/overview/license/index.md
index d9d60913..4fd84bf1 100644
--- a/_docs/overview/license/index.md
+++ b/_docs/overview/license/index.md
@@ -28,4 +28,4 @@ We are aware of the following important license specifics in the RTOS supported
 
 * GPL-licensed build scripts in Zepyhr: The third-party licenses are given directly [in the source tree](https://github.com/zephyrproject-rtos/zephyr/), but [docs.zephyrproject.org/latest/LICENSING.html](https://docs.zephyrproject.org/latest/LICENSING.html) states explicitly that few build scripts are used under GPL v2.
 * GPL-licensed build tool files in ESP-IDF: The Espressif IoT Development Framework used for the ESP32 includes files menuconfig (Kconfig) and several other build tooling files licensed under GPL v2 or v3.
-* Static library for Arduino IDE: The [micro_ros_arduino repository](https://github.com/micro-ROS/micro_ros_arduino) provides a static library `libmicroros.a` of the micro-ROS stack for use with the Arduino IDE. In detail, multiple versions of this library are provided, built for different microcontroller families using suitable cross-compiler configurations. The list of repositories included in the library can be found in the [`built_packages`](https://github.com/micro-ROS/micro_ros_arduino/blob/galactic/built_packages) file in the root of the repository.
\ No newline at end of file
+* Static library for Arduino IDE: The [micro_ros_arduino repository](https://github.com/micro-ROS/micro_ros_arduino) provides a static library `libmicroros.a` of the micro-ROS stack for use with the Arduino IDE. In detail, multiple versions of this library are provided, built for different microcontroller families using suitable cross-compiler configurations. The list of repositories included in the library can be found in the [`built_packages`](https://github.com/micro-ROS/micro_ros_arduino/blob/iron/built_packages) file in the root of the repository.
\ No newline at end of file
diff --git a/_docs/overview/users_and_clients/index.md b/_docs/overview/users_and_clients/index.md
index 23829250..bc900964 100644
--- a/_docs/overview/users_and_clients/index.md
+++ b/_docs/overview/users_and_clients/index.md
@@ -60,7 +60,7 @@ users:
     text: Dronecode is a nonprofit hosted under the Linux Foundation, dedicated to fostering open-source components and their communities. Working with top developers, end-users, and adopting vendors to create opportunities for collaboration.
     title: Dronecode
     url: www.dronecode.org
-  - path: https://www.wyca-robotics.fr/wp-content/uploads/2021/04/LogoAvecRoue.png
+  - path: https://global-uploads.webflow.com/642fc874fdfc5b6e86529427/643002c6f56ab31a4f8ee213_white.svg
     text: WYCA Robotics is a French company with more than 5 years of edge technology mastering in Robotics, AI and autonomous navigation. They developed Elodie, the first multi-purpose self-driving level 5 indoor vehicle for handling the users&#39 mobiliy challenges.
     title: Wyca Robotics
     url: www.wyca-robotics.com
@@ -86,7 +86,7 @@ collaborators:
     text: Espressif Systems is a public multinational, fabless semiconductor company focused on developing cutting-edge Wi-Fi-and-Bluetooth, low-power, AIoT solutions. They have created the popular ESP8266, ESP32, ESP32-S and ESP32-C series of chips, modules and development boards, and offer several open-source frameworks for building AIoT applications, among which the Espressif&#39s IoT Development Framework ESP-IDF.
     title: Espressif
     url: www.espressif.com
-  - path: http://hydrasystem.pl/img/hydra_system_black.png
+  - path: https://hydrasystem.pl/images/hydra_system_on_white.png
     text: Hydra System provides a multi-component solution, designed specifically for precise localisation of agricultural machines with work efficiency in mind Hydra System is composed of navigation module for agricultural machine (Hydra Box), specialised software (Hydra Nav) and an optional base station module (Hydra Base).
     title: Hydra System
     url: www.hydrasystem.pl/index.en_GB.html
diff --git a/_docs/tutorials/advanced/handling_type_memory/index.md b/_docs/tutorials/advanced/handling_type_memory/index.md
index 6235057b..6aa34083 100644
--- a/_docs/tutorials/advanced/handling_type_memory/index.md
+++ b/_docs/tutorials/advanced/handling_type_memory/index.md
@@ -9,15 +9,15 @@ This page aims to explain how to handle messages and types memory in micro-ROS.
 
 First of all, since the micro-ROS user is in an embedded C99 environment, it is important to be aware of what messages and ROS 2 types are being used in order to handle memory correctly.
 
-The micro-ROS type memory handling has changed in the latest micro-ROS Galactic distribution, two approaches are presented in this tutorial: micro-ROS Foxy and micro-ROS Galactic and beyond:
+Two approaches are presented in this tutorial: manual memory allocation, and automated approach using the [`micro_ros_utilities`](https://github.com/micro-ROS/micro_ros_utilities) package:
 
-- [micro-ROS Foxy](#micro-ros-foxy)
+- [Manual allocation](#manual-allocation)
   - [Sequence types in micro-ROS](#sequence-types-in-micro-ros)
   - [Compound types in micro-ROS](#compound-types-in-micro-ros)
   - [Sequences of compound types](#sequences-of-compound-types)
-- [micro-ROS Galactic and beyond](#micro-ros-galactic-and-beyond)
+- [micro-ROS utilities](#micro-ros-utilities)
 
-# micro-ROS Foxy
+# Manual allocation
 
 By watching the `.msg` or `.srv` of the types used in a micro-ROS application, you can determine the type of each member. Currently, the following types are supported:
 - Basic type
@@ -204,9 +204,9 @@ for(int32_t i = 0; i < 3; i++){
 }
 ```
 
-# micro-ROS Galactic and beyond
+# micro-ROS utilities
 
-Due to the inclusion of [`rosidl_typesupport_introspection_c`](https://github.com/ros2/rosidl/tree/master/rosidl_typesupport_introspection_c) in micro-ROS Galactic distribution, an automated memory handling for micro-ROS types is available. The tools related to this feature are available in the package [`micro_ros_utilities`](https://github.com/micro-ROS/micro_ros_utilities).
+Due to the inclusion of [`rosidl_typesupport_introspection_c`](https://github.com/ros2/rosidl/tree/rolling/rosidl_typesupport_introspection_c), an automated memory handling for micro-ROS types is available. The tools related to this feature are available in the package [`micro_ros_utilities`](https://github.com/micro-ROS/micro_ros_utilities).
 
 The documentation of the package [`micro_ros_utilities`](https://github.com/micro-ROS/micro_ros_utilities) is available [here](https://micro.ros.org/docs/api/utils/).
 
diff --git a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
index 4a524d1c..39115bc7 100644
--- a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
+++ b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
@@ -63,7 +63,7 @@ The rmw-microxrcedds uses a static-memory message queue where to to keep the sub
 The size of this message queue could be set by the `RMW_UXRCE_MAX_HISTORY`.
 
 It is worth noting that all the aforementioned CMake flags shall be set in a `.meta` for each platform supported in [micro_ros_setup](https://github.com/micro-ROS/micro_ros_setup).
-For example, in the [ping-pong application](https://micro-ros.github.io//docs/tutorials/core/first_application_linux/) the host [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/foxy/config/host/generic/client-host-colcon.meta) can be optimized with the following modifications:
+For example, in the [ping-pong application](https://micro-ros.github.io//docs/tutorials/core/first_application_linux/) the host [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/humble/config/host/generic/client-host-colcon.meta) can be optimized with the following modifications:
 
 ```
 {
@@ -88,9 +88,9 @@ For example, in the [ping-pong application](https://micro-ros.github.io//docs/tu
 ## Run-time configuration
 
 There are some build time parameters related to Client-to-Agent connection (such as **CONFIG_RMW_DEFAULT_UDP_PORT**, **CONFIG_RMW_DEFAULT_UDP_IP** and **CONFIG_RMW_DEFAULT_SERIAL_DEVICE**) that can be configured either at build time or at run-time.
-This means that you can set them in the [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/foxy/config/host/generic/client-host-colcon.meta) mentioned above and that micro-ROS provides a user configuration API for setting some RMW and middleware parameters at run-time.
+This means that you can set them in the [configuration file](https://github.com/micro-ROS/micro_ros_setup/blob/humble/config/host/generic/client-host-colcon.meta) mentioned above and that micro-ROS provides a user configuration API for setting some RMW and middleware parameters at run-time.
 
-The following example code shows the [API](https://github.com/micro-ROS/rmw_microxrcedds/blob/humble/rmw_microxrcedds_c/include/rmw_microros/init_options.h) calls needed to set the agent's IP address, port or serial device:
+The following example code shows the [API](https://github.com/micro-ROS/rmw_microxrcedds/blob/iron/rmw_microxrcedds_c/include/rmw_microros/init_options.h) calls needed to set the agent's IP address, port or serial device:
 
 ```c
 #include <rmw_microros/rmw_microros.h>
diff --git a/_docs/tutorials/advanced/overview/index.md b/_docs/tutorials/advanced/overview/index.md
index 2f870d91..2e9280f1 100644
--- a/_docs/tutorials/advanced/overview/index.md
+++ b/_docs/tutorials/advanced/overview/index.md
@@ -30,7 +30,3 @@ This chapter provides a number of advanced tutorials for those users who already
 * [**Benchmarking with the Shadow-Builder**](../benchmarking/)
 
   This tutorial aims at describing a specific benchmarking tooling called the *Shadow Builder*. More specifically, it explains how to create a plugin from A to Z and how to instrument the code.
-
-* [**Getting started with ROS 2 tracing**](../tracing/)
-
-  Tracing is a method for recording run-time data which is already well integrated with operating systems. This tutorial aims to introduce our ongoing effort to instrument ROS 2 and provide trace analysis tools.
diff --git a/_docs/tutorials/core/first_application_linux/index.md b/_docs/tutorials/core/first_application_linux/index.md
index 24ec6976..9f648193 100644
--- a/_docs/tutorials/core/first_application_linux/index.md
+++ b/_docs/tutorials/core/first_application_linux/index.md
@@ -3,7 +3,7 @@ title: First micro-ROS Application on Linux
 permalink: /docs/tutorials/core/first_application_linux/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 In this tutorial, you’ll learn the use of micro-ROS with Linux by testing a Ping Pong application.
 In the follow-up tutorial [*First micro-ROS application on an RTOS*](/docs/tutorials/core/first_application_rtos/),
@@ -39,13 +39,13 @@ export_executable(<my_app>)
 In this tutorial, we will focus on the out-of-the-box `ping_pong` application located at
 `src/uros/micro-ROS-demos/rclc/ping_pong`.
 You can check the complete content of this app
-[here](https://github.com/micro-ROS/micro-ROS-demos/tree/foxy/rclc/ping_pong).
+[here](https://github.com/micro-ROS/micro-ROS-demos/tree/humble/rclc/ping_pong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the host app specific files can be found here:
-[main.c](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/ping_pong/main.c) and
-[CMakeLists.txt](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/ping_pong/CMakeLists.txt).
+[main.c](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/ping_pong/main.c) and
+[CMakeLists.txt](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/ping_pong/CMakeLists.txt).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 ## Building the firmware
diff --git a/_docs/tutorials/core/first_application_rtos/freertos.md b/_docs/tutorials/core/first_application_rtos/freertos.md
index 3c4ef484..c91d9976 100644
--- a/_docs/tutorials/core/first_application_rtos/freertos.md
+++ b/_docs/tutorials/core/first_application_rtos/freertos.md
@@ -5,7 +5,7 @@ redirect_from:
   - /docs/tutorials/advanced/freertos/freertos_getting_started/
 ---
 
-<img src="https://img.shields.io/badge/Tested_on-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with FreeRTOS by testing a Ping Pong application.
 {% include first_application_common/target_hardware.md %}
@@ -47,13 +47,13 @@ ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport serial
 ```
 
 You can check the complete content of the `ping_pong` app
-[here](https://github.com/micro-ROS/freertos_apps/tree/foxy/apps/ping_pong).
+[here](https://github.com/micro-ROS/freertos_apps/tree/humble/apps/ping_pong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the FreeRTOS app specific files can be found here:
-[app.c](https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/ping_pong/app.c) and
-[app-colcon.meta](https://github.com/micro-ROS/freertos_apps/blob/foxy/apps/ping_pong/app-colcon.meta).
+[app.c](https://github.com/micro-ROS/freertos_apps/blob/humble/apps/ping_pong/app.c) and
+[app-colcon.meta](https://github.com/micro-ROS/freertos_apps/blob/humble/apps/ping_pong/app-colcon.meta).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 {% include first_application_common/build_and_flash.md %}
diff --git a/_docs/tutorials/core/first_application_rtos/nuttx.md b/_docs/tutorials/core/first_application_rtos/nuttx.md
index 75974904..aecc6394 100644
--- a/_docs/tutorials/core/first_application_rtos/nuttx.md
+++ b/_docs/tutorials/core/first_application_rtos/nuttx.md
@@ -5,7 +5,7 @@ redirect_from:
   - /docs/tutorials/advanced/nuttx/nuttx_getting_started/
 ---
 
-<img src="https://img.shields.io/badge/Tested_on-Foxy-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with NuttX by testing a Ping Pong application.
 {% include first_application_common/target_hardware.md %}
@@ -23,7 +23,7 @@ Once the command is executed, a folder named `firmware` must be present in your
 
 This step is in charge, among other things, of downloading a set of micro-ROS apps for the specific platform you are
 addressing.
-In the case of NuttX, these are located [here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples).
+In the case of NuttX, these are located [here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples).
 Each app is represented by a folder containing the following files:
 
 * `app.c`: This file contains the logic of the application.
@@ -42,7 +42,7 @@ ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS]
 ```
 
 In this tutorial, we will use a Serial transport and focus on the out-of-the-box `uros_pingpong`
-application located [here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples/uros_pingpong).
+application located [here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples/uros_pingpong).
 To execute this application with the chosen transport, run the configuration command above by specifying the `[APP]` parameter as below:
 
 ```bash
@@ -119,15 +119,15 @@ Now we have two options to configure our micro-ROS transport:
     ```
 
 You can check the complete content of the `uros_pingpong` app
-[here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples/uros_pingpong).
+[here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples/uros_pingpong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the FreeRTOS app specific files can be found here:
-[app.c](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/app.c),
-[Kconfig](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Kconfig),
-[Make.defs](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Make.defs) and
-[Makefile](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Makefile).
+[app.c](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/app.c),
+[Kconfig](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Kconfig),
+[Make.defs](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Make.defs) and
+[Makefile](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Makefile).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 {% include first_application_common/build_and_flash.md %}
diff --git a/_docs/tutorials/core/first_application_rtos/zephyr.md b/_docs/tutorials/core/first_application_rtos/zephyr.md
index 7090fab9..acb53ea8 100644
--- a/_docs/tutorials/core/first_application_rtos/zephyr.md
+++ b/_docs/tutorials/core/first_application_rtos/zephyr.md
@@ -5,7 +5,7 @@ redirect_from:
   - /docs/tutorials/advanced/zephyr/zephyr_getting_started/
 ---
 
-<img src="https://img.shields.io/badge/Tested_on-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with Zephyr by testing a Ping Pong application.
 {% include first_application_common/target_hardware.md %}
@@ -31,15 +31,15 @@ run the configuration command above by specifying the `[APP]` and `[OPTIONS]` pa
 ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport serial-usb
 ```
 You can check the complete content of the `ping_pong` app
-[here](https://github.com/micro-ROS/zephyr_apps/tree/foxy/apps/ping_pong).
+[here](https://github.com/micro-ROS/zephyr_apps/tree/humble/apps/ping_pong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the Zephyr app specific files can be found here:
-[main.c](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/src/main.c),
-[app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/app-colcon.meta),
-[CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/CMakeLists.txt)
-and [serial-usb.conf](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/serial-usb.conf).
+[main.c](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/src/main.c),
+[app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/app-colcon.meta),
+[CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/CMakeLists.txt)
+and [serial-usb.conf](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/serial-usb.conf).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 {% include first_application_common/build_and_flash.md %}
diff --git a/_docs/tutorials/core/zephyr_emulator/index.md b/_docs/tutorials/core/zephyr_emulator/index.md
index 9cd7dd4d..b4422163 100644
--- a/_docs/tutorials/core/zephyr_emulator/index.md
+++ b/_docs/tutorials/core/zephyr_emulator/index.md
@@ -3,7 +3,7 @@ title: Zephyr Emulator
 permalink: /docs/tutorials/core/zephyr_emulator/
 ---
 
-<img src="https://img.shields.io/badge/Tested_on-Foxy-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with a **[Zephyr RTOS](https://www.zephyrproject.org/)**
 emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boards/posix/native_posix/doc/index.html))
@@ -35,15 +35,15 @@ ros2 run micro_ros_setup configure_firmware.sh ping_pong --transport udp --ip 12
 ```
 
 You can check the complete content of the `ping_pong` app
-[here](https://github.com/micro-ROS/zephyr_apps/tree/foxy/apps/ping_pong).
+[here](https://github.com/micro-ROS/zephyr_apps/tree/humble/apps/ping_pong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the Zephyr app specific files can be found here:
-[main.c](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/src/main.c),
-[app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/app-colcon.meta),
-[CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/CMakeLists.txt)
-and [host-udp.conf](https://github.com/micro-ROS/zephyr_apps/blob/foxy/apps/ping_pong/host-udp.conf).
+[main.c](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/src/main.c),
+[app-colcon.meta](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/app-colcon.meta),
+[CMakeLists.txt](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/CMakeLists.txt)
+and [host-udp.conf](https://github.com/micro-ROS/zephyr_apps/blob/humble/apps/ping_pong/host-udp.conf).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 ## Building the firmware
diff --git a/_docs/tutorials/old/6lowpan/index.md b/_docs/tutorials/old/6lowpan/index.md
index b6a84143..653e4ccc 100644
--- a/_docs/tutorials/old/6lowpan/index.md
+++ b/_docs/tutorials/old/6lowpan/index.md
@@ -26,7 +26,7 @@ In order to implement the steps highlighted in this guide, you need the followin
 - micro-ROS-bridge-RPI.
 
 **Important!**
-You can find a guide of how to setup the micro-ROS-bridge_RPI at its [repository](https://github.com/micro-ROS/micro-ROS-bridge_RPI/blob/new_bridge_tools/Readme.md).
+You can find a guide of how to setup the micro-ROS-bridge_RPI at its [repository](https://github.com/micro-ROS/micro-ROS-bridge_RPI/blob/new_bridge_tools/README.md).
 In the micro-ROS-bridge-RPI guide, you can find everything that you need to set-up this device base.
 
 ## Configure the board
diff --git a/_docs/tutorials/programming_rcl_rclc/executor/executor.md b/_docs/tutorials/programming_rcl_rclc/executor/executor.md
index 9bab34fa..0df3fcf6 100644
--- a/_docs/tutorials/programming_rcl_rclc/executor/executor.md
+++ b/_docs/tutorials/programming_rcl_rclc/executor/executor.md
@@ -3,7 +3,7 @@ title: Executor and timers
 permalink: /docs/tutorials/programming_rcl_rclc/executor/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 - [Timers](#timers)
   - [Initialization](#initialization)
@@ -53,7 +53,7 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 }
 ```
 
-During the callback the timer can be canceled or have its period and/or callback modified using the passed pointer. Check [rcl/timer.h](https://github.com/ros2/rcl/blob/galactic/rcl/include/rcl/timer.h) for details.
+During the callback the timer can be canceled or have its period and/or callback modified using the passed pointer. Check [rcl/timer.h](https://github.com/ros2/rcl/blob/iron/rcl/include/rcl/timer.h) for details.
 
 ### Cleaning Up
 
@@ -821,6 +821,6 @@ The following code will setup the executor accordingly:
 
 The custom structs `pub_trigger_object_t` are used to save the pointer of the handles. The timers `my_string_timer` and `my_int_timer` for the publishing executor; and, likewise, the subscriptions `my_string_sub` and `my_int_sub` for the subscribing executor. The configuration is done also with the `rclc_executor_set_trigger` by passing the trigger function and the trigger object, e.g. `pub_trigger` and `comm_obj_pub` for the `executor_pub`, respectivly.
 
-The complete source code of this example can be found in the file [rclc-examples/example_executor_trigger.c](https://github.com/ros2/rclc/blob/humble/rclc_examples/src/example_executor_trigger.c).
+The complete source code of this example can be found in the file [rclc-examples/example_executor_trigger.c](https://github.com/ros2/rclc/blob/iron/rclc_examples/src/example_executor_trigger.c).
 
 
diff --git a/_docs/tutorials/programming_rcl_rclc/micro-ROS/micro-ROS.md b/_docs/tutorials/programming_rcl_rclc/micro-ROS/micro-ROS.md
index be38b663..1136ee6d 100644
--- a/_docs/tutorials/programming_rcl_rclc/micro-ROS/micro-ROS.md
+++ b/_docs/tutorials/programming_rcl_rclc/micro-ROS/micro-ROS.md
@@ -5,7 +5,7 @@ permalink: /docs/tutorials/programming_rcl_rclc/micro-ROS/
 
 <!-- TODO: Change section name -->
 
-<img src="https://img.shields.io/badge/Written_for-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 - [Allocators](#allocators)
   - [Custom allocator](#custom-allocator)
@@ -124,7 +124,7 @@ Custom methods prototypes and examples:
 
 ## Time sync
 micro-ROS Clients can synchronize their epoch time with the connected Agent, this can be very useful when working in embedded environments that do not provide any time synchronization mechanism.
-This utility is based on the NTP protocol, taking into account delays caused by the transport layer. An usage example can be found on [`micro-ROS-demos/rclc/epoch_synchronization`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/epoch_synchronization/main.c).
+This utility is based on the NTP protocol, taking into account delays caused by the transport layer. An usage example can be found on [`micro-ROS-demos/rclc/epoch_synchronization`](https://github.com/micro-ROS/micro-ROS-demos/blob/iron/rclc/epoch_synchronization/main.c).
 
 ```c
 // Sync timeout
@@ -142,7 +142,7 @@ if (rmw_uros_epoch_synchronized())
 ```
 
 ## Ping agent
-The Client can test the connection with the Agent with the ping utility. This functionality can be used even when the micro-ROS context has not yet been initialized, which is useful to test the connection before trying to connect to the Agent. An example can be found on [`micro-ROS-demos/rclc/ping_uros_agent`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/ping_uros_agent/main.c).
+The Client can test the connection with the Agent with the ping utility. This functionality can be used even when the micro-ROS context has not yet been initialized, which is useful to test the connection before trying to connect to the Agent. An example can be found on [`micro-ROS-demos/rclc/ping_uros_agent`](https://github.com/micro-ROS/micro-ROS-demos/blob/iron/rclc/ping_uros_agent/main.c).
 
 ```c
 // Timeout for each attempt
@@ -170,7 +170,7 @@ else
 
 ## Continous serialization
 
-This utility allows the client to serialize and send data up to a customized size. The user can set the topic lenght and then serialize the data within the publish process. An example can be found on [`micro-ROS-demos/rclc/ping_uros_agent`](https://github.com/micro-ROS/micro-ROS-demos/blob/galactic/rclc/ping_uros_agent/main.c), where fragments from an image are requested and serialized on the spot.
+This utility allows the client to serialize and send data up to a customized size. The user can set the topic lenght and then serialize the data within the publish process. An example can be found on [`micro-ROS-demos/rclc/ping_uros_agent`](https://github.com/micro-ROS/micro-ROS-demos/blob/iron/rclc/ping_uros_agent/main.c), where fragments from an image are requested and serialized on the spot.
 
 The user needs to define two callbacks, then set them on the `rmw`. It is recommended to clean the callbacks after the publication, to avoid interferences with other topics on the same process:
 
diff --git a/_docs/tutorials/programming_rcl_rclc/node/node.md b/_docs/tutorials/programming_rcl_rclc/node/node.md
index b092fee6..11ab86e9 100644
--- a/_docs/tutorials/programming_rcl_rclc/node/node.md
+++ b/_docs/tutorials/programming_rcl_rclc/node/node.md
@@ -3,9 +3,9 @@ title: Nodes
 permalink: /docs/tutorials/programming_rcl_rclc/node/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
-ROS 2 nodes are the main participants on ROS 2 ecosystem. They will communicate between each other using publishers, subscriptions, services, etc. Further information about ROS 2 nodes can be found [here](https://docs.ros.org/en/galactic/Tutorials/Understanding-ROS2-Nodes.html)
+ROS 2 nodes are the main participants on ROS 2 ecosystem. They will communicate between each other using publishers, subscriptions, services, etc. Further information about ROS 2 nodes can be found [here](https://docs.ros.org/en/iron/Tutorials/Understanding-ROS2-Nodes.html)
 
 
 - [Initialization](#initialization)
@@ -45,37 +45,7 @@ ROS 2 nodes are the main participants on ROS 2 ecosystem. They will communicate
 
 - Create a node with custom options:
 
-  The configuration of the node will also be applied to its future elements (Publishers, subscribers, services, ...).The API used to customize the node options differs between ROS2 distributions:
-
-  Foxy: The `rcl_node_options_t` is used to configure the node
-
-  ```c
-  // Initialize allocator and support objects
-  ...
-
-  // Create node object
-  rcl_node_t node;
-  const char * node_name = "test_node";
-
-  // Node namespace (Can remain empty "")
-  const char * namespace = "test_namespace";
-
-  // Get default node options and modify them
-  rcl_node_options_t node_ops = rcl_node_get_default_options();
-
-  // Set node ROS domain ID to 10
-  node_ops.domain_id = (size_t)(10);
-
-  // Init node with custom options
-  rc = rclc_node_init_with_options(&node, node_name, namespace, &support, &node_ops);
-
-  if (rc != RCL_RET_OK) {
-    ... // Handle error
-    return -1;
-  }
-  ```
-
-  Galactic and beyond: In this case, the node options are configured on the `rclc_support_t` object with a custom API
+  The configuration of the node will also be applied to its future elements (Publishers, subscribers, services, ...). The node options are configured on the `rclc_support_t` object with a custom API:
 
   ```c
   // Initialize micro-ROS allocator
diff --git a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
index d8bd36cd..3a25a1b6 100644
--- a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
+++ b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
@@ -3,31 +3,21 @@ title: Parameter server
 permalink: /docs/tutorials/programming_rcl_rclc/parameters/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 ROS 2 parameters allow the user to create variables on a node and manipulate/read them with different ROS 2 commands. Further information about ROS 2 parameters can be found [here](https://docs.ros.org/en/rolling/Tutorials/Parameters/Understanding-ROS2-Parameters.html)
 
 Ready to use code examples related to this tutorial can be found in [`rclc/rclc_examples/src/example_parameter_server.c`](https://github.com/ros2/rclc/blob/master/rclc_examples/src/example_parameter_server.c).
 
-micro-ROS parameters implementation has been upgraded in the latest micro-ROS Humble distribution, two approaches are presented in this tutorial: micro-ROS Foxy/Galactic and micro-ROS Humble and beyond:
-
-- [General implementation](#general-implementation)
-  - [Initialization](#initialization)
-  - [Memory requirements](#memory-requirements)
-  - [Add a parameter](#add-a-parameter)
-  - [Cleaning up](#cleaning-up)
-- [micro-ROS Foxy/Galactic](#micro-ros-foxygalactic)
-  - [Initialization options](#initialization-options)
-  - [Callback](#callback)
-- [micro-ROS Humble](#micro-ros-humble)
-  - [Initialization options](#initialization-options-1)
-  - [Callback](#callback-1)
-  - [Add a parameter](#add-a-parameter-1)
-  - [Delete a parameter](#delete-a-parameter)
-  - [Parameters description](#parameters-description)
-
-## General implementation
-### Initialization
+- [Initialization](#initialization)
+- [Memory requirements](#memory-requirements)
+- [Add a parameter](#add-a-parameter)
+- [Delete a parameter](#delete-a-parameter)
+- [Parameters description](#parameters-description)
+- [Callback](#callback)
+- [Cleaning up](#cleaning-up)
+
+## Initialization
 
 - Default initialization:
     ```c
@@ -43,7 +33,47 @@ micro-ROS parameters implementation has been upgraded in the latest micro-ROS Hu
     }
     ```
 
-### Memory requirements
+- Initialization with custom options:
+
+  The following options can be configured:
+  - notify_changed_over_dds: Publish parameter events to other ROS 2 nodes as well.
+  - max_params: Maximum number of parameters allowed on the `rclc_parameter_server_t` object.
+  - allow_undeclared_parameters: Allows creation of parameters from external parameter clients. A new parameter will be created if a `set` operation is requested on a non-existing parameter.
+  - low_mem_mode: Reduces the memory used by the parameter server, functionality constrains are applied.
+
+    ```c
+    // Parameter server object
+    rclc_parameter_server_t param_server;
+
+    // Initialize parameter server options
+    const rclc_parameter_options_t options = {
+        .notify_changed_over_dds = true,
+        .max_params = 4,
+        .allow_undeclared_parameters = true,
+        .low_mem_mode = false; };
+
+    // Initialize parameter server with configured options
+    rcl_ret_t rc = rclc_parameter_server_init_with_option(&param_server, &node, &options);
+
+    if (RCL_RET_OK != rc) {
+      ... // Handle error
+      return -1;
+    }
+    ```
+
+- Low memory mode:
+
+    This mode ports the parameter functionality to memory constrained devices. The following constrains are applied:
+    - Request size limited to one parameter on Set, Get, Get types and Describe services.
+    - List parameter request has no prefixes enabled nor depth.
+    - Parameter description strings not allowed, `rclc_add_parameter_description` is disabled.
+
+    Memory benchmark results on `STM32F4` for 7 parameters with `RCLC_PARAMETER_MAX_STRING_LENGTH = 50` and `notify_changed_over_dds = true`:
+    - Full mode: 11736 B
+    - Low memory mode: 4160 B
+
+
+## Memory requirements
 
 The parameter server uses five services and an optional publisher. These need to be taken into account on the `rmw-microxrcedds` package memory configuration:
 
@@ -76,7 +106,7 @@ rc = rclc_executor_init(
 
 *Humble: the variable is `RCLC_PARAMETER_EXECUTOR_HANDLES_NUMBER` has been renamed to `RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES`.*
 
-### Add a parameter
+## Add a parameter
 
 The micro-ROS parameter server supports the following parameter types:
 
@@ -130,140 +160,57 @@ The micro-ROS parameter server supports the following parameter types:
     rc = rclc_parameter_get_double(&param_server, parameter_name, &param_value);
     ```
 
-*Max name size is controlled by the compile-time option `RCLC_PARAMETER_MAX_STRING_LENGTH`, default value is 50.*
-
-### Cleaning up
+Parameters can also be created by external clients if the `allow_undeclared_parameters` flag is set.
+The client just needs to set a value on a non-existing parameter. Then this parameter will be created if the server has still capacity and the callback allows the operation.
 
-To destroy an initialized parameter server:
+*Max name size is controlled by the compile-time option `RCLC_PARAMETER_MAX_STRING_LENGTH`, default value is 50.*
 
+## Delete a parameter
+Parameters can be deleted by both, the parameter server and external clients:
 ```c
-// Delete parameter server
-rclc_parameter_server_fini(&param_server, &node);
+rclc_delete_parameter(&param_server, "param2");
 ```
 
-This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the parameter server side.
-
-## micro-ROS Foxy/Galactic
-
-### Initialization options
-
-  - Custom options:
+*For external delete requests, the server callback will be executed, allowing the node to reject the operation.*
 
-    The following options can be configured:
-    - notify_changed_over_dds: Publish parameter events to other ROS 2 nodes as well.
-    - max_params: Maximum number of parameters allowed on the `rclc_parameter_server_t` object.
+## Parameters description
 
+- Parameter description
+    Adds a description of a parameter and its constrains, which will be returned on a describe parameter requests:
     ```c
-    // Parameter server object
-    rclc_parameter_server_t param_server;
-
-    // Initialize parameter server options
-    const rclc_parameter_options_t options = {
-        .notify_changed_over_dds = true,
-        .max_params = 4 };
-
-    // Initialize parameter server with configured options
-    rcl_ret_t rc = rclc_parameter_server_init_with_option(&param_server, &node, &options);
-
-    if (RCL_RET_OK != rc) {
-        ... // Handle error
-        return -1;
-    }
+    rclc_add_parameter_description(&param_server, "param2", "Second parameter", "Only even numbers");
     ```
 
-### Callback
-
-When adding the parameter server to the executor, a callback could be configured.
-This callback would then be executed after a parameter value is modified.
-
-A pointer to the changed parameter is passed as first and only argument. Example:
-```c
-void on_parameter_changed(Parameter * param)
-{
-    if (param == NULL) {
-      printf("Callback error, parameter is NULL\n");
-      return;
-    }
-
-    // Get parameter name
-    printf("Parameter %s modified.", param->name.data);
-
-    // Get parameter type
-    switch (param->value.type)
-    {
-        // Get parameter value acording type
-        case RCLC_PARAMETER_BOOL:
-            printf(" New value: %d (bool)", param->value.bool_value);
-            break;
-        case RCLC_PARAMETER_INT:
-            printf(" New value: %ld (int)", param->value.integer_value);
-            break;
-        case RCLC_PARAMETER_DOUBLE:
-            printf(" New value: %f (double)", param->value.double_value);
-            break;
-        default:
-            break;
-    }
-
-    printf("\n");
-}
-```
-Once the parameter server and the executor are initialized, the parameter server must be added to the executor in order to accept parameter commands from ROS 2:
-```c
-// Add parameter server to executor including defined callback
-rc = rclc_executor_add_parameter_server(&executor, &param_server, on_parameter_changed);
-```
-
-Note that this callback is optional as its just an event information for the user. To use the parameter server without a callback:
-```c
-// Add parameter server to executor without callback
-rc = rclc_executor_add_parameter_server(&executor, &param_server, NULL);
-```
+    *The maximum string size is controlled by the compilation time option `RCLC_PARAMETER_MAX_STRING_LENGTH`, default value is 50.*
 
-## micro-ROS Humble
+- Parameter constraints
+    Informative numeric constraints can be added to int and double parameters, returning this values on describe parameter requests:
+    - `from_value`: Start value for valid values, inclusive.
+    - `to_value`: End value for valid values, inclusive.
+    - `step`: Size of valid steps between the from and to bound.
 
-### Initialization options
+        ```c
+        int64_t int_from = 0;
+        int64_t int_to = 20;
+        uint64_t int_step = 2;
+        rclc_add_parameter_constraint_integer(&param_server, "param2", int_from, int_to, int_step);
 
-- Custom options:
+        double double_from = -0.5;
+        double double_to = 0.5;
+        double double_step = 0.01;
+        rclc_add_parameter_constraint_double(&param_server, "param3", double_from, double_to, double_step);
+        ```
 
-  The following options can be configured:
-  - notify_changed_over_dds: Publish parameter events to other ROS 2 nodes as well.
-  - max_params: Maximum number of parameters allowed on the `rclc_parameter_server_t` object.
-  - allow_undeclared_parameters: Allows creation of parameters from external parameter clients. A new parameter will be created if a `set` operation is requested on a non-existing parameter.
-  - low_mem_mode: Reduces the memory used by the parameter server, functionality constrains are applied.
+    *This constrains will not be applied by the parameter server, leaving values filtering to the user callback.*
 
+- Read-only parameters:
+    The new API offers a read-only flag. This flag blocks parameter changes from external clients, but allows changes on the server side:
     ```c
-    // Parameter server object
-    rclc_parameter_server_t param_server;
-
-    // Initialize parameter server options
-    const rclc_parameter_options_t options = {
-        .notify_changed_over_dds = true,
-        .max_params = 4,
-        .allow_undeclared_parameters = true,
-        .low_mem_mode = false; };
-
-    // Initialize parameter server with configured options
-    rcl_ret_t rc = rclc_parameter_server_init_with_option(&param_server, &node, &options);
-
-    if (RCL_RET_OK != rc) {
-      ... // Handle error
-      return -1;
-    }
+    bool read_only = true;
+    rclc_set_parameter_read_only(&param_server, "param3", read_only);
     ```
 
-- Low memory mode:
-
-    This mode ports the parameter functionality to memory constrained devices. The following constrains are applied:
-    - Request size limited to one parameter on Set, Get, Get types and Describe services.
-    - List parameter request has no prefixes enabled nor depth.
-    - Parameter description strings not allowed, `rclc_add_parameter_description` is disabled.
-
-    Memory benchmark results on `STM32F4` for 7 parameters with `RCLC_PARAMETER_MAX_STRING_LENGTH = 50` and `notify_changed_over_dds = true`:
-    - Full mode: 11736 B
-    - Low memory mode: 4160 B
-
-### Callback
+## Callback
 
 When adding the parameter server to the executor, a callback could to be configured. This callback would then be executed on the following events:
 - Parameter value change: Internal and external parameter set on existing parameters.
@@ -346,51 +293,14 @@ Configuration of the callback context:
 rc = rclc_executor_add_parameter_server_with_context(&executor, &param_server, on_parameter_changed, &context);
 ```
 
-### Add a parameter
-Parameters can also be created by external clients if the `allow_undeclared_parameters` flag is set.
-The client just needs to set a value on a non-existing parameter. Then this parameter will be created if the server has still capacity and the callback allows the operation.
+## Cleaning up
+
+To destroy an initialized parameter server:
 
-### Delete a parameter
-Parameters can be deleted by both, the parameter server and external clients:
 ```c
-rclc_delete_parameter(&param_server, "param2");
+// Delete parameter server
+rclc_parameter_server_fini(&param_server, &node);
 ```
 
-*For external delete requests, the server callback will be executed, allowing the node to reject the operation.*
-
-### Parameters description
-
-- Parameter description
-    Adds a description of a parameter and its constrains, which will be returned on a describe parameter requests:
-    ```c
-    rclc_add_parameter_description(&param_server, "param2", "Second parameter", "Only even numbers");
-    ```
-
-    *The maximum string size is controlled by the compilation time option `RCLC_PARAMETER_MAX_STRING_LENGTH`, default value is 50.*
-
-- Parameter constraints
-    Informative numeric constraints can be added to int and double parameters, returning this values on describe parameter requests:
-    - `from_value`: Start value for valid values, inclusive.
-    - `to_value`: End value for valid values, inclusive.
-    - `step`: Size of valid steps between the from and to bound.
-
-        ```c
-        int64_t int_from = 0;
-        int64_t int_to = 20;
-        uint64_t int_step = 2;
-        rclc_add_parameter_constraint_integer(&param_server, "param2", int_from, int_to, int_step);
-
-        double double_from = -0.5;
-        double double_to = 0.5;
-        double double_step = 0.01;
-        rclc_add_parameter_constraint_double(&param_server, "param3", double_from, double_to, double_step);
-        ```
-
-    *This constrains will not be applied by the parameter server, leaving values filtering to the user callback.*
+This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the parameter server side.
 
-- Read-only parameters:
-    The new API offers a read-only flag. This flag blocks parameter changes from external clients, but allows changes on the server side:
-    ```c
-    bool read_only = true;
-    rclc_set_parameter_read_only(&param_server, "param3", read_only);
-    ```
diff --git a/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md b/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
index ba055233..833e9bc8 100644
--- a/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
+++ b/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
@@ -3,11 +3,11 @@ title: Publishers and subscribers
 permalink: /docs/tutorials/programming_rcl_rclc/pub_sub/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/>  <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
-ROS 2 publishers and subscribers are the basic communication mechanism between nodes using topics. Further information about ROS 2 publish–subscribe pattern can be found [here](https://docs.ros.org/en/foxy/Tutorials/Topics/Understanding-ROS2-Topics.html).
+ROS 2 publishers and subscribers are the basic communication mechanism between nodes using topics. Further information about ROS 2 publish–subscribe pattern can be found [here](https://docs.ros.org/en/humble/Tutorials/Topics/Understanding-ROS2-Topics.html).
 
-Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/int32_publisher`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/int32_publisher/main.c) and [`micro-ROS-demos/rclc/int32_subscriber`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/int32_subscriber/main.c) folders. Fragments of code from this examples are used on this tutorial.
+Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/int32_publisher`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/int32_publisher/main.c) and [`micro-ROS-demos/rclc/int32_subscriber`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/int32_subscriber/main.c) folders. Fragments of code from this examples are used on this tutorial.
 
 - [Publisher](#publisher)
   - [Initialization](#initialization)
diff --git a/_docs/tutorials/programming_rcl_rclc/qos/QoS.md b/_docs/tutorials/programming_rcl_rclc/qos/QoS.md
index d5404d28..54875932 100644
--- a/_docs/tutorials/programming_rcl_rclc/qos/QoS.md
+++ b/_docs/tutorials/programming_rcl_rclc/qos/QoS.md
@@ -3,7 +3,7 @@ title: Quality of service
 permalink: /docs/tutorials/programming_rcl_rclc/qos/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 - [Reliable QoS](#reliable-qos)
 - [Best Effort](#best-effort)
diff --git a/_docs/tutorials/programming_rcl_rclc/service/services.md b/_docs/tutorials/programming_rcl_rclc/service/services.md
index f117354b..065aad38 100644
--- a/_docs/tutorials/programming_rcl_rclc/service/services.md
+++ b/_docs/tutorials/programming_rcl_rclc/service/services.md
@@ -3,11 +3,11 @@ title: Services
 permalink: /docs/tutorials/programming_rcl_rclc/service/
 ---
 
-<img src="https://img.shields.io/badge/Written_for-Foxy-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Galactic-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
+<img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
 ROS 2 services are another communication mechanism between nodes. Services implement a client-server paradigm based on ROS 2 messages and types. Further information about ROS 2 services can be found [here](https://index.ros.org/doc/ros2/Tutorials/Services/Understanding-ROS2-Services/)
 
-Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/addtwoints_server`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/addtwoints_server/main.c) and [`micro-ROS-demos/rclc/addtwoints_client`](https://github.com/micro-ROS/micro-ROS-demos/blob/foxy/rclc/addtwoints_client/main.c) folders. Fragments of code from this examples are used on this tutorial.
+Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/addtwoints_server`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/addtwoints_server/main.c) and [`micro-ROS-demos/rclc/addtwoints_client`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/addtwoints_client/main.c) folders. Fragments of code from this examples are used on this tutorial.
 
 - [Service server](#service-server)
   - [Initialization](#initialization)
diff --git a/_includes/first_application_common/build_system.md b/_includes/first_application_common/build_system.md
index 89317698..60428b2d 100644
--- a/_includes/first_application_common/build_system.md
+++ b/_includes/first_application_common/build_system.md
@@ -1,14 +1,14 @@
 ## Installing ROS 2 and the micro-ROS build system
 
-First of all, install **ROS 2 Foxy FitzRoy** on your Ubuntu 20.04 LTS computer.
+First of all, install **ROS 2 Humble Hawksbill** on your Ubuntu 22.04 LTS computer.
 To do so from binaries, via Debian packages, follow the instructions detailed
-[here](https://index.ros.org/doc/ros2/Installation/Foxy/Linux-Install-Debians/).
+[here](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html).
 
-***TIP:** Alternatively, you can use a docker container with a fresh ROS 2 Foxy installation. The one that serves
+***TIP:** Alternatively, you can use a docker container with a fresh ROS 2 Humble installation. The one that serves
 the purpose is the container run by the command:*
 
 ```bash
-docker run -it --net=host -v /dev:/dev --privileged ros:foxy
+docker run -it --net=host -v /dev:/dev --privileged ros:humble
 ```
 
 Once you have a ROS 2 installation in the computer, follow these steps to install the micro-ROS build system:
diff --git a/_includes/thumper_demo b/_includes/thumper_demo
index 72cebac2..03a24646 160000
--- a/_includes/thumper_demo
+++ b/_includes/thumper_demo
@@ -1 +1 @@
-Subproject commit 72cebac26e5ba951225d8e9d3d3cf2ffe436515a
+Subproject commit 03a246461262071ed39931171ee60111d49092be
diff --git a/_posts/2020-10-05-moveit.md b/_posts/2020-10-05-moveit.md
index 08068be5..5dacb7fe 100644
--- a/_posts/2020-10-05-moveit.md
+++ b/_posts/2020-10-05-moveit.md
@@ -9,7 +9,7 @@ We designed the demo in such a way that the MoveIt 2 manipulation and planificat
 
 With this demo we bring micro-ROS to a whole different level: thanks to MoveIt’s kinematic planification talent, an app running on a microcontroller is enabled to be integrated into complex algorithms and ROS 2 workflows. This allows all robots in micro-ROS’ ecosystem to perform actual ‘stunts’ of all types.
 
-To run micro-ROS, we employ a [STM32L4 Development IoT kit](https://www.st.com/en/evaluation-tools/b-l475e-iot01a.ht) in combination with [Zephyr](https://zephyrproject.org/). The board offers several general-purpose I/O pins and peripherals to communicate its 32-bits microcontroller with the external world. It also includes many sensors. For this demo, we make use of a 6-DoF Inertial Measurement Unit (LSM6DSL), composed of an accelerometer and a gyroscope, and a 3-DoF magnetometer (LIS3MDL). The fusion of the measurements fetched by these sensors outputs the pose, or [quaternion attitude](https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation), of the board, providing its relative orientation with respect to a fixed reference frame.
+To run micro-ROS, we employ a [STM32L4 Development IoT kit](https://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) in combination with [Zephyr](https://zephyrproject.org/). The board offers several general-purpose I/O pins and peripherals to communicate its 32-bits microcontroller with the external world. It also includes many sensors. For this demo, we make use of a 6-DoF Inertial Measurement Unit (LSM6DSL), composed of an accelerometer and a gyroscope, and a 3-DoF magnetometer (LIS3MDL). The fusion of the measurements fetched by these sensors outputs the pose, or [quaternion attitude](https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation), of the board, providing its relative orientation with respect to a fixed reference frame.
 The pose data is then forwarded to the ROS world, where it is consumed by both Rviz and MoveIt. The former uses it directly to represent the position and orientation of the board in its graphical interface, while MoveIt uses it to calculate the movement that the virtual arm has to perform to "touch" it, according to its kinematic algorithms for motion planning. The resulting movement is then integrated into Rviz and represented by means of its [virtual Panda robotic arm](https://github.com/ros-planning/panda_moveit_config), a standard tool employed by MoveIt in tutorials and graphic interfaces.
 
 Find the full video of the demo below:
diff --git a/index.html b/index.html
index f5a9036f..0968c062 100644
--- a/index.html
+++ b/index.html
@@ -129,8 +129,8 @@ <h3 class="text-center"><i class="fa fa-cog" aria-hidden="true" style="font-size
             <h3 class="text-center"><i class="fa fa-code-fork" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Source Code</h3>
             <p style="text-align:justify;">Source code can be found at <a href="https://github.com/micro-ROS/">github.com/micro-ROS</a>. It comes under the permissive license Apache 2.0 just as the standard ROS 2 stack.</p>
             <p style="text-align:justify;">The primary repository is <a href="https://github.com/micro-ROS/micro_ros_setup">micro_ros_setup</a>, which provides command line scripts for creating your first micro-ROS application.</p>
-            <p style="text-align:justify;">Dockers available for Foxy, Galactic and Humble at <a href="https://www.eprosima.com/index.php/downloads-all">eProsima download website</a>.</p>
-            <p style="text-align:justify;">micro-ROS represents one of four exclusive elements of <a href="https://vulcanexus.org/">Vulcanexus</a>, the all-in-one ROS 2 tool set. Vulcanexus offers free Dockers for Galactic and Humble.</p>
+            <p style="text-align:justify;">Dockers available for Humble and Iron at <a href="https://www.eprosima.com/index.php/downloads-all">eProsima download website</a>.</p>
+            <p style="text-align:justify;">micro-ROS represents one of four exclusive elements of <a href="https://vulcanexus.org/">Vulcanexus</a>, the all-in-one ROS 2 tool set. Vulcanexus offers free Dockers for Humble and Iron.</p>
             <p style="text-align:justify;">Developed an new feature or found a bug? We answer both Github pull requests and issues.</p>
 
             <!-- BOOK CHAPTER -->
diff --git a/scripts/cibuild b/scripts/cibuild
index 1a10abee..25ac2246 100755
--- a/scripts/cibuild
+++ b/scripts/cibuild
@@ -29,4 +29,4 @@ IGNORE_HREFS=${IGNORE_HREFS:+$IGNORE_HREFS,}$(ruby -e "puts %w{
 
 echo "Ignoring urls: " $IGNORE_HREFS
 bundle exec jekyll build
-bundle exec htmlproofer --check_html --http-status-ignore "429" --check-favicon --assume-extension --alt-ignore "/.*/" --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site
+bundle exec htmlproofer --check_html --http-status-ignore "429,403" --check-favicon --assume-extension --alt-ignore "/.*/" --empty-alt-ignore --only-4xx --url-ignore $IGNORE_HREFS $@ ./_site

From 89710b30b8660eeda240a7f83819b2e3703b03ac Mon Sep 17 00:00:00 2001
From: acuadros95 <acuadros1995@gmail.com>
Date: Tue, 13 Jun 2023 14:39:48 +0200
Subject: [PATCH 11/23] Fix broken links

Signed-off-by: acuadros95 <acuadros1995@gmail.com>
---
 _docs/overview/docker_ci_status/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
index 90d2597d..81043a2e 100644
--- a/_docs/overview/docker_ci_status/index.md
+++ b/_docs/overview/docker_ci_status/index.md
@@ -52,7 +52,7 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 | [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/humble)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/humble/README.md)            |
 | [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/humble)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps/blob/humble/README.md)               |
 | [Kobuki demo](https://github.com/micro-ROS/micro-ROS_kobuki_demo)                                                                                                                                                                                                                                         | Kobuki (Turtlebot 2) controller demo application using micro-ROS in an Olimex board over NuttX                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/blob/master/README.md)  |
-| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/humble)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/humble/README.md) |
+| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
 
 ## Docker Images Status
 

From fbce779925a47b783f911e44a8691a59b10b0c59 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
 <41898282+github-actions[bot]@users.noreply.github.com>
Date: Tue, 13 Jun 2023 14:51:08 +0200
Subject: [PATCH 12/23] micro-ROS Utils API reference auto-update 13-06-2023
 12:21 (#409)

Co-authored-by: Acuadros95 <Acuadros95@users.noreply.github.com>
---
 .../utils_doc/Modules/group__stringutils.md   | 74 +++++++++----------
 .../utils_doc/Modules/group__typeutils.md     | 60 +++++++--------
 2 files changed, 67 insertions(+), 67 deletions(-)

diff --git a/_includes/utils_doc/Modules/group__stringutils.md b/_includes/utils_doc/Modules/group__stringutils.md
index efba4115..322bba7e 100644
--- a/_includes/utils_doc/Modules/group__stringutils.md
+++ b/_includes/utils_doc/Modules/group__stringutils.md
@@ -7,7 +7,7 @@
 | MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_string_utilities_init](#function-micro_ros_string_utilities_init)**(const char * data)<br>Create a rosidl_runtime_c__String from a char pointer.  |
 | MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_string_utilities_init_with_size](#function-micro_ros_string_utilities_init_with_size)**(const size_t size)<br>Create a rosidl_runtime_c__String from a size.  |
 | MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_string_utilities_set](#function-micro_ros_string_utilities_set)**(const rosidl_runtime_c__String str, const char * data)<br>Create a rosidl_runtime_c__String from a char pointer.  |
-| const MICRO_ROS_UTILITIES_PUBLIC char * | **[micro_ros_string_utilities_get_c_str](#function-micro_ros_string_utilities_get_c_str)**(const rosidl_runtime_c__String str)<br>Returns the char pointer to the rosidl_runtime_c__String data.  |
+| MICRO_ROS_UTILITIES_PUBLIC const char * | **[micro_ros_string_utilities_get_c_str](#function-micro_ros_string_utilities_get_c_str)**(const rosidl_runtime_c__String str)<br>Returns the char pointer to the rosidl_runtime_c__String data.  |
 | rosidl_runtime_c__String | **[micro_ros_string_utilities_append](#function-micro_ros_string_utilities_append)**(const rosidl_runtime_c__String str, const char * data)<br>Appends a char pointer to the end of a rosidl_runtime_c__String.  |
 | MICRO_ROS_UTILITIES_PUBLIC rosidl_runtime_c__String | **[micro_ros_string_utilities_remove_tail_chars](#function-micro_ros_string_utilities_remove_tail_chars)**(const rosidl_runtime_c__String str, const size_t n)<br>Removes characters from the end of a string.  |
 | MICRO_ROS_UTILITIES_PUBLIC void | **[micro_ros_string_utilities_destroy](#function-micro_ros_string_utilities_destroy)**(rosidl_runtime_c__String *const str)<br>Destroys a rosidl_runtime_c__String.  |
@@ -36,12 +36,12 @@ Create a rosidl_runtime_c__String from a char pointer.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_init_with_size
@@ -66,12 +66,12 @@ Create a rosidl_runtime_c__String from a size.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_set
@@ -98,18 +98,18 @@ Create a rosidl_runtime_c__String from a char pointer.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_get_c_str
 
 ```cpp
-const MICRO_ROS_UTILITIES_PUBLIC char * micro_ros_string_utilities_get_c_str(
+MICRO_ROS_UTILITIES_PUBLIC const char * micro_ros_string_utilities_get_c_str(
     const rosidl_runtime_c__String str
 )
 ```
@@ -128,12 +128,12 @@ Returns the char pointer to the rosidl_runtime_c__String data.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_append
@@ -160,12 +160,12 @@ Appends a char pointer to the end of a rosidl_runtime_c__String.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_remove_tail_chars
@@ -192,12 +192,12 @@ Removes characters from the end of a string.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_string_utilities_destroy
@@ -220,12 +220,12 @@ Destroys a rosidl_runtime_c__String.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 
diff --git a/_includes/utils_doc/Modules/group__typeutils.md b/_includes/utils_doc/Modules/group__typeutils.md
index a422a81e..f0de6cef 100644
--- a/_includes/utils_doc/Modules/group__typeutils.md
+++ b/_includes/utils_doc/Modules/group__typeutils.md
@@ -42,12 +42,12 @@ Returns a string with the type introspection data.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_utilities_get_dynamic_size
@@ -74,12 +74,12 @@ Returns the dynamic memory size that will be used for a type.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_utilities_get_static_size
@@ -106,12 +106,12 @@ Returns the static memory size that will be used for a type.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_utilities_create_message_memory
@@ -140,12 +140,12 @@ Allocates the dynamic memory required for a message.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_utilities_create_static_message_memory
@@ -178,12 +178,12 @@ Allocates the memory required for a message in a user-provided buffer.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 ### function micro_ros_utilities_destroy_message_memory
@@ -212,12 +212,12 @@ Deallocates the dynamic memory of a message.
 ------------------
 
 
-| Attribute  | Adherence   |
+| Attribute    | Adherence     |
 |  -------- | -------- |
-| Allocates Memory  | Yes   |
-| Thread-Safe  | No   |
-| Uses Atomics  | No   |
-| Lock-Free  | Yes   |
+| Allocates Memory    | Yes     |
+| Thread-Safe    | No     |
+| Uses Atomics    | No     |
+| Lock-Free    | Yes    |
 
 
 

From e55ed001db6ebf4271ef41ca2e426578847501a4 Mon Sep 17 00:00:00 2001
From: Abhishekh Reddy <126507842+armgits@users.noreply.github.com>
Date: Mon, 7 Aug 2023 01:56:39 -0400
Subject: [PATCH 13/23] Correction of static library header files location
 after build step (#410)

---
 .../tutorials/advanced/create_custom_static_library/index.md  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/_docs/tutorials/advanced/create_custom_static_library/index.md b/_docs/tutorials/advanced/create_custom_static_library/index.md
index cfafbed8..baa8a0e7 100644
--- a/_docs/tutorials/advanced/create_custom_static_library/index.md
+++ b/_docs/tutorials/advanced/create_custom_static_library/index.md
@@ -115,6 +115,6 @@ Once you have both files ready, just run the build step in the micro-ROS build s
 ros2 run micro_ros_setup build_firmware.sh $(pwd)/my_custom_toolchain.cmake $(pwd)/my_custom_colcon.meta
 ```
 
-Once the build finishes you will have a precompiled static library with all the micro-ROS functionality in `firmware/build/libmicroros.a` and you will have all the required headers for your application in `firmware/include`. 
+Once the build finishes you will have a precompiled static library with all the micro-ROS functionality in `firmware/build/libmicroros.a` and you will have all the required headers for your application in `firmware/build/include`. 
 
-Just use them to link against in your development tools, and remember **if you are using a commercially available board we are accepting micro-ROS ports from the community**.
\ No newline at end of file
+Just use them to link against in your development tools, and remember **if you are using a commercially available board we are accepting micro-ROS ports from the community**.

From 23fa6f89817f3d3fa02d323c08c900a73de8b120 Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Thu, 16 Nov 2023 08:37:37 +0100
Subject: [PATCH 14/23] Add eProsima support line (#411)

* Add eProsima support line

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

* Fix CI

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

---------

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>
---
 _docs/overview/users_and_clients/index.md | 2 +-
 index.html                                | 3 +++
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/_docs/overview/users_and_clients/index.md b/_docs/overview/users_and_clients/index.md
index bc900964..1ba3e45c 100644
--- a/_docs/overview/users_and_clients/index.md
+++ b/_docs/overview/users_and_clients/index.md
@@ -70,7 +70,7 @@ collaborators:
     text: LUXonis is a US-based company specialized in solutions for developing embedded, performant, spatial AI & CV applications. This technology comes with the goal of allowing for human-like perception anywhere, regardless of internet connectivity, and making it productizable, user-friendly and reusable. LUXonis is responsible for devising DepthAI, an open-source platform - a complete ecosystem of custom haredware, firmware, software, and AI training - which combines neural inference, depth vision, and feature tracking into an easy-to-use solution.
     title: LUXonis
     url: www.luxonis.com
-  - path: https://upload.wikimedia.org/wikipedia/commons/thumb/1/15/Canonical_logo.svg/200px-Canonical_logo.svg.png
+  - path: https://upload.wikimedia.org/wikipedia/commons/thumb/9/93/Canonical_logo_2023.svg/1920px-Canonical_logo_2023.svg.png
     text: Canonical is a computer software company with products like Ubuntu Linux. The company&#39s goal is to &#39deliver, maintain, secure and sustain open source from cloud to desktop and devices&#39.
     title: Canonical
     url: www.canonical.com
diff --git a/index.html b/index.html
index 0968c062..99a7c450 100644
--- a/index.html
+++ b/index.html
@@ -44,6 +44,9 @@ <h1>micro-ROS</h1>
         <div class="col-md-12 text-center">
             <h2 class="header-light regular-pad" style="line-height: 1.3;">micro-ROS puts ROS 2 onto microcontrollers</h2>
         </div>
+        <div class="col-md-12 text-center">
+            <h3 class="header-light regular-pad" style="line-height: 1.3; padding-top: 0px; margin-top: 0px;">Contact us: <a href="mailto:info@eProsima.com">info@eProsima.com</a></h2>
+        </div>
     </div>
     <hr>
     <div class="row">

From 7350a1a23fde927cbe4ed73d6b80dd0eccae3a6f Mon Sep 17 00:00:00 2001
From: Pablo Garrido <pablogs9@gmail.com>
Date: Tue, 13 Feb 2024 10:54:32 +0100
Subject: [PATCH 15/23] Fix bundler (#415)

* Fix bundler

* Fix URLs
---
 .github/workflows/ci.yml                       |   2 +-
 .../lifecycle_and_system_modes/index.md        |   2 +-
 .../overview/ROS_2_feature_comparison/index.md |   2 +-
 _docs/overview/docker_ci_status/index.md       |   2 +-
 _docs/overview/features/index.md               |   2 +-
 _docs/overview/hardware/imgs/esp32.jpg         | Bin 0 -> 244459 bytes
 _docs/overview/hardware/index.md               |   2 +-
 _docs/overview/users_and_clients/index.md      |   2 +-
 .../advanced/create_new_type/index.md          |   8 ++++----
 .../core/first_application_rtos/nuttx.md       |  14 +++++++-------
 .../programming_rcl_rclc/service/services.md   |   2 +-
 _posts/2019-03-20-micro-ROS_at_ERF2019.md      |   4 ++--
 _posts/2020-03-03-micro-ROS-at-ERF2020.md      |   2 +-
 _posts/2021-04-13-ERF2021.md                   |   4 ++--
 index.html                                     |   2 +-
 15 files changed, 25 insertions(+), 25 deletions(-)
 create mode 100644 _docs/overview/hardware/imgs/esp32.jpg

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 386e2204..b974a461 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -21,7 +21,7 @@ jobs:
         ruby-version: 2.7.0
 
     - name: Install Bundler
-      run: gem install bundler
+      run: gem install bundler -v 2.4.22
 
     - uses: actions/cache@v1
       with:
diff --git a/_docs/concepts/client_library/lifecycle_and_system_modes/index.md b/_docs/concepts/client_library/lifecycle_and_system_modes/index.md
index 5fbea9b1..7eff2d2a 100644
--- a/_docs/concepts/client_library/lifecycle_and_system_modes/index.md
+++ b/_docs/concepts/client_library/lifecycle_and_system_modes/index.md
@@ -64,7 +64,7 @@ Our approach is based on the ROS 2 Lifecycle. The primary goal of the ROS 2 life
 The description of the concept can be found at:
 [http://design.ros2.org/articles/node_lifecycle.html](http://design.ros2.org/articles/node_lifecycle.html)
 The implementation of the Lifecycle Node is described at:
-[https://index.ros.org/doc/ros2/Managed-Nodes/](https://index.ros.org/doc/ros2/Managed-Nodes/).
+[https://design.ros2.org/articles/node_lifecycle.html](https://design.ros2.org/articles/node_lifecycle.html).
 
 ## Main Features
 
diff --git a/_docs/overview/ROS_2_feature_comparison/index.md b/_docs/overview/ROS_2_feature_comparison/index.md
index 4b1d74f2..b4692aed 100644
--- a/_docs/overview/ROS_2_feature_comparison/index.md
+++ b/_docs/overview/ROS_2_feature_comparison/index.md
@@ -3,7 +3,7 @@ title: ROS 2 Feature Comparison
 permalink: /docs/overview/ROS_2_feature_comparison/
 ---
 
-Comparison of micro-ROS features with ROS 2 features. The following list has been compiled from [https://index.ros.org/doc/ros2/Features/](https://index.ros.org/doc/ros2/Features/) and [https://index.ros.org/doc/ros2/Roadmap/](https://index.ros.org/doc/ros2/Roadmap/), and the features have been organized into sub-tables according to the macrocategories defined in the [Features and Architecture page](https://micro-ros.github.io//docs/overview/features/).
+Comparison of micro-ROS features with ROS 2 features. The following list has been compiled from [https://docs.ros.org/en/rolling/The-ROS2-Project/Features.html](https://docs.ros.org/en/rolling/The-ROS2-Project/Features.html) and [https://docs.ros.org/en/rolling/The-ROS2-Project/Roadmap.html](https://docs.ros.org/en/rolling/The-ROS2-Project/Roadmap.html), and the features have been organized into sub-tables according to the macrocategories defined in the [Features and Architecture page](https://micro-ros.github.io//docs/overview/features/).
 
 <style>
   .status_flag {
diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
index 81043a2e..c9fa4b2e 100644
--- a/_docs/overview/docker_ci_status/index.md
+++ b/_docs/overview/docker_ci_status/index.md
@@ -50,7 +50,7 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 | [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/humble)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/humble/README.md)            |
 | [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/humble)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/humble/README.md)              |
 | [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/humble)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/humble/README.md)            |
-| [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/humble)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps/blob/humble/README.md)               |
+| [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/nuttx_apps)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps)               |
 | [Kobuki demo](https://github.com/micro-ROS/micro-ROS_kobuki_demo)                                                                                                                                                                                                                                         | Kobuki (Turtlebot 2) controller demo application using micro-ROS in an Olimex board over NuttX                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/blob/master/README.md)  |
 | [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
 
diff --git a/_docs/overview/features/index.md b/_docs/overview/features/index.md
index ab6075fb..66c0edd0 100644
--- a/_docs/overview/features/index.md
+++ b/_docs/overview/features/index.md
@@ -107,7 +107,7 @@ Micro-ROS offers **seven key features** that make it ready for use in your micro
 
 ## Layered and Modular Architecture
 
-Micro-ROS follows the [ROS 2 architecture](https://index.ros.org/doc/ros2/) and makes use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is optimized for microcontrollers. Moreover, it uses POSIX-based RTOS (FreeRTOS, Zephyr, or NuttX) instead of Linux.
+Micro-ROS follows the [ROS 2 architecture](https://docs.ros.org/) and makes use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is optimized for microcontrollers. Moreover, it uses POSIX-based RTOS (FreeRTOS, Zephyr, or NuttX) instead of Linux.
 
 <img src="/img/micro-ROS_architecture.png" style="display: block; margin: auto; width: 100%; max-width: 500px;"/>
 
diff --git a/_docs/overview/hardware/imgs/esp32.jpg b/_docs/overview/hardware/imgs/esp32.jpg
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diff --git a/_docs/overview/hardware/index.md b/_docs/overview/hardware/index.md
index a51221e3..9eb23664 100644
--- a/_docs/overview/hardware/index.md
+++ b/_docs/overview/hardware/index.md
@@ -109,7 +109,7 @@ The officially supported boards are those which have been carried out or tested
   </div>
 
   <div class="hardwareitem_image">
-    <img src="/img/posts/logo-zephyr.jpg">
+    <img src="imgs/esp32.jpg">
   </div>
 </div>
 
diff --git a/_docs/overview/users_and_clients/index.md b/_docs/overview/users_and_clients/index.md
index 1ba3e45c..dc611362 100644
--- a/_docs/overview/users_and_clients/index.md
+++ b/_docs/overview/users_and_clients/index.md
@@ -7,7 +7,7 @@ customers_list:
     text: Renesas is a global semiconductor company delivering trusted embedded design innovation with complete semiconductor solutions that enable billions of connected, intelligent devices to enhance the way people work and live.
     title: Renesas
     url: www.renesas.com
-  - path: https://upload.wikimedia.org/wikipedia/commons/thumb/b/bf/LG_logo_%282015%29.svg/2560px-LG_logo_%282015%29.svg.png
+  - path: https://upload.wikimedia.org/wikipedia/commons/2/2b/Renesas_Electronics_logo.svg
     text: LG Electronics is one of the fourth-largest electronics company in South Korea. It comprises four business units home entertainment, mobile communications, home appliances and vehicle components
     title: LG
     url: www.lg.com
diff --git a/_docs/tutorials/advanced/create_new_type/index.md b/_docs/tutorials/advanced/create_new_type/index.md
index 295b281e..155fed99 100644
--- a/_docs/tutorials/advanced/create_new_type/index.md
+++ b/_docs/tutorials/advanced/create_new_type/index.md
@@ -57,7 +57,7 @@ int64 int64_test
 uint64 uint64_test
 ```
 
-Now, you can build your micro-ROS workspace as usual. As explained in [**First micro-ROS application on an RTOS**](../../core/first_application_rtos/), the `ros2 run micro_ros_setup build_firmware.sh` command will build all packages located inside `mcu_ws`. 
+Now, you can build your micro-ROS workspace as usual. As explained in [**First micro-ROS application on an RTOS**](../../core/first_application_rtos/), the `ros2 run micro_ros_setup build_firmware.sh` command will build all packages located inside `mcu_ws`.
 
 In your micro-ROS application code, you can use your new message type as usual:
 
@@ -75,17 +75,17 @@ msg.uint32_test = 42;
 
 rclc_publisher_init_default(&publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(my_custom_message, msg, MyCustomMessage), "my_custom_publisher");
 rcl_publish(&publisher, &msg, NULL);
- 
+
 ...
 ```
 
-You can find further information in the [ROS 2 Create custom ROS 2 msg and srv files](https://index.ros.org/doc/ros2/Tutorials/Custom-ROS2-Interfaces).
+You can find further information in the [ROS 2 Create custom ROS 2 msg and srv files](https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Single-Package-Define-And-Use-Interface.html).
 
 ## Using type composition
 
 It is possible to create custom types that include members from another ROS 2 message types packages. For example let's add a member with type `Point32` from the ROS 2 package `geometry_msgs`.
 
-First of all, you have to include the dependency in the `CMakeLists.txt`: 
+First of all, you have to include the dependency in the `CMakeLists.txt`:
 
 ```cmake
 ...
diff --git a/_docs/tutorials/core/first_application_rtos/nuttx.md b/_docs/tutorials/core/first_application_rtos/nuttx.md
index aecc6394..37e9d990 100644
--- a/_docs/tutorials/core/first_application_rtos/nuttx.md
+++ b/_docs/tutorials/core/first_application_rtos/nuttx.md
@@ -23,7 +23,7 @@ Once the command is executed, a folder named `firmware` must be present in your
 
 This step is in charge, among other things, of downloading a set of micro-ROS apps for the specific platform you are
 addressing.
-In the case of NuttX, these are located [here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples).
+In the case of NuttX, these are located [here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples).
 Each app is represented by a folder containing the following files:
 
 * `app.c`: This file contains the logic of the application.
@@ -42,7 +42,7 @@ ros2 run micro_ros_setup configure_firmware.sh [APP] [OPTIONS]
 ```
 
 In this tutorial, we will use a Serial transport and focus on the out-of-the-box `uros_pingpong`
-application located [here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples/uros_pingpong).
+application located [here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples/uros_pingpong).
 To execute this application with the chosen transport, run the configuration command above by specifying the `[APP]` parameter as below:
 
 ```bash
@@ -119,15 +119,15 @@ Now we have two options to configure our micro-ROS transport:
     ```
 
 You can check the complete content of the `uros_pingpong` app
-[here](https://github.com/micro-ROS/nuttx_apps/tree/humble/examples/uros_pingpong).
+[here](https://github.com/micro-ROS/nuttx_apps/tree/foxy/examples/uros_pingpong).
 
 {% include first_application_common/pingpong_logic.md %}
 
 The contents of the FreeRTOS app specific files can be found here:
-[app.c](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/app.c),
-[Kconfig](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Kconfig),
-[Make.defs](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Make.defs) and
-[Makefile](https://github.com/micro-ROS/nuttx_apps/blob/humble/examples/uros_pingpong/Makefile).
+[app.c](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/app.c),
+[Kconfig](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Kconfig),
+[Make.defs](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Make.defs) and
+[Makefile](https://github.com/micro-ROS/nuttx_apps/blob/foxy/examples/uros_pingpong/Makefile).
 A thorough review of these files is illustrative of how to create a micro-ROS app in this RTOS.
 
 {% include first_application_common/build_and_flash.md %}
diff --git a/_docs/tutorials/programming_rcl_rclc/service/services.md b/_docs/tutorials/programming_rcl_rclc/service/services.md
index 065aad38..7255cd42 100644
--- a/_docs/tutorials/programming_rcl_rclc/service/services.md
+++ b/_docs/tutorials/programming_rcl_rclc/service/services.md
@@ -5,7 +5,7 @@ permalink: /docs/tutorials/programming_rcl_rclc/service/
 
 <img src="https://img.shields.io/badge/Written_for-Humble-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Rolling-green" style="display:inline"/> <img src="https://img.shields.io/badge/Tested_on-Iron-green" style="display:inline"/>
 
-ROS 2 services are another communication mechanism between nodes. Services implement a client-server paradigm based on ROS 2 messages and types. Further information about ROS 2 services can be found [here](https://index.ros.org/doc/ros2/Tutorials/Services/Understanding-ROS2-Services/)
+ROS 2 services are another communication mechanism between nodes. Services implement a client-server paradigm based on ROS 2 messages and types. Further information about ROS 2 services can be found [here](https://docs.ros.org/en/rolling/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Services/Understanding-ROS2-Services.html)
 
 Ready to use code related to this concepts can be found in [`micro-ROS-demos/rclc/addtwoints_server`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/addtwoints_server/main.c) and [`micro-ROS-demos/rclc/addtwoints_client`](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/rclc/addtwoints_client/main.c) folders. Fragments of code from this examples are used on this tutorial.
 
diff --git a/_posts/2019-03-20-micro-ROS_at_ERF2019.md b/_posts/2019-03-20-micro-ROS_at_ERF2019.md
index 618ce532..786d11a8 100644
--- a/_posts/2019-03-20-micro-ROS_at_ERF2019.md
+++ b/_posts/2019-03-20-micro-ROS_at_ERF2019.md
@@ -3,7 +3,7 @@ title: micro-ROS at European Robotics Forum 2019
 author: borjaouterelo
 ---
 
-The [European Robotics Forum](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/), the most influential meeting of the robotics community in Europe, was held in Bucharest, Romania, in March 2019. Over 900 European robotics top experts attended the 10th edition of the conference.
+The [European Robotics Forum](https://eu-robotics.net/european-robotics-forum/), the most influential meeting of the robotics community in Europe, was held in Bucharest, Romania, in March 2019. Over 900 European robotics top experts attended the 10th edition of the conference.
 
 OFERA consortium, taking advantage of the opportunity, arranged one of their face-to-face meetings the days before the ERF as some of the members will also be attending to the forum.
 
@@ -11,7 +11,7 @@ In the forum and as part of the TG Software & System Engineering Meeting, Ingo L
 
 The micro-ROS community demo was presented, making use of a Kobuki, one of the project reference platforms, Olimex STM32 E407 and micro-ROS stack. This community use case was also present in the exibitions area, as part of the Bosch booth.
 
-## Slides 
+## Slides
 
 <embed src="/download/OFERA-Presentation_ERF2019.pdf" type="application/pdf" width="100%" height="450px"/>
 
diff --git a/_posts/2020-03-03-micro-ROS-at-ERF2020.md b/_posts/2020-03-03-micro-ROS-at-ERF2020.md
index f5a46bb8..85bdfe81 100644
--- a/_posts/2020-03-03-micro-ROS-at-ERF2020.md
+++ b/_posts/2020-03-03-micro-ROS-at-ERF2020.md
@@ -3,7 +3,7 @@ title: micro-ROS at European Robotics Forum 2020
 author: ralph-lange
 ---
 
-The 11th edition of the [**European Robotics Forum (ERF)**](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/) was held in Malaga, Spain from 3rd to 5th March 2020. The ERF is one of the most important events in the European robotics community and especially the place where almost all EU-funded robotics projects present their works.
+The 11th edition of the [**European Robotics Forum (ERF)**](https://eu-robotics.net/european-robotics-forum/) was held in Malaga, Spain from 3rd to 5th March 2020. The ERF is one of the most important events in the European robotics community and especially the place where almost all EU-funded robotics projects present their works.
 
 All partners of the EU project behind micro-ROS together organized a booth to display our latest developments. Most important, we showed a demo with a Kobuki platform, a Crazyflie quadcopter, and an IoT sensor running three different RTOS (NuttX, FreeRTOS, and Zephyr) supported by micro-ROS. In the front right of the following photo, you can also see our demo box to illustrate the different boot times and power consumptions of microprocessors versus microcontrollers running ROS 2 and micro-ROS, respectively.
 
diff --git a/_posts/2021-04-13-ERF2021.md b/_posts/2021-04-13-ERF2021.md
index 16ecb02e..c354223a 100644
--- a/_posts/2021-04-13-ERF2021.md
+++ b/_posts/2021-04-13-ERF2021.md
@@ -3,11 +3,11 @@ title: micro-ROS at European Robotics Forum 2021
 author: JanStaschulat
 ---
 
-On April 13th 2021, we presented micro-ROS at the [European Robotics Forum 2021](https://eu-robotics.net/eurobotics/activities/european-robotics-forum/) in a dedicated workshop organized by several partners of this project. First, Francesca Finoccharo (eProsima) presented in detail the micro-ROS architecture, the supported platforms, several demonstrations and reported on new features: A versatile API for custom transports, continuous fragment mode, static memory pools in the RMW and time synchronization between client and agent:
+On April 13th 2021, we presented micro-ROS at the [European Robotics Forum 2021](https://eu-robotics.net/european-robotics-forum/) in a dedicated workshop organized by several partners of this project. First, Francesca Finoccharo (eProsima) presented in detail the micro-ROS architecture, the supported platforms, several demonstrations and reported on new features: A versatile API for custom transports, continuous fragment mode, static memory pools in the RMW and time synchronization between client and agent:
 
 <embed src="/download/2021-04-13-ERF-eprosima.pdf" type="application/pdf" width="100%" height="450px"/>
 
-Then, Jan Staschulat (Bosch) gave an overview of the RCLC API with a code example and highlighted the deterministic behavior of the RCLC Executor: 
+Then, Jan Staschulat (Bosch) gave an overview of the RCLC API with a code example and highlighted the deterministic behavior of the RCLC Executor:
 
 <embed src="/download/2021-04-13-ERF-bosch.pdf" type="application/pdf" width="100%" height="450px"/>
 
diff --git a/index.html b/index.html
index 99a7c450..2724a55b 100644
--- a/index.html
+++ b/index.html
@@ -71,7 +71,7 @@ <h3 class="text-center"><i class="fa fa-microchip" aria-hidden="true" style="fon
 
             <!-- NEWS -->
             <h3 class="text-center"><i class="fa fa-newspaper-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>News</h3>
-            <p style="text-align:justify;">Read about the latest developments in our <a href="https://micro-ros.github.io/allposts">blog</a> or attend the next ROS 2 Embedded Working Group Meeting, which take place online on a monthly basis. The meeting link can be found in the <a href="https://index.ros.org/doc/ros2/Governance/#upcoming-ros-events">ROS 2 Events calendar.</a></p>
+            <p style="text-align:justify;">Read about the latest developments in our <a href="https://micro-ros.github.io/allposts">blog</a> or attend the next ROS 2 Embedded Working Group Meeting, which take place online on a monthly basis. The meeting link can be found in the <a href="https://docs.ros.org/en/rolling/The-ROS2-Project/Governance.html#upcoming-ros-events">ROS 2 Events calendar.</a></p>
             <p>
                 <iframe width="356" height="200" src="https://www.youtube.com/embed/Vbab-YED2Us" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe>
             </p>

From 0b9455397e00da17e0fe7ad44d56b13e49217bb5 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@gmail.com>
Date: Tue, 13 Feb 2024 09:40:33 -0500
Subject: [PATCH 16/23] Change link to ROS 2 architecture (#414)

The link to https://index.ros.org is old and out-of-date.  Instead change it to where the architecture of ROS 2 is discussed.
---
 _docs/overview/features/index.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/overview/features/index.md b/_docs/overview/features/index.md
index 66c0edd0..7afcb5dc 100644
--- a/_docs/overview/features/index.md
+++ b/_docs/overview/features/index.md
@@ -107,7 +107,7 @@ Micro-ROS offers **seven key features** that make it ready for use in your micro
 
 ## Layered and Modular Architecture
 
-Micro-ROS follows the [ROS 2 architecture](https://docs.ros.org/) and makes use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is optimized for microcontrollers. Moreover, it uses POSIX-based RTOS (FreeRTOS, Zephyr, or NuttX) instead of Linux.
+Micro-ROS follows the [ROS 2 architecture](https://docs.ros.org/en/rolling/Concepts/Advanced/About-Internal-Interfaces.html) and makes use of its middleware pluggability to use [DDS-XRCE](https://www.omg.org/spec/DDS-XRCE/), which is optimized for microcontrollers. Moreover, it uses POSIX-based RTOS (FreeRTOS, Zephyr, or NuttX) instead of Linux.
 
 <img src="/img/micro-ROS_architecture.png" style="display: block; margin: auto; width: 100%; max-width: 500px;"/>
 

From e47b9b0487624b65312471f88bb1480dee1c2387 Mon Sep 17 00:00:00 2001
From: Alex Pavey <Apave24@users.noreply.github.com>
Date: Tue, 20 Aug 2024 02:08:09 -0400
Subject: [PATCH 17/23] Fix typo in run-time configuration section (#419)

---
 .../tutorials/advanced/microxrcedds_rmw_configuration/index.md  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
index 39115bc7..542a8d2e 100644
--- a/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
+++ b/_docs/tutorials/advanced/microxrcedds_rmw_configuration/index.md
@@ -107,7 +107,7 @@ rmw_init_options_t* rmw_options = rcl_init_options_get_rmw_init_options(&init_op
 rmw_uros_options_set_udp_address("127.0.0.1", "8888", rmw_options);
 
 // Serial case: Set RMW serial device parameters
-mw_uros_options_set_serial_device("/dev/ttyAMA0", rmw_options)
+rmw_uros_options_set_serial_device("/dev/ttyAMA0", rmw_options)
 
 // Set RMW client key
 rmw_uros_options_set_client_key(0xBA5EBA11, rmw_options);

From 6a8f4cad3f8ac2816c2c2573c73ec35c2d731653 Mon Sep 17 00:00:00 2001
From: Anas <anasihabezmc@gmail.com>
Date: Mon, 16 Sep 2024 08:48:45 +0300
Subject: [PATCH 18/23] Update pub_sub.md (#420)

Fixed typo
---
 _docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md b/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
index 833e9bc8..f9f879c2 100644
--- a/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
+++ b/_docs/tutorials/programming_rcl_rclc/pub_sub/pub_sub.md
@@ -22,7 +22,7 @@ Ready to use code related to this concepts can be found in [`micro-ROS-demos/rcl
 
 ### Initialization
 
-Starting from a code where RCL is initialized and a micro-ROS node is created, there are tree ways to initialize a publisher depending on the desired quality-of-service configuration:
+Starting from a code where RCL is initialized and a micro-ROS node is created, there are three ways to initialize a publisher depending on the desired quality-of-service configuration:
 
 - Reliable (default):
   ```c
@@ -249,4 +249,4 @@ rcl_publisher_fini(&publisher, &node);
 rcl_subscription_fini(&subscriber, &node);
 ```
 
-This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.
\ No newline at end of file
+This will delete any automatically created infrastructure on the agent (if possible) and deallocate used memory on the client side.

From 415199c64634932330e69d11510540389a61214e Mon Sep 17 00:00:00 2001
From: Carlos Espinoza Curto <148376273+Carlosespicur@users.noreply.github.com>
Date: Tue, 16 Sep 2025 10:51:01 +0200
Subject: [PATCH 19/23] Enhance documentation (#424)

* Regenerate gemfile

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Improve local building instructions

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix status badges

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Bump Ruby/bundler versions in CI

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix html proofer version

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Fix broken links

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

* Use demobox_demo master branch

Signed-off-by: Carlosespicur <carlosespicur@proton.me>

---------

Signed-off-by: Carlosespicur <carlosespicur@proton.me>
---
 .github/workflows/ci.yml                      |   8 +-
 Gemfile                                       |   2 +-
 Gemfile.lock                                  | 322 +++++++++---------
 README.md                                     |  99 +++++-
 .../concepts/fiware_interoperability/index.md |   6 +-
 _docs/concepts/rtos/comparison/index.md       |   4 +-
 .../ROS_2_feature_comparison/index.md         |   2 +-
 _docs/overview/docker_ci_status/index.md      |  88 ++---
 _docs/overview/ext_tools/index.md             |   2 +-
 _docs/overview/users_and_clients/index.md     |   4 +-
 _docs/tutorials/core/zephyr_emulator/index.md |   2 +-
 _includes/demobox_demo                        |   2 +-
 _posts/2020-09-24-microROS_and_FIWARE.md      |   2 +-
 _posts/2021-10-10-embeddedRTPS.md             |   2 +-
 index.html                                    |   7 +-
 15 files changed, 323 insertions(+), 229 deletions(-)

diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b974a461..91b3ec7e 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -15,15 +15,15 @@ jobs:
       with:
         submodules: true
 
-    - name: Set up Ruby 2.7
+    - name: Set up Ruby 3.4.5
       uses: ruby/setup-ruby@v1
       with:
-        ruby-version: 2.7.0
+        ruby-version: 3.4.5
 
     - name: Install Bundler
-      run: gem install bundler -v 2.4.22
+      run: gem install bundler -v 2.7.2
 
-    - uses: actions/cache@v1
+    - uses: actions/cache@v4
       with:
         path: vendor/bundle
         key: ${{ runner.os }}-gems-${{ hashFiles('**/Gemfile.lock') }}
diff --git a/Gemfile b/Gemfile
index d313333c..821e42f4 100644
--- a/Gemfile
+++ b/Gemfile
@@ -2,6 +2,6 @@ source 'https://rubygems.org'
 gem 'github-pages', group: :jekyll_plugins
 
 # Testing utilities
-gem "html-proofer"
+gem "html-proofer", "3.19.4"
 
 #gemspec
\ No newline at end of file
diff --git a/Gemfile.lock b/Gemfile.lock
index cc853657..b3e3f4c1 100644
--- a/Gemfile.lock
+++ b/Gemfile.lock
@@ -1,61 +1,65 @@
 GEM
   remote: https://rubygems.org/
   specs:
-    activesupport (6.0.4)
-      concurrent-ruby (~> 1.0, >= 1.0.2)
-      i18n (>= 0.7, < 2)
-      minitest (~> 5.1)
-      tzinfo (~> 1.1)
-      zeitwerk (~> 2.2, >= 2.2.2)
-    addressable (2.8.0)
-      public_suffix (>= 2.0.2, < 5.0)
+    activesupport (8.0.2.1)
+      base64
+      benchmark (>= 0.3)
+      bigdecimal
+      concurrent-ruby (~> 1.0, >= 1.3.1)
+      connection_pool (>= 2.2.5)
+      drb
+      i18n (>= 1.6, < 2)
+      logger (>= 1.4.2)
+      minitest (>= 5.1)
+      securerandom (>= 0.3)
+      tzinfo (~> 2.0, >= 2.0.5)
+      uri (>= 0.13.1)
+    addressable (2.8.7)
+      public_suffix (>= 2.0.2, < 7.0)
+    base64 (0.3.0)
+    benchmark (0.4.1)
+    bigdecimal (3.2.3)
     coffee-script (2.4.1)
       coffee-script-source
       execjs
-    coffee-script-source (1.11.1)
+    coffee-script-source (1.12.2)
     colorator (1.1.0)
-    commonmarker (0.23.6)
-      ruby-enum (~> 0.5)
-    concurrent-ruby (1.1.9)
-    dnsruby (1.61.7)
-      simpleidn (~> 0.1)
-    em-websocket (0.5.2)
+    commonmarker (0.23.11)
+    concurrent-ruby (1.3.5)
+    connection_pool (2.5.4)
+    csv (3.3.5)
+    dnsruby (1.73.0)
+      base64 (>= 0.2)
+      logger (~> 1.6)
+      simpleidn (~> 0.2.1)
+    drb (2.2.3)
+    em-websocket (0.5.3)
       eventmachine (>= 0.12.9)
-      http_parser.rb (~> 0.6.0)
-    ethon (0.14.0)
+      http_parser.rb (~> 0)
+    ethon (0.15.0)
       ffi (>= 1.15.0)
     eventmachine (1.2.7)
-    execjs (2.8.1)
-    faraday (1.5.1)
-      faraday-em_http (~> 1.0)
-      faraday-em_synchrony (~> 1.0)
-      faraday-excon (~> 1.1)
-      faraday-httpclient (~> 1.0.1)
-      faraday-net_http (~> 1.0)
-      faraday-net_http_persistent (~> 1.1)
-      faraday-patron (~> 1.0)
-      multipart-post (>= 1.2, < 3)
-      ruby2_keywords (>= 0.0.4)
-    faraday-em_http (1.0.0)
-    faraday-em_synchrony (1.0.0)
-    faraday-excon (1.1.0)
-    faraday-httpclient (1.0.1)
-    faraday-net_http (1.0.1)
-    faraday-net_http_persistent (1.1.0)
-    faraday-patron (1.0.0)
-    ffi (1.15.4)
+    execjs (2.10.0)
+    faraday (2.13.4)
+      faraday-net_http (>= 2.0, < 3.5)
+      json
+      logger
+    faraday-net_http (3.4.1)
+      net-http (>= 0.5.0)
+    ffi (1.17.2-x86_64-linux-gnu)
     forwardable-extended (2.6.0)
-    gemoji (3.0.1)
-    github-pages (215)
-      github-pages-health-check (= 1.17.2)
-      jekyll (= 3.9.0)
-      jekyll-avatar (= 0.7.0)
-      jekyll-coffeescript (= 1.1.1)
-      jekyll-commonmark-ghpages (= 0.1.6)
-      jekyll-default-layout (= 0.1.4)
-      jekyll-feed (= 0.15.1)
+    gemoji (4.1.0)
+    github-pages (232)
+      github-pages-health-check (= 1.18.2)
+      jekyll (= 3.10.0)
+      jekyll-avatar (= 0.8.0)
+      jekyll-coffeescript (= 1.2.2)
+      jekyll-commonmark-ghpages (= 0.5.1)
+      jekyll-default-layout (= 0.1.5)
+      jekyll-feed (= 0.17.0)
       jekyll-gist (= 1.5.0)
-      jekyll-github-metadata (= 2.13.0)
+      jekyll-github-metadata (= 2.16.1)
+      jekyll-include-cache (= 0.2.1)
       jekyll-mentions (= 1.6.0)
       jekyll-optional-front-matter (= 0.3.2)
       jekyll-paginate (= 1.1.0)
@@ -64,57 +68,59 @@ GEM
       jekyll-relative-links (= 0.6.1)
       jekyll-remote-theme (= 0.4.3)
       jekyll-sass-converter (= 1.5.2)
-      jekyll-seo-tag (= 2.7.1)
+      jekyll-seo-tag (= 2.8.0)
       jekyll-sitemap (= 1.4.0)
       jekyll-swiss (= 1.0.0)
-      jekyll-theme-architect (= 0.1.1)
-      jekyll-theme-cayman (= 0.1.1)
-      jekyll-theme-dinky (= 0.1.1)
-      jekyll-theme-hacker (= 0.1.2)
-      jekyll-theme-leap-day (= 0.1.1)
-      jekyll-theme-merlot (= 0.1.1)
-      jekyll-theme-midnight (= 0.1.1)
-      jekyll-theme-minimal (= 0.1.1)
-      jekyll-theme-modernist (= 0.1.1)
-      jekyll-theme-primer (= 0.5.4)
-      jekyll-theme-slate (= 0.1.1)
-      jekyll-theme-tactile (= 0.1.1)
-      jekyll-theme-time-machine (= 0.1.1)
+      jekyll-theme-architect (= 0.2.0)
+      jekyll-theme-cayman (= 0.2.0)
+      jekyll-theme-dinky (= 0.2.0)
+      jekyll-theme-hacker (= 0.2.0)
+      jekyll-theme-leap-day (= 0.2.0)
+      jekyll-theme-merlot (= 0.2.0)
+      jekyll-theme-midnight (= 0.2.0)
+      jekyll-theme-minimal (= 0.2.0)
+      jekyll-theme-modernist (= 0.2.0)
+      jekyll-theme-primer (= 0.6.0)
+      jekyll-theme-slate (= 0.2.0)
+      jekyll-theme-tactile (= 0.2.0)
+      jekyll-theme-time-machine (= 0.2.0)
       jekyll-titles-from-headings (= 0.5.3)
-      jemoji (= 0.12.0)
-      kramdown (= 2.3.1)
+      jemoji (= 0.13.0)
+      kramdown (= 2.4.0)
       kramdown-parser-gfm (= 1.1.0)
-      liquid (= 4.0.3)
+      liquid (= 4.0.4)
       mercenary (~> 0.3)
       minima (= 2.5.1)
-      nokogiri (>= 1.10.4, < 2.0)
-      rouge (= 3.26.0)
+      nokogiri (>= 1.16.2, < 2.0)
+      rouge (= 3.30.0)
       terminal-table (~> 1.4)
-    github-pages-health-check (1.17.2)
+      webrick (~> 1.8)
+    github-pages-health-check (1.18.2)
       addressable (~> 2.3)
       dnsruby (~> 1.60)
-      octokit (~> 4.0)
-      public_suffix (>= 2.0.2, < 5.0)
+      octokit (>= 4, < 8)
+      public_suffix (>= 3.0, < 6.0)
       typhoeus (~> 1.3)
-    html-pipeline (2.14.0)
+    html-pipeline (2.14.3)
       activesupport (>= 2)
       nokogiri (>= 1.4)
-    html-proofer (3.19.2)
+    html-proofer (3.19.4)
       addressable (~> 2.3)
       mercenary (~> 0.3)
-      nokogumbo (~> 2.0)
-      parallel (~> 1.3)
+      nokogiri (~> 1.13)
+      parallel (~> 1.10)
       rainbow (~> 3.0)
       typhoeus (~> 1.3)
       yell (~> 2.0)
-    http_parser.rb (0.6.0)
-    i18n (0.9.5)
+    http_parser.rb (0.8.0)
+    i18n (1.14.7)
       concurrent-ruby (~> 1.0)
-    jekyll (3.9.0)
+    jekyll (3.10.0)
       addressable (~> 2.4)
       colorator (~> 1.0)
+      csv (~> 3.0)
       em-websocket (~> 0.5)
-      i18n (~> 0.7)
+      i18n (>= 0.7, < 2)
       jekyll-sass-converter (~> 1.0)
       jekyll-watch (~> 2.0)
       kramdown (>= 1.17, < 3)
@@ -123,27 +129,30 @@ GEM
       pathutil (~> 0.9)
       rouge (>= 1.7, < 4)
       safe_yaml (~> 1.0)
-    jekyll-avatar (0.7.0)
+      webrick (>= 1.0)
+    jekyll-avatar (0.8.0)
       jekyll (>= 3.0, < 5.0)
-    jekyll-coffeescript (1.1.1)
+    jekyll-coffeescript (1.2.2)
       coffee-script (~> 2.2)
-      coffee-script-source (~> 1.11.1)
-    jekyll-commonmark (1.3.1)
-      commonmarker (~> 0.14)
-      jekyll (>= 3.7, < 5.0)
-    jekyll-commonmark-ghpages (0.1.6)
-      commonmarker (~> 0.17.6)
-      jekyll-commonmark (~> 1.2)
-      rouge (>= 2.0, < 4.0)
-    jekyll-default-layout (0.1.4)
-      jekyll (~> 3.0)
-    jekyll-feed (0.15.1)
+      coffee-script-source (~> 1.12)
+    jekyll-commonmark (1.4.0)
+      commonmarker (~> 0.22)
+    jekyll-commonmark-ghpages (0.5.1)
+      commonmarker (>= 0.23.7, < 1.1.0)
+      jekyll (>= 3.9, < 4.0)
+      jekyll-commonmark (~> 1.4.0)
+      rouge (>= 2.0, < 5.0)
+    jekyll-default-layout (0.1.5)
+      jekyll (>= 3.0, < 5.0)
+    jekyll-feed (0.17.0)
       jekyll (>= 3.7, < 5.0)
     jekyll-gist (1.5.0)
       octokit (~> 4.2)
-    jekyll-github-metadata (2.13.0)
+    jekyll-github-metadata (2.16.1)
       jekyll (>= 3.4, < 5.0)
-      octokit (~> 4.0, != 4.4.0)
+      octokit (>= 4, < 7, != 4.4.0)
+    jekyll-include-cache (0.2.1)
+      jekyll (>= 3.7, < 5.0)
     jekyll-mentions (1.6.0)
       html-pipeline (~> 2.3)
       jekyll (>= 3.7, < 5.0)
@@ -163,129 +172,122 @@ GEM
       rubyzip (>= 1.3.0, < 3.0)
     jekyll-sass-converter (1.5.2)
       sass (~> 3.4)
-    jekyll-seo-tag (2.7.1)
+    jekyll-seo-tag (2.8.0)
       jekyll (>= 3.8, < 5.0)
     jekyll-sitemap (1.4.0)
       jekyll (>= 3.7, < 5.0)
     jekyll-swiss (1.0.0)
-    jekyll-theme-architect (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-architect (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-cayman (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-cayman (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-dinky (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-dinky (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-hacker (0.1.2)
+    jekyll-theme-hacker (0.2.0)
       jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-leap-day (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-leap-day (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-merlot (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-merlot (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-midnight (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-midnight (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-minimal (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-minimal (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-modernist (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-modernist (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-primer (0.5.4)
+    jekyll-theme-primer (0.6.0)
       jekyll (> 3.5, < 5.0)
       jekyll-github-metadata (~> 2.9)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-slate (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-slate (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-tactile (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-tactile (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
-    jekyll-theme-time-machine (0.1.1)
-      jekyll (~> 3.5)
+    jekyll-theme-time-machine (0.2.0)
+      jekyll (> 3.5, < 5.0)
       jekyll-seo-tag (~> 2.0)
     jekyll-titles-from-headings (0.5.3)
       jekyll (>= 3.3, < 5.0)
     jekyll-watch (2.2.1)
       listen (~> 3.0)
-    jemoji (0.12.0)
-      gemoji (~> 3.0)
+    jemoji (0.13.0)
+      gemoji (>= 3, < 5)
       html-pipeline (~> 2.2)
       jekyll (>= 3.0, < 5.0)
-    kramdown (2.3.1)
+    json (2.13.2)
+    kramdown (2.4.0)
       rexml
     kramdown-parser-gfm (1.1.0)
       kramdown (~> 2.0)
-    liquid (4.0.3)
-    listen (3.5.1)
+    liquid (4.0.4)
+    listen (3.9.0)
       rb-fsevent (~> 0.10, >= 0.10.3)
       rb-inotify (~> 0.9, >= 0.9.10)
+    logger (1.7.0)
     mercenary (0.3.6)
-    mini_portile2 (2.8.0)
     minima (2.5.1)
       jekyll (>= 3.5, < 5.0)
       jekyll-feed (~> 0.9)
       jekyll-seo-tag (~> 2.1)
-    minitest (5.14.4)
-    multipart-post (2.1.1)
-    nokogiri (1.13.6)
-      mini_portile2 (~> 2.8.0)
+    minitest (5.25.5)
+    net-http (0.6.0)
+      uri
+    nokogiri (1.18.9-x86_64-linux-gnu)
       racc (~> 1.4)
-    nokogumbo (2.0.5)
-      nokogiri (~> 1.8, >= 1.8.4)
-    octokit (4.21.0)
-      faraday (>= 0.9)
-      sawyer (~> 0.8.0, >= 0.5.3)
-    parallel (1.21.0)
+    octokit (4.25.1)
+      faraday (>= 1, < 3)
+      sawyer (~> 0.9)
+    parallel (1.27.0)
     pathutil (0.16.2)
       forwardable-extended (~> 2.6)
-    public_suffix (4.0.6)
-    racc (1.6.0)
-    rainbow (3.0.0)
-    rb-fsevent (0.11.0)
-    rb-inotify (0.10.1)
+    public_suffix (5.1.1)
+    racc (1.8.1)
+    rainbow (3.1.1)
+    rb-fsevent (0.11.2)
+    rb-inotify (0.11.1)
       ffi (~> 1.0)
-    rexml (3.2.5)
-    rouge (3.26.0)
-    ruby-enum (0.9.0)
-      i18n
-    ruby2_keywords (0.0.4)
-    rubyzip (2.3.2)
+    rexml (3.4.4)
+    rouge (3.30.0)
+    rubyzip (2.4.1)
     safe_yaml (1.0.5)
     sass (3.7.4)
       sass-listen (~> 4.0.0)
     sass-listen (4.0.0)
       rb-fsevent (~> 0.9, >= 0.9.4)
       rb-inotify (~> 0.9, >= 0.9.7)
-    sawyer (0.8.2)
+    sawyer (0.9.2)
       addressable (>= 2.3.5)
-      faraday (> 0.8, < 2.0)
-    simpleidn (0.2.1)
-      unf (~> 0.1.4)
+      faraday (>= 0.17.3, < 3)
+    securerandom (0.4.1)
+    simpleidn (0.2.3)
     terminal-table (1.8.0)
       unicode-display_width (~> 1.1, >= 1.1.1)
-    thread_safe (0.3.6)
-    typhoeus (1.4.0)
-      ethon (>= 0.9.0)
-    tzinfo (1.2.10)
-      thread_safe (~> 0.1)
-    unf (0.1.4)
-      unf_ext
-    unf_ext (0.0.7.7)
-    unicode-display_width (1.7.0)
+    typhoeus (1.5.0)
+      ethon (>= 0.9.0, < 0.16.0)
+    tzinfo (2.0.6)
+      concurrent-ruby (~> 1.0)
+    unicode-display_width (1.8.0)
+    uri (1.0.3)
+    webrick (1.9.1)
     yell (2.2.2)
-    zeitwerk (2.4.2)
 
 PLATFORMS
-  ruby
+  x86_64-linux
 
 DEPENDENCIES
   github-pages
-  html-proofer
+  html-proofer (= 3.19.4)
 
 BUNDLED WITH
-   2.1.4
+   2.7.2
diff --git a/README.md b/README.md
index 709d97db..4f504dcb 100644
--- a/README.md
+++ b/README.md
@@ -34,10 +34,90 @@ Please note the following third-party elements and content:
 For details on the open source components included in the micro-ros.github.io repository, see the file [3rd-party-licenses.txt](3rd-party-licenses.txt).
 
 ## Running locally
+This project uses Jekyll, the static site generator behind GitHub Pages (see [Jekyll Quickstart](https://jekyllrb.com/docs/) for more information).
+To preview the site locally, you’ll need to install Ruby, Jekyll, and the project dependencies.
+
+### Prerequisites
+Make sure your system has the necessary build tools and libraries for compiling Ruby and Jekyll dependencies:
+
+```bash
+sudo apt update
+sudo apt install -y \
+  libffi-dev \
+  libyaml-dev \
+  git
+```
+
+### Install Ruby via rbenv
+We recommend using rbenv to manage Ruby versions locally:
+
+```bash
+# Install rbenv
+sudo apt install -y rbenv
+
+# Add rbenv to your shell
+echo 'export PATH="$HOME/.rbenv/bin:$PATH"' >> ~/.bashrc
+echo 'eval "$(rbenv init - bash)"' >> ~/.bashrc
+source ~/.bashrc
+
+# Install ruby-build plugin
+git clone https://github.com/rbenv/ruby-build.git "$(rbenv root)"/plugins/ruby-build
+git -C "$(rbenv root)"/plugins/ruby-build pull
+
+# Install Ruby 3.4.5
+rbenv install 3.4.5
+rbenv global 3.4.5
+```
+
+### Configure UTF-8 Locale
+Jekyll and its plugins require UTF-8 encoding to handle special characters correctly:
+
+```bash
+export LC_ALL="C.UTF-8"
+export LANG="en_US.UTF-8"
+export LANGUAGE="en_US.UTF-8"
+```
+
+### Install Jekyll and Bundler
+
+```bash
+gem install jekyll bundler
+```
+
+Using a Bundler version different from the one recorded in the `Gemfile.lock` (currently 2.7.2) may lead to compatibility issues.
+You can check your installed Bundler version by running:
+
+```bash
+bundler -v
+```
+
+### Clone repository and dependencies
+For the includes of README.md files on the micro-ROS demos (in the tutorials chapter) from the corresponding repositories, please init and update the corresponding git submodules:
+
+```bash
+git clone https://github.com/micro-ROS/micro-ROS.github.io.git
+cd micro-ROS.github.io/
+
+# Fetch tutorials and demos included via submodules
+git submodule update --init --recursive
+```
+
+### Install project dependencies
+After installing Jekyll, install all dependencies by running:
+
+```bash
+bundle install
+```
+
+### Run the Jekyll server
+You may launch Jekyll to build and serve the website continuously by running:
+
+```bash
+bundle exec jekyll serve
+```
+
+By default, the site will be available at http://localhost:4000
 
-To test locally, you need a local version of Jekyll, the site-generation
-engine used by GitHub Pages. See [Jekyll Quickstart](https://jekyllrb.com/docs/)
-for installation instructions.
 
 After installing Jekyll, install all dependencies by running
 ```bash
@@ -49,7 +129,18 @@ Then, you may launch Jekyll to build and serve the website continuously by
 bundle exec jekyll serve
 ```
 
-For the includes of README.md files on the micro-ROS demos (in the tutorials chapter) from the corresponding repositories, please init and update the corresponding git submodules (i.e. `git submodule init ; git submodule update`).
+### (Optional) Regenerate `Gemfile.lock` file
+
+When updating Ruby or Bundler version it is possible that dependencies no longer resolve cleanly, causing `bundle install` to fail.
+It can be fixed by regenerating the `Gemfile.lock` file and commiting the changes:
+
+```bash
+rm Gemfile.lock
+
+bundle install
+```
+
+This will resolve all dependencies defined in your `Gemfile` and generate a new `Gemfile.lock` consistent with your current Bundler version and available gems.
 
 ## Testing generated site
 
diff --git a/_docs/concepts/fiware_interoperability/index.md b/_docs/concepts/fiware_interoperability/index.md
index 9edd8eb3..31024d44 100644
--- a/_docs/concepts/fiware_interoperability/index.md
+++ b/_docs/concepts/fiware_interoperability/index.md
@@ -53,7 +53,7 @@ This common representation is provided, user-wise, using IDL definitions, which
 ## SOSS-FIWARE System Handle
 
 The [FIWARE System Handle](https://github.com/eProsima/SOSS-FIWARE/tree/feature/xtypes-support) allows bringing information from and to FIWARE's Context Broker into the SOSS world.
-This [System Handle](https://soss.docs.eprosima.com/en/latest/sh_creation.html) is configured and launched in the same way as any SOSS System Handle.
+This System Handle is configured and launched in the same way as any SOSS System Handle.
 
 Besides the standard information included in any System Handle's configuration (such as system's name and type, which would be `fiware` for this specific System Handle),
 in the case of the FIWARE System Handle users must specify two extra YAML key-value pairs, which are the host's IP and port in which this System Handle will try to connect to an instance of FIWARE's Orion Context Broker.
@@ -61,7 +61,7 @@ in the case of the FIWARE System Handle users must specify two extra YAML key-va
 Regarding more specific details about the implementation, FIWARE does not allow certain characters in its entities names.
 For this reason, if a type defined in the topics section of the configuration file has in its name a /, the FIWARE System Handle will map that character into two underscores.
 This is something important to notice when connecting to ROS2, because in ROS2 most of the types have a / in their names.
-To deal with this issue, using SOSS [remapping](https://soss.docs.eprosima.com/en/latest/yaml_config.html?highlight=remap#remapping) capabilities come in handy.
+To deal with this issue, using SOSS remapping capabilities come in handy.
 
 Of course, given that micro-ROS applications act as a bridge between microcontrollers and the ROS 2 dataspace (using the micro-ROS Agent), FIROS2 should also take care of communicating FIWARE's Context Broker with ROS 2, leveraging the existing [ROS 2 System Handle](https://github.com/eProsima/Integration-Service), which comes natively included into the SOSS package.
 
@@ -119,7 +119,7 @@ This is exactly the situation reflected in the use case that is explained below.
 
 ### Configuration
 
-SOSS must be configured with a [YAML](https://soss.docs.eprosima.com/en/latest/yaml_config.html) file, which tells the program everything it needs to know in order to establish the connection between two or more systems that the user wants.
+SOSS must be configured with a YAML file, which tells the program everything it needs to know in order to establish the connection between two or more systems that the user wants.
 For example, if the user wants to exchange a simple string message between FIWARE and ROS2, the configuration file for SOSS should look as follows:
 
   ```yaml
diff --git a/_docs/concepts/rtos/comparison/index.md b/_docs/concepts/rtos/comparison/index.md
index cd7b7cad..5a1d5eb8 100644
--- a/_docs/concepts/rtos/comparison/index.md
+++ b/_docs/concepts/rtos/comparison/index.md
@@ -80,7 +80,7 @@ The comparison regards the features listed below:
 | ROM                                                          | "small footprint"                        | 5 - 10 kB                                                                                                                | "small footprint"                                                                               |
 | **Safety Certification**                                     |                                          |                                                                                                                          |                                                                                                 |
 | Software Development Process DO178B Level A / EUROCAE ED-12B | no                                       | [SafeRTOS: DO178C (Aerspace) by Wittenstein](https://www.highintegritysystems.com/safertos/certification-and-standards/) | no                                                                                              |
-| Functional Safety IEC-61508                                  | no                                       | [SafeRTOS (SIL 3)](https://www.freertos.org/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS.shtml)                      | soon                                                                                            |
+| Functional Safety IEC-61508                                  | no                                       | [SafeRTOS (SIL 3)](http://www.openrtos.net/FreeRTOS-Plus/Safety_Critical_Certified/SafeRTOS-Safety-Critical-Certification.shtml)                      | soon                                                                                            |
 | **License**                                                  | BSD                                      | MIT and Commercial                                                                                                       | Apache 2                                                                                        |
 
 <sup>1</sup> Processes, signals, fpe, segmentation, bus errors, timers, file and directory ops, pipes, c library, IO Port Interface
@@ -93,7 +93,7 @@ The comparison regards the features listed below:
 
 <sup>5</sup> XDK is based on a microcontroller of the ARM Cortex M3 EFM32GG390F1024 Giant Gecko family by Silicon Labs. Note that the version used in the XDK is not fully supported by Zephyr.
 
-<sup>6</sup> [Note: Time slicing](https://www.freertos.org/Documentation/161204_Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf)
+<sup>6</sup> [Note: Time slicing](https://www.freertos.org/media/2018/161204_Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf)
 
 <sup>7</sup> Hardware-support for Networking and Storage often depends on the platform and sometimes packages of hardware-vendors are available, which work for a particular operating system. But it is in general difficult to determine the harware-support of a given RTOS.
 
diff --git a/_docs/overview/ROS_2_feature_comparison/index.md b/_docs/overview/ROS_2_feature_comparison/index.md
index b4692aed..3931788f 100644
--- a/_docs/overview/ROS_2_feature_comparison/index.md
+++ b/_docs/overview/ROS_2_feature_comparison/index.md
@@ -27,7 +27,7 @@ Comparison of micro-ROS features with ROS 2 features. The following list has bee
 | -------------------------------------------------------------- | ------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
 | Publish/subscribe over topics                                  | <span class="status_flag">&#10003;</span>        | Available, but only fixed-size message types supported to avoid dynamic memory allocations.                                                                                                                                                                                                        |
 | Clients and services                                           | <span class="status_flag">&#10003;</span>        | Available, but only fixed-size message types supported to avoid dynamic memory allocations.                                                                                                                                                                                                        |
-| ROS 1 -- ROS 2 communication bridge                            | <span class="status_flag">&#10003;</span>        | Standard ROS 1 -- ROS 2 bridge or [SOSS-mediate bridge](https://soss.docs.eprosima.com/en/latest/getting_started.html#example-ros1-ros2-communication) can be used via micro-ROS Agent to communicate with micro-ROS nodes.                                                                        |
+| ROS 1 -- ROS 2 communication bridge                            | <span class="status_flag">&#10003;</span>        | Standard ROS 1 -- ROS 2 bridge or SOSS-mediate bridge can be used via micro-ROS Agent to communicate with micro-ROS nodes.                                                                        |
 | Actions                                                        | <span class="status_flag">&#10003;</span>        | Available at RCLC level.                                                                                                                                                                                                                                                                           |
 | Parameters                                                     | <span class="status_flag">&#10003;&#8728;</span> | Parameter server is implemented in micro-ROS Client. Parameter client is not available yet.                                                                                                                                                                                                        |
 | Node Graph                                                     | <span class="status_flag">&#10003;</span>        | Available as in ROS 2.                                                                                                                                                                                                                                                                             |
diff --git a/_docs/overview/docker_ci_status/index.md b/_docs/overview/docker_ci_status/index.md
index c9fa4b2e..258ad65c 100644
--- a/_docs/overview/docker_ci_status/index.md
+++ b/_docs/overview/docker_ci_status/index.md
@@ -14,16 +14,15 @@ permalink: /docs/overview/docker_ci_status/
 
 | Repository                                                                                                                                                                                                                                                                                                                                                            | Description                                                                | CI                                                                                                                                                                                                                 | Issues / Pull Requests                                                                                                                                                                                                                                                                                                      | Documentation                                                                                                                                 |
 | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | --------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- |
-| [micro-ros-setup](https://github.com/micro-ROS/micro_ros_setup) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/humble)                                                             | Micro-ROS tool to build and flash Micro-ROS to every supported platform    | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml)                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS/micro_ros_setup/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS//micro_ros_setup/pulls)                                                            | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_setup/blob/iron/README.md)                |
-| [micro-ros-espidf-component](https://github.com/micro-ROS/micro_ros_espidf_component) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/humble)                 | Component to used Micro-ROS in ESP IDF build system                        | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/pulls)                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_espidf_component/blob/iron/README.md)     |
-| [micro-ros-arduino](https://github.com/micro-ROS/micro_ros_arduino) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/humble)                                                     | Micro-ROS precompiled libraries to directly interface with the Arduino IDE | [![Github Actions status](https://github.com/micro-ROS/micro_ros_arduino/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_arduino/actions)                                                          | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_arduino/blob/iron/README.md)              |
-| [micro-ros-zephyr-module](https://github.com/micro-ROS/micro_ros_zephyr_module) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/humble)                             | Integration of micro-ROS within Zephyr West build system                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml)       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/pulls)                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_zephyr_module/blob/iron/README.md)        |
-| [micro_ros_raspberrypi_pico_sdk](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/humble) | Integration of micro-ROS within Raspberry PI Pico SDK                      | [![Github Actions status](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/actions)                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/blob/iron/README.md) |
-| [micro_ros_mbed](https://github.com/micro-ROS/micro_ros_mbed) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/iron)                                                                                                                                                                                 | Integration of micro-ROS within Mbed RTOS                                  | [![Github Actions status](https://github.com/micro-ROS/micro_ros_mbed/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_mbed/actions)                                                                | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_mbed/blob/iron/README.md)                 |
-| [micro_ros_nuttx_app](https://github.com/micro-ROS/micro_ros_nuttx_app) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/iron)                                                                                                                                                                  | Integration of micro-ROS within Nuttx 10                                   | [![Github Actions status](https://github.com/micro-ROS/micro_ros_nuttx_app/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/actions)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_nuttx_app/blob/iron/README.md)            |
-| [micro_ros_stm32cubemx_utils](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/iron)                                                                                                                                          | Integration of micro-ROS within STM32CubeMX and STM32CubeIDE               | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                       | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/iron/README.md)    |
-| [NuttX fork](https://github.com/micro-ROS/NuttX)                                                                                                                                                                                                                                                                                                                      | NuttX fork to use with micro-ROS. Current status is **discontinued**       | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                       | [![](https://img.shields.io/github/issues/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/pulls)                                                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/NuttX/blob/master/README.md)                            |
-
+| [micro-ros-setup](https://github.com/micro-ROS/micro_ros_setup) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_setup/tree/rolling) | Micro-ROS tool to build and flash Micro-ROS to every supported platform | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_setup/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS/micro_ros_setup/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_setup.svg)](https://github.com/micro-ROS//micro_ros_setup/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_setup/blob/humble/README.md) |
+| [micro-ros-espidf-component](https://github.com/micro-ROS/micro_ros_espidf_component) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_espidf_component/tree/rolling) | Component to use Micro-ROS in ESP IDF build system | [![GitHub Actions status](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_espidf_component.svg)](https://github.com/micro-ROS/micro_ros_espidf_component/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_espidf_component/blob/humble/README.md) |
+| [micro-ros-arduino](https://github.com/micro-ROS/micro_ros_arduino) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_arduino/tree/rolling) | Micro-ROS precompiled libraries to directly interface with the Arduino IDE | [![Github Actions status](https://github.com/micro-ROS/micro_ros_arduino/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_arduino/actions) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_arduino.svg)](https://github.com/micro-ROS/micro_ros_arduino/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_arduino/blob/humble/README.md) |
+| [micro-ros-zephyr-module](https://github.com/micro-ROS/micro_ros_zephyr_module) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_zephyr_module/tree/rolling) | Integration of micro-ROS within Zephyr West build system | [![Github Actions status](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/actions/workflows/nightly.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_zephyr_module.svg)](https://github.com/micro-ROS/micro_ros_zephyr_module/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_zephyr_module/blob/humble/README.md) |
+| [micro_ros_raspberrypi_pico_sdk](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/tree/rolling) | Integration of micro-ROS within Raspberry Pi Pico SDK | [![Github Actions status](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/actions) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_raspberrypi_pico_sdk.svg)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_raspberrypi_pico_sdk/blob/humble/README.md) |
+| [micro_ros_mbed](https://github.com/micro-ROS/micro_ros_mbed) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_mbed/tree/rolling) | Integration of micro-ROS within Mbed RTOS | [![Github Actions status](https://github.com/micro-ROS/micro_ros_mbed/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_mbed/actions) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_mbed.svg)](https://github.com/micro-ROS/micro_ros_mbed/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_mbed/blob/humble/README.md) |
+| [micro_ros_nuttx_app](https://github.com/micro-ROS/micro_ros_nuttx_app) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_nuttx_app/tree/rolling)| Integration of micro-ROS within Nuttx 10 | [![Github Actions status](https://github.com/micro-ROS/micro_ros_nuttx_app/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/actions) | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_nuttx_app.svg)](https://github.com/micro-ROS/micro_ros_nuttx_app/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_nuttx_app/blob/humble/README.md) |
+| [micro_ros_stm32cubemx_utils](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/tree/rolling) | Integration of micro-ROS within STM32CubeMX and STM32CubeIDE | [![](https://img.shields.io/badge/-unavailable-lightgrey)]() | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_stm32cubemx_utils.svg)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/humble/README.md) |
+| [NuttX fork](https://github.com/micro-ROS/NuttX) | NuttX fork to use with micro-ROS. Current status is **discontinued** | [![](https://img.shields.io/badge/-unavailable-lightgrey)]() | [![](https://img.shields.io/github/issues/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/NuttX.svg)](https://github.com/micro-ROS/NuttX/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/NuttX/blob/master/README.md) |
 
 ## Source Code Repositories Status
 
@@ -31,61 +30,62 @@ Most repositories can be found in GitHub's micro-ROS organization at [github.com
 
 | Repository                                                                                                                                                                                                                                                                                                                                                                                                                                                     | Description                                                                                                            | CI                                                                                                                                                                                                                                                                  | Issues / Pull Requests                                                                                                                                                                                                                                                                                                          | Documentation                                                                                                                                |
 | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :--------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------------- |
-| [Micro XRCE-DDS Client](https://github.com/eProsima/Micro-XRCE-DDS-Client) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2)                                                                                                                                     | Client C99 library of eProsima's open-source implementation of DDS-XRCE                                                | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Client%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Client%20Github/) | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/client.html)                     |
-| [Micro XRCE-DDS Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2)                                                                                                                                         | Agent (bridge to DDS) C++11 library of eProsima's open-source implementation of DDS-XRCE                               | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Agent%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Agent%20Github/)   | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/agent.html)                      |
-| [rmw-microxrcedds](https://github.com/micro-ROS/rmw-microxrcedds) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/humble)                                                                                                                                                  | ROS 2 RMW adapter for Micro-XRCE-DDS Client library                                                                    | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rmw-microxrcedds/ci.yml)](https://github.com/micro-ROS/rmw-microxrcedds/actions?query=workflow%3A%22CI+rmw_microxrcedds_c%22)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/pulls)                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rmw-microxrcedds/blob/humble/README.md)                  |
-| [rosidl-typesupport-microxrcedds](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/humble)                                                                                      | ROS 2 type support for Micro-XRCE-DDS Client library                                                                   | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rosidl_typesupport_microxrcedds/ci.yml)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/actions?query=workflow%3A%22CI+rosidl_typesupport_microxrcedds%22)           | [![](https://img.shields.io/github/issues/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/blob/master/README.md) |
-| [micro-ROS-Agent](https://github.com/micro-ROS/micro-ROS-Agent) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/iron)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/humble)                                                                                                                                                     | Agent (bridge) to ROS 2                                                                                                | [![](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS-Agent/ci.yml)](https://github.com/micro-ROS/micro-ROS-Agent/actions?query=workflow%3A%22CI+micro-ROS+Agent%22)                                                               | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-Agent/blob/master/README.md)                 |
-| [micro-ros-msgs](https://github.com/micro-ROS/micro_ros_msgs) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/humble)                                                                                                                                                          | Specific ROS 2 messages used within micro-ROS architecture                                                             | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                                                                        | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/pulls)                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_msgs/blob/main/README.md)                    |
-| [micro_ros_utilities](https://github.com/micro-ROS/micro_ros_utilities) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/humble)                                                                                                                                                                                                                                                               | micro-ROS utilities for embedded applications                                                                          | [![Build status](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml)                                                                                   | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_utilities/blob/main/README.md)               |
-| [system_modes](https://github.com/micro-ROS/system_modes) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/system_modes/releases) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/micro-ROS/system_modes/releases)                                                                                                                                                                    | Extension for `rclcpp`                                                                                                 | [![Build Status](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS/system_modes/ci.yml)](https://github.com/micro-ROS/system_modes/actions?query=workflow%3A%22Test+system+modes%22)                                                           | [![](https://img.shields.io/github/issues/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/pulls)                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/system_modes/blob/master/README.md)                    |
-| [rclc](https://github.com/ros2/rclc) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/ros2/rclc/tree/dashing) [![](https://img.shields.io/badge/ROS-eloquent-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/ros2/rclc/tree/master) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/ros2/rclc/tree/iron) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://img.shields.io/github/actions/workflow/status/micro-ROS/ros2/rclc/ci.yml)](https://github.com/ros2/rclc/actions?query=workflow%3A%22CI+RCLC%22)                                                                                                           | [![](https://img.shields.io/github/issues/ros2/rclc.svg)](https://github.com/ros2/rclc/issues) [![](https://img.shields.io/github/issues-pr/ros2/rclc.svg)](https://github.com/ros2/rclc/pulls)                                                                                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/ros2/rclc/blob/master/README.md)                                 |
+| [Micro XRCE-DDS Client](https://github.com/eProsima/Micro-XRCE-DDS-Client) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Client/tree/ros2)                                                                                                                                                     | Client C99 library of eProsima's open-source implementation of DDS-XRCE                                                | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Client%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Client%20Github/) | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Client.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Client/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/client.html)                     |
+| [Micro XRCE-DDS Agent](https://github.com/eProsima/Micro-XRCE-DDS-Agent) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/tree/ros2)                                                                                                                                         | Agent (bridge to DDS) C++11 library of eProsima's open-source implementation of DDS-XRCE                               | [![Build status](https://img.shields.io/jenkins/build?jobUrl=http%3A%2F%2Fjenkins.eprosima.com%3A8080%2Fview%2FMicro%2520XRCE%2Fjob%2FMicro-XRCE-DDS-Agent%2520Github%2F)](http://jenkins.eprosima.com:8080/view/Micro%20XRCE/job/Micro-XRCE-DDS-Agent%20Github/)   | [![](https://img.shields.io/github/issues/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/issues) [![](https://img.shields.io/github/issues-pr/eProsima/Micro-XRCE-DDS-Agent.svg)](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://micro-xrce-dds.docs.eprosima.com/en/latest/agent.html)                      |
+| [rmw-microxrcedds](https://github.com/micro-ROS/rmw-microxrcedds) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/rmw-microxrcedds/tree/rolling)                                                                                                                                                  | ROS 2 RMW adapter for Micro-XRCE-DDS Client library                                                                    | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rmw-microxrcedds/ci.yml)](https://github.com/micro-ROS/rmw-microxrcedds/actions?query=workflow%3A%22CI+rmw_microxrcedds_c%22)                                                      | [![](https://img.shields.io/github/issues/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rmw-microxrcedds.svg)](https://github.com/micro-ROS/rmw-microxrcedds/pulls)                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rmw-microxrcedds/blob/humble/README.md)                  |
+| [rosidl-typesupport-microxrcedds](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/tree/rolling)                                                                                      | ROS 2 type support for Micro-XRCE-DDS Client library                                                                   | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/rosidl_typesupport_microxrcedds/ci.yml)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/actions?query=workflow%3A%22CI+rosidl_typesupport_microxrcedds%22)           | [![](https://img.shields.io/github/issues/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/rosidl_typesupport_microxrcedds.svg)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/rosidl_typesupport_microxrcedds/blob/master/README.md) |
+| [micro-ROS-Agent](https://github.com/micro-ROS/micro-ROS-Agent) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/humble)  [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro-ROS-Agent/tree/rolling)                                                                                                                                                     | Agent (bridge) to ROS 2                                                                                                | [![](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS-Agent/ci.yml)](https://github.com/micro-ROS/micro-ROS-Agent/actions?query=workflow%3A%22CI+micro-ROS+Agent%22)                                                               | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-Agent.svg)](https://github.com/micro-ROS/micro-ROS-Agent/pulls)                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-Agent/blob/master/README.md)                 |
+| [micro-ros-msgs](https://github.com/micro-ROS/micro_ros_msgs) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_msgs/tree/rolling)                                                                                                                                                          | Specific ROS 2 messages used within micro-ROS architecture                                                             | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                                                                                                                        | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_msgs.svg)](https://github.com/micro-ROS/micro_ros_msgs/pulls)                                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_msgs/blob/main/README.md)                    |
+| [micro_ros_utilities](https://github.com/micro-ROS/micro_ros_utilities) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro_ros_utilities/tree/rolling)                                                                                                                                                                                                                                                               | micro-ROS utilities for embedded applications                                                                          | [![Build status](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro_ros_utilities/actions/workflows/ci.yml)                                                                                   | [![](https://img.shields.io/github/issues/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro_ros_utilities.svg)](https://github.com/micro-ROS/micro_ros_utilities/pulls)                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro_ros_utilities/blob/main/README.md)               |
+| [system_modes](https://github.com/micro-ROS/system_modes) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/system_modes/tree/master) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/system_modes/tree/master) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/system_modes/tree/master) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/system_modes/tree/master)                                                                                                                                                                    | Extension for `rclcpp`                                                                                                 | [![Build Status](https://img.shields.io/badge/ci-disabled-lightgrey)](https://github.com/micro-ROS/system_modes/actions/workflows/ci.yaml?query=workflow%3A%22Test+system+modes%22)                                                           | [![](https://img.shields.io/github/issues/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/system_modes.svg)](https://github.com/micro-ROS/system_modes/pulls)                                                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/system_modes/blob/master/README.md)                    |
+| [rclc](https://github.com/ros2/rclc) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/ros2/rclc/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/ros2/rclc/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/ros2/rclc/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/ros2/rclc/tree/rolling) | Set of convenience functions and additional concepts, such as executor, to extend the capabilities of ROS 2 `rcl` in C | [![Build Status](https://github.com/ros2/rclc/actions/workflows/ci.yml/badge.svg)](https://github.com/ros2/rclc/actions/workflows/ci.yml?query=workflow%3A%22CI+RCLC%22)                                                                                                           | [![](https://img.shields.io/github/issues/ros2/rclc.svg)](https://github.com/ros2/rclc/issues) [![](https://img.shields.io/github/issues-pr/ros2/rclc.svg)](https://github.com/ros2/rclc/pulls)                                                                                                                                 | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/ros2/rclc/blob/master/README.md)                                 |
 
 
 ## Example Application Repositories Status
 
 | Name                                                                                                                                                                                                                                                                                                      | Description                                                                                                   | CI                                                                                                                                                                      | Issues / Pull Requests                                                                                                                                                                                                                                                                              | Documentation                                                                                                                       |
 | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------ | :---------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :---------------------------------------------------------------------------------------------------------------------------------- |
-| [micro-ROS-demos](https://github.com/micro-ROS/micro-ROS-demos) [![](https://img.shields.io/badge/ROS-iron-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/iron) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/humble) | Collection of generic demos, using publishers, subscribers, custom messages, services and graph introspection | [![Build status](https://img.shields.io/github/actions/workflow/status/micro-ROS/micro-ROS/micro-ROS-demos/ci.yml)](https://github.com/micro-ROS/micro-ROS-demos/actions?query=workflow%3ACI) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/pulls)                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-demos/blob/humble/README.md)          |
-| [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/humble)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/humble/README.md)            |
-| [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/humble)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/humble/README.md)              |
-| [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/humble)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/humble/README.md)            |
+| [micro-ROS-demos](https://github.com/micro-ROS/micro-ROS-demos) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro-ROS-demos/tree/rolling) | Collection of generic demos, using publishers, subscribers, custom messages, services and graph introspection | [![Build status](https://github.com/micro-ROS/micro-ROS-demos/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro-ROS-demos/actions?query=workflow%3ACI) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS-demos.svg)](https://github.com/micro-ROS/micro-ROS-demos/pulls)                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS-demos/blob/kilted/README.md)          |
+| [freertos_apps](https://github.com/micro-ROS/freertos_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/freertos_apps/tree/rolling)                                                                                                                               | Demo applications for FreeRTOS                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/freertos_apps.svg)](https://github.com/micro-ROS/freertos_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/freertos_apps/blob/kilted/README.md)            |
+| [zephyr_apps](https://github.com/micro-ROS/zephyr_apps)  [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/zephyr_apps/tree/rolling)                                                                                                                                     | Demo applications for Zephyr                                                                                  | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/zephyr_apps.svg)](https://github.com/micro-ROS/zephyr_apps/pulls)                                                     | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/zephyr_apps/blob/kilted/README.md)              |
+| [raspbian_apps](https://github.com/micro-ROS/raspbian_apps) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/humble) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/jazzy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/kilted) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/raspbian_apps/tree/rolling)                                                                                                                                 | Demo applications for Raspbian                                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/raspbian_apps.svg)](https://github.com/micro-ROS/raspbian_apps/pulls)                                             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/raspbian_apps/blob/kilted/README.md)            |
 | [nuttx_apps](https://github.com/micro-ROS/nuttx_apps) [![](https://img.shields.io/badge/ROS-dashing-brightgreen)](https://github.com/micro-ROS/nuttx_apps/tree/dashing) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/nuttx_apps)                       | Demo applications for NuttX (**discontinued**)                                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/nuttx_apps.svg)](https://github.com/micro-ROS/nuttx_apps/pulls)                                                         | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/nuttx_apps)               |
 | [Kobuki demo](https://github.com/micro-ROS/micro-ROS_kobuki_demo)                                                                                                                                                                                                                                         | Kobuki (Turtlebot 2) controller demo application using micro-ROS in an Olimex board over NuttX                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_kobuki_demo.svg)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/pulls)             | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_kobuki_demo/blob/master/README.md)  |
-| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
+| [Crazyflie demo](https://github.com/micro-ROS/micro-ROS_crazyflie_demo) [![](https://img.shields.io/badge/ROS-humble-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy) [![](https://img.shields.io/badge/ROS-jazzy-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy) [![](https://img.shields.io/badge/ROS-kilted-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy) [![](https://img.shields.io/badge/ROS-rolling-brightgreen)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/tree/foxy)                                                                                                         | Crazyflie drone demo application using micro-ROS over FreeRTOS                                                | [![](https://img.shields.io/badge/-unavailable-lightgrey)]()                                                                                                            | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/issues) [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS_crazyflie_demo.svg)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/pulls) | [![](https://img.shields.io/badge/read-the%20docs-blue)](https://github.com/micro-ROS/micro-ROS_crazyflie_demo/blob/foxy/README.md) |
 
 ## Docker Images Status
 
 | Image                            | Description                                                                                                                    | Status                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                              |
 | -------------------------------- | ------------------------------------------------------------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| base                             | Base image with a ROS 2 Humble installation + micro-ROS specific build system tools. Used as base of any other micro-ROS image | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/base.svg?logo=docker)](https://hub.docker.com/r/microros/base/)                                                                                                                    |
-| micro-ros-agent                  | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application                                      | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-agent.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/)                                                                        |
-| micro-ros-demos                  | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-demos.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/)                                                                        |
-| micro-ros-olimex-nuttx           | Contains a ready to flash example for  Olimex STM32 E407                                                                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro-ros-olimex-nuttx.svg?logo=docker)](https://hub.docker.com/r/microros/micro-ros-olimex-nuttx/)                                            |
-| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications using Arduino IDE                                       | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/micro_ros_static_library_builder.svg?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/)    |
-| esp-idf-microros                 | Allows to use micro-ROS as a component of the ESP-IDF build system                                                             | [![Docker Automated build](https://img.shields.io/docker/cloud/automated/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)[![Docker Build Status](https://img.shields.io/docker/cloud/build/microros/esp-idf-microros.svg?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/)                                                                    |
+| base                             | Base image with a ROS 2 installation + micro-ROS specific build system tools. Used as base of any other micro-ROS image | [![Version](https://img.shields.io/docker/v/microros/base/humble?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/base/kilted?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/base/rolling?logo=docker)](https://hub.docker.com/r/microros/base/tags?page=1&name=rolling)                                                                                                                    |
+| micro-ros-agent                  | Image containing a pre-compiled micro-ROS-Agent, ready to use as a standalone application                                      | [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/humble?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/kilted?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/micro-ros-agent/rolling?logo=docker)](https://hub.docker.com/r/microros/micro-ros-agent/tags?page=1&name=rolling)                                                                        |
+| micro_ros_static_library_builder | Allows to use a pre-compiled micro-ROS library to develop applications using Arduino IDE                                       | [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/humble?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=humble) [![Version](https://img.shields.io/docker/v/microros/base/jazzy?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=jazzy) [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/kilted?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=kilted) [![Version](https://img.shields.io/docker/v/microros/micro_ros_static_library_builder/rolling?logo=docker)](https://hub.docker.com/r/microros/micro_ros_static_library_builder/tags?page=1&name=rolling)    |
+| micro-ros-demos                  | Contains pre-compiled micro-ROS demo applications, ready to use to get a taste of micro-ROS capabilities (**discontinued**)                       | [![Version](https://img.shields.io/docker/v/microros/micro-ros-demos/foxy?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/tags?page=1&name=foxy)                                                                    |
+| micro-ros-olimex-nuttx           | Contains a ready to flash example for  Olimex STM32 E407 (**discontinued**)                                                                      |  [![Version](https://img.shields.io/docker/v/microros/micro-ros-demos/dashing?logo=docker)](https://hub.docker.com/r/microros/micro-ros-demos/tags?page=1&name=dashing)                                          |
+| esp-idf-microros                 | Allows to use micro-ROS as a component of the ESP-IDF build system  (**discontinued**)                                                            | [![Version](https://img.shields.io/docker/v/microros/esp-idf-microros/latest?logo=docker)](https://hub.docker.com/r/microros/esp-idf-microros/tags?page=1&name=latest)                                                                    |
 
 ## Webpage Source Code Repository Status
 
 | Repository                                                              | Description                            | CI                                                                                                                                                            | Issues                                                                                                                                 | Pull Requests                                                                                                                            |
 | :---------------------------------------------------------------------- | :------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------ | :------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- |
-| [micro-ROS.github.io](https://github.com/micro-ROS/micro-ROS.github.io) | Micro-ROS official webpage repository. | [![GitHub Actions status](https://github.com/micro-ROS/micro-ROS.github.io/workflows/CI/badge.svg)](https://github.com/micro-ROS/micro-ROS.github.io/actions) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS.github.io.svg)](https://github.com/micro-ROS/micro-ROS.github.io/issues) | [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS.github.io.svg)](https://github.com/micro-ROS/micro-ROS.github.io/pulls) |
+| [micro-ROS.github.io](https://github.com/micro-ROS/micro-ROS.github.io) | Micro-ROS official webpage repository. | [![](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/pages/pages-build-deployment/badge.svg)](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/pages/pages-build-deployment) [![](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/generate_api_reference.yml/badge.svg)](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/generate_api_reference.yml) [![](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/ci.yml/badge.svg)](https://github.com/micro-ROS/micro-ROS.github.io/actions/workflows/ci.yml) | [![](https://img.shields.io/github/issues/micro-ROS/micro-ROS.github.io.svg)](https://github.com/micro-ROS/micro-ROS.github.io/issues) | [![](https://img.shields.io/github/issues-pr/micro-ROS/micro-ROS.github.io.svg)](https://github.com/micro-ROS/micro-ROS.github.io/pulls) |
 
 
 ## Bloom Release Status of Code Repository ros2/rclc
 
 Bloom release status of packages in repository [github.com/ros2/rclc/](https://github.com/ros2/rclc) for different architectures and releases.
 
-| Package                                                                    | Release  | amd64                                                                                                                                                                                                     | arm64                                                                                                                                                                                                                       | armhf                                                                                                                                                                                                               |
-| :------------------------------------------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
-| [rclc](https://github.com/ros2/rclc/tree/rolling/rclc)                     | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hpr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Hpr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ipr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Ipr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Ibin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rpr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Rpr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary/)                               |                                                                                                                                                                                                                     |
-|                                                                            |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
-| [rclc_examples](https://github.com/ros2/rclc/tree/rolling/rclc_examples)   | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Ibin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_examples__ubuntu_jammy_arm64__binary/)             |                                                                                                                                                                                                                     |
-|                                                                            |          |                                                                                                                                                                                                           |                                                                                                                                                                                                                             |                                                                                                                                                                                                                     |
-| [rclc_lifecycle](https://github.com/ros2/rclc/tree/rolling/rclc_lifecycle) | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uB64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uB64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubv8_uBv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uBv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ubhf_uBhf__rclc_lifecycle__ubuntu_jammy_armhf__binary)](https://build.ros2.org/job/Hbin_ubhf_uBhf__rclc_lifecycle__ubuntu_jammy_armhf__binary/) |
-|                                                                            | Iron     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Ibin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Ibin_ubv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ubv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           |                                                                                                                                                                                                                     |
-|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Rbin_uF64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/)           |                                                                                                                                                                                                                     |
+| Package                                                                    | Release  | amd64                                                                                                                                                                                                     | arm64                                                                                                                                                                                                                             |
+| :------------------------------------------------------------------------- | :------- | :-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | :----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
+| [rclc](https://github.com/ros2/rclc/tree/rolling/rclc)                     | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hpr__rclc__ubuntu_jammy_amd64)](https://build.ros2.org/job/Hpr__rclc__ubuntu_jammy_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ujv8_uJv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ujv8_uJv8__rclc__ubuntu_jammy_arm64__binary/) |
+|                                                                            | Jazzy    | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jpr__rclc__ubuntu_noble_amd64)](https://build.ros2.org/job/Jpr__rclc__ubuntu_noble_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_unv8_uNv8__rclc__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Jbin_unv8_uNv8__rclc__ubuntu_noble_arm64__binary/) |
+|                                                                            | Kilted   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kpr__rclc__ubuntu_noble_amd64)](https://build.ros2.org/job/Kpr__rclc__ubuntu_noble_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_unv8_uNv8__rclc__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Kbin_unv8_uNv8__rclc__ubuntu_noble_arm64__binary/) |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rpr__rclc__ubuntu_noble_amd64)](https://build.ros2.org/job/Rpr__rclc__ubuntu_noble_amd64/)                                                   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc__ubuntu_jammy_arm64__binary/) |
+| [rclc_examples](https://github.com/ros2/rclc/tree/rolling/rclc_examples)   | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rclc_examples__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__rclc_examples__ubuntu_jammy_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ujv8_uJv8__rclc_examples__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ujv8_uJv8__rclc_examples__ubuntu_jammy_arm64__binary/) |
+|                                                                            | Jazzy    | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rclc_examples__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__rclc_examples__ubuntu_noble_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Jbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary/) |
+|                                                                            | Kilted   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rclc_examples__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__rclc_examples__ubuntu_noble_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Kbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary/) |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__rclc_examples__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__rclc_examples__ubuntu_noble_amd64__binary/)     | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Rbin_unv8_uNv8__rclc_examples__ubuntu_noble_arm64__binary/) |
+| [rclc_lifecycle](https://github.com/ros2/rclc/tree/rolling/rclc_lifecycle) | Humble   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_uJ64__rclc_lifecycle__ubuntu_jammy_amd64__binary)](https://build.ros2.org/job/Hbin_uJ64__rclc_lifecycle__ubuntu_jammy_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Hbin_ujv8_uJv8__rclc_lifecycle__ubuntu_jammy_arm64__binary)](https://build.ros2.org/job/Hbin_ujv8_uJv8__rclc_lifecycle__ubuntu_jammy_arm64__binary/) |
+|                                                                            | Jazzy    | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Jbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Jbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Jbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary/) |
+|                                                                            | Kilted   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Kbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Kbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Kbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary/) |
+|                                                                            | Rolling  | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__rclc_lifecycle__ubuntu_noble_amd64__binary/)   | [![Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary)](https://build.ros2.org/job/Rbin_unv8_uNv8__rclc_lifecycle__ubuntu_noble_arm64__binary/) |
diff --git a/_docs/overview/ext_tools/index.md b/_docs/overview/ext_tools/index.md
index 807e134a..9a36863e 100644
--- a/_docs/overview/ext_tools/index.md
+++ b/_docs/overview/ext_tools/index.md
@@ -121,7 +121,7 @@ The modules that exist up to date for integrating into external build systems ar
   <div class="extplatitem_description">
     <div>
         The STM32CubeMX is a graphical tool by ST for configuring STM32 microcontrollers and microprocessors. It enables to optimally program and manipulate the software thanks to a set of utilities that help setting up pinouts, peripherals, and middleware stacks.
-        <i>micro-ROS for STM32CubeMX</i> is based on a <a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils/blob/humble/microros_component/Dockerfile">Dockerfile</a> and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
+        <i>micro-ROS for STM32CubeMX</i> can be configured using the static library builder <a href="https://hub.docker.com/r/microros/micro_ros_static_library_builder/">docker image</a>  and allows micro-ROS to be virtually supported by the full set of boards offered by <a href="https://www.st.com">STMicroelectronics</a>, in turn enabling the seamless integration of micro-ROS into any STM32 controller based project.
         <hr><b>Resources:</b>
         <ul>
             <li><a href="https://github.com/micro-ROS/micro_ros_stm32cubemx_utils">micro-ROS for STM32CubeMX on GitHub</a></li>
diff --git a/_docs/overview/users_and_clients/index.md b/_docs/overview/users_and_clients/index.md
index dc611362..b3223212 100644
--- a/_docs/overview/users_and_clients/index.md
+++ b/_docs/overview/users_and_clients/index.md
@@ -39,7 +39,7 @@ partners_list:
     text: Wind River is accelerating digital transformation of critical infrastructure by delivering the technology and expertise that enable the deployment of safe, secure, and reliable IoT systems.
     title: Wind River
     url: www.windriver.com
-  - path: https://www.zephyrproject.org/wp-content/uploads/sites/38/2019/12/zephyr-logo1.png
+  - path: https://www.zephyrproject.org/wp-content/uploads/2023/03/Zephyr_color-10.svg
     text: The Zephyr Project is a Linux Foundation hosted Collaboration Project. It’s an open source effort uniting developers and users in building a best-in-class small, scalable, real-time operating system (RTOS) optimized for resource-constrained devices, across multiple architectures. As an open source project, the community evolves the project to support new hardware, developer tools, sensors, and device drivers.
     title: Zephyr Project
     url: www.zephyrproject.org
@@ -74,7 +74,7 @@ collaborators:
     text: Canonical is a computer software company with products like Ubuntu Linux. The company&#39s goal is to &#39deliver, maintain, secure and sustain open source from cloud to desktop and devices&#39.
     title: Canonical
     url: www.canonical.com
-  - path: https://www.freertos.org/fr-content-src/uploads/2018/07/logo-1.jpg
+  - path: https://www.freertos.org/media/2023/logo.png
     text: FreeRTOS is a market-leading Real-Time Operating system (RTOS) for microcontrollers and small microprocessors. Distributed freely under the MIT open source license, FreeRTOS includes a kernel and a growing set of IoT libraries suitable for use across all industry sectors. FreeRTOS is built with an emphasis on reliability and ease of use.
     title: FreeRTOS
     url: www.freertos.org
diff --git a/_docs/tutorials/core/zephyr_emulator/index.md b/_docs/tutorials/core/zephyr_emulator/index.md
index b4422163..a98ff50e 100644
--- a/_docs/tutorials/core/zephyr_emulator/index.md
+++ b/_docs/tutorials/core/zephyr_emulator/index.md
@@ -6,7 +6,7 @@ permalink: /docs/tutorials/core/zephyr_emulator/
 <img src="https://img.shields.io/badge/Tested_on-Humble-green" style="display:inline"/>
 
 In this tutorial, you'll learn the use of micro-ROS with a **[Zephyr RTOS](https://www.zephyrproject.org/)**
-emulator (also known as [Native POSIX](https://docs.zephyrproject.org/latest/boards/posix/native_posix/doc/index.html))
+emulator (also known as [Native POSIX](https://docs.zephyrproject.org/4.1.0/boards/native/native_posix/doc/index.html))
 by testing a Ping Pong application.
 
 <div>
diff --git a/_includes/demobox_demo b/_includes/demobox_demo
index 1a29f64f..181ad4e2 160000
--- a/_includes/demobox_demo
+++ b/_includes/demobox_demo
@@ -1 +1 @@
-Subproject commit 1a29f64fa58e13262c7234899a2d9880fdeba870
+Subproject commit 181ad4e222280e44faa7331f014d40c6acea5dc4
diff --git a/_posts/2020-09-24-microROS_and_FIWARE.md b/_posts/2020-09-24-microROS_and_FIWARE.md
index 01ee8a33..4247745d 100644
--- a/_posts/2020-09-24-microROS_and_FIWARE.md
+++ b/_posts/2020-09-24-microROS_and_FIWARE.md
@@ -5,7 +5,7 @@ author: francesca-finocchiaro
 
 On September 23rd, the [FIWARE Foundation](https://www.fiware.org/foundation/) held a webinar titled “Enabling Robotics Systems on Microcontrollers”, as a part of its series of free webinars about open source platform components for Smart Solutions.
 
-The webinar focused on the interoperability between micro-ROS and FIWARE, made possible by [eProsima Integration-Service](https://integration-service.docs.eprosima.com/en/latest/) and its core [SOSS](https://soss.docs.eprosima.com/en/latest/). SOSS is a platform that acts as a centralizing bridge to communicate incompatible protocols that speak different languages. Its working principle rests on System-Handles, plugins that put the core into communication with each of the protocols that are meant to be integrated into the platform. Once a system is integrated by means of a dedicated System-Handle, it can speak with any other system that is already integrated into the SOSS world.
+The webinar focused on the interoperability between micro-ROS and FIWARE, made possible by [eProsima Integration-Service](https://integration-service.docs.eprosima.com/en/latest/) and its core SOSS. SOSS is a platform that acts as a centralizing bridge to communicate incompatible protocols that speak different languages. Its working principle rests on System-Handles, plugins that put the core into communication with each of the protocols that are meant to be integrated into the platform. Once a system is integrated by means of a dedicated System-Handle, it can speak with any other system that is already integrated into the SOSS world.
 The SOSS-ROS2 and the SOSS-FIWARE System-Handles serve as key enablers to integrate micro-ROS into the FIWARE ecosystem, a framework of open source platform components which can be assembled together and with other third-party platform components to accelerate the development of Smart Robotics Solutions. 
 
 Key contributions of Powered by FIWARE architectures to micro-ROS applications are:
diff --git a/_posts/2021-10-10-embeddedRTPS.md b/_posts/2021-10-10-embeddedRTPS.md
index 25b20fa5..26784e0b 100644
--- a/_posts/2021-10-10-embeddedRTPS.md
+++ b/_posts/2021-10-10-embeddedRTPS.md
@@ -2,7 +2,7 @@
 title: embeddedRTPS the new experimental middleware for micro-ROS
 author: Maria Merlan
 ---
-Alexandru Kampmann currently works at the Software for Embedded Systems Research Group, RWTH Aachen University [research profile](https://www.embedded.rwth-aachen.de/doku.php?id=lehrstuhl:mitarbeiter:gurghian), and he is the main contributor of [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
+Alexandru Kampmann currently works at the Software for Embedded Systems Research Group, RWTH Aachen University, and he is the main contributor of [embeddedRTPS](https://github.com/embedded-software-laboratory/embeddedRTPS)
 
 Middleware implementations such as embeddedRTPS, bring the possibility of using RTPS communication layers on mid to high range MCU with networking capabilities.
 
diff --git a/index.html b/index.html
index 2724a55b..9712406b 100644
--- a/index.html
+++ b/index.html
@@ -45,7 +45,7 @@ <h1>micro-ROS</h1>
             <h2 class="header-light regular-pad" style="line-height: 1.3;">micro-ROS puts ROS 2 onto microcontrollers</h2>
         </div>
         <div class="col-md-12 text-center">
-            <h3 class="header-light regular-pad" style="line-height: 1.3; padding-top: 0px; margin-top: 0px;">Contact us: <a href="mailto:info@eProsima.com">info@eProsima.com</a></h2>
+            <h2 class="header-light regular-pad" style="line-height: 1.3; padding-top: 0px; margin-top: 0px;">Contact us: <a href="mailto:info@eProsima.com">info@eProsima.com</a></h2>
         </div>
     </div>
     <hr>
@@ -102,8 +102,9 @@ <h3 class="text-center"><i class="fa fa-cubes" aria-hidden="true" style="font-si
             <h3 class="text-center"><i class="fa fa-question-circle-o" aria-hidden="true" style="font-size:180%;">&nbsp;</i>Questions</h3>
             <p style="text-align:justify;">We are looking forward to answer your questions on concepts and development! You have the choice:</p>
             <ul style="margin-left: 0; padding-left: 1em;">
-                <li><a href="https://discourse.ros.org/c/embedded">ROS Discourse</a> (in category <a href="https://discourse.ros.org/c/embedded">&ldquo;embedded&rdquo;</a>)</li>
-                <li><a href="https://answers.ros.org/">ROS Answers</a> (tag with <a href="https://answers.ros.org/questions/scope:all/sort:activity-desc/tags:embedded/">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://discourse.openrobotics.org/">ROS Discourse</a> (in category <a href="https://discourse.openrobotics.org/c/archive/embedded/9">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://robotics.stackexchange.com/">Robotics StackExchange</a> (tag with <a href="https://robotics.stackexchange.com/questions/tagged/embedded">&ldquo;embedded&rdquo;</a>)</li>
+                <li><a href="https://answers.ros.org/questions/">ROS Answers archive</a>
                 <li><a href="https://micro-ros.slack.com/">micro-ROS Slack Channel</a></li>
             </ul>
 

From 74ccd6ee3b6c5abe83b17f92a29a7872c503986b Mon Sep 17 00:00:00 2001
From: Maftei Albert-Alexandru <maftei.albert.alexandru@gmail.com>
Date: Tue, 16 Sep 2025 11:04:38 +0200
Subject: [PATCH 20/23] Fix counting error (#422)

---
 _docs/tutorials/programming_rcl_rclc/parameters/parameters.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
index 3a25a1b6..467142db 100644
--- a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
+++ b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
@@ -86,7 +86,7 @@ The parameter server uses five services and an optional publisher. These need to
                 "-DRMW_UXRCE_MAX_NODES=1",
                 "-DRMW_UXRCE_MAX_PUBLISHERS=1",
                 "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=0",
-                "-DRMW_UXRCE_MAX_SERVICES=5",
+                "-DRMW_UXRCE_MAX_SERVICES=6",
                 "-DRMW_UXRCE_MAX_CLIENTS=0"
             ]
         }

From 1fab13e8b9aaa3e2d5c05b4f8d37ec84696f3b5b Mon Sep 17 00:00:00 2001
From: aaaa319 <afcthrowaway@gmail.com>
Date: Tue, 16 Sep 2025 11:19:13 +0200
Subject: [PATCH 21/23] fix service tutorial, incorrrect type for
 ROSIDL_GET_SRV_TYPE_SUPPORT (#417)

Co-authored-by: afernandez.conde <afernandez.conde@mecalux.com>
---
 .../programming_rcl_rclc/service/services.md         | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/_docs/tutorials/programming_rcl_rclc/service/services.md b/_docs/tutorials/programming_rcl_rclc/service/services.md
index 7255cd42..b099e5a7 100644
--- a/_docs/tutorials/programming_rcl_rclc/service/services.md
+++ b/_docs/tutorials/programming_rcl_rclc/service/services.md
@@ -32,7 +32,7 @@ Starting from a code where RCL is initialized and a micro-ROS node is created, t
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Initialize server with default configuration
@@ -54,7 +54,7 @@ Starting from a code where RCL is initialized and a micro-ROS node is created, t
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Initialize server with default configuration
@@ -76,7 +76,7 @@ Starting from a code where RCL is initialized and a micro-ROS node is created, t
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Set service QoS
@@ -165,7 +165,7 @@ The service client initialization is almost identical to the server one:
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Initialize client with default configuration
@@ -187,7 +187,7 @@ The service client initialization is almost identical to the server one:
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Initialize client with default configuration
@@ -209,7 +209,7 @@ The service client initialization is almost identical to the server one:
   const char * service_name = "/addtwoints";
 
   // Get message type support
-  const rosidl_message_type_support_t * type_support =
+  const rosidl_service_type_support_t * type_support =
     ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts);
 
   // Set client QoS

From cf5bc559cf922eb098e102e64f6874f6cf2dee99 Mon Sep 17 00:00:00 2001
From: goch <christoph.gollok@alumni.fh-aachen.de>
Date: Tue, 16 Sep 2025 11:51:05 +0200
Subject: [PATCH 22/23] add ROS setup and microros local setup to bashrc (#392)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* add ROS setup and microros local setup to bashrc

adding the setup.bash files for both ROS2 and micro-ros to the .bashrc reduces the complexity of the tutorial and  makes it easier to understand

* Apply ralph-lange's suggestions

Co-authored-by: Ralph Lange <ralph-lange@users.noreply.github.com>

* Add missing empty line

---------

Co-authored-by: Antón Casas <antoncasas@eprosima.com>
Co-authored-by: Ralph Lange <ralph-lange@users.noreply.github.com>
---
 _docs/tutorials/core/first_application_linux/index.md | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/_docs/tutorials/core/first_application_linux/index.md b/_docs/tutorials/core/first_application_linux/index.md
index 9f648193..eaf7b5ca 100644
--- a/_docs/tutorials/core/first_application_linux/index.md
+++ b/_docs/tutorials/core/first_application_linux/index.md
@@ -63,6 +63,14 @@ source install/local_setup.bash
 ```
 {% include first_application_common/agent_creation.md %}
 
+### Add micro-ROS environment to bashrc (optional)
+
+You can add the ROS 2 and micro-ROS workspace setup files to your `.bashrc` so the files do not have to be sourced every time a new command line is opened.
+```bash
+echo source /opt/ros/$ROS_DISTRO/setup.bash >> ~/.bashrc
+echo source ~/microros_ws/install/local_setup.bash >> ~/.bashrc
+```
+
 ## Running the micro-ROS app
 
 At this point, you have both the client and the agent correctly installed in your host machine.

From 5f6db43c33f99f98dbed3ee8474300e0ecdd5f75 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Ant=C3=B3n=20Casas?= <antoncasas@eprosima.com>
Date: Tue, 16 Sep 2025 12:56:43 +0200
Subject: [PATCH 23/23] Fix parameters.md (#425)

---
 _docs/tutorials/programming_rcl_rclc/parameters/parameters.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
index 467142db..317fcc43 100644
--- a/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
+++ b/_docs/tutorials/programming_rcl_rclc/parameters/parameters.md
@@ -75,7 +75,7 @@ Ready to use code examples related to this tutorial can be found in [`rclc/rclc_
 
 ## Memory requirements
 
-The parameter server uses five services and an optional publisher. These need to be taken into account on the `rmw-microxrcedds` package memory configuration:
+The parameter server uses six services and an optional publisher. These need to be taken into account on the `rmw-microxrcedds` package memory configuration:
 
 ```yaml
 # colcon.meta example with memory requirements to use a parameter server