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 <p>Currently supported OS: Ubuntu20.04, Ubuntu22.04</p>
 <p>See the <a href="https://github.com/ARC-OPT/wbc/blob/master/manifest.xml">manifest.xml</a> for required and optional dependencies.</p>
 <h2><a class="anchor" id="autotoc_md3"></a>
+ROS 2 Interface</h2>
+<p>ROS 2 support for the WBC library can be found <a href="https://github.com/ARC-OPT/wbc_ros">here</a></p>
+<h2><a class="anchor" id="autotoc_md4"></a>
 Installation</h2>
-<h3><a class="anchor" id="autotoc_md4"></a>
+<h3><a class="anchor" id="autotoc_md5"></a>
 Basic Install</h3>
 <p>This will install the WBC core library with a single robot model (pinocchio) and QP solver (qpoases) respectively. Download this <a href="https://github.com/ARC-OPT/wbc/blob/master/scripts/install.sh?raw=1">install script</a>, store it in a folder of your choice (e.g., arc-opt) and execute it:</p>
 <div class="fragment"><div class="line">mkdir ~/arc-opt &amp;&amp; cd ~/arc-opt</div>
 <div class="line">wget https://raw.githubusercontent.com/ARC-OPT/wbc/master/scripts/install.sh</div>
 <div class="line">sh install.sh</div>
-</div><!-- fragment --> <h3><a class="anchor" id="autotoc_md5"></a>
+</div><!-- fragment --> <h3><a class="anchor" id="autotoc_md6"></a>
 Full Install</h3>
 <p>This will install the WBC core library plus multiple robot models and solvers. Download this <a href="https://github.com/ARC-OPT/wbc/blob/master/scripts/full_install.sh?raw=1">install script</a>, store it in a folder of your choice (e.g., arc-opt) and execute it:</p>
 <div class="fragment"><div class="line">mkdir ~/arc-opt &amp;&amp; cd ~/arc-opt</div>
 <div class="line">wget https://raw.githubusercontent.com/ARC-OPT/wbc/master/scripts/full_install.sh</div>
 <div class="line">sh full_install.sh</div>
-</div><!-- fragment --><h2><a class="anchor" id="autotoc_md6"></a>
+</div><!-- fragment --><h2><a class="anchor" id="autotoc_md7"></a>
 Testing</h2>
 <p>To execute unit tests for the WBC library, run </p><div class="fragment"><div class="line">make test</div>
 </div><!-- fragment --><p> from the library's build folder. This will execute unit tests for all installed components, e.g. solvers, robot models, etc...</p>
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+<h2><a class="anchor" id="autotoc_md8"></a>
 Examples</h2>
 <p>You can also check the <a href="https://github.com/ARC-OPT/wbc/tree/master/tutorials">tutorials</a> to for some comprehensive examples.</p>
-<h2><a class="anchor" id="autotoc_md8"></a>
+<h2><a class="anchor" id="autotoc_md9"></a>
 Contributing</h2>
 <p>Please use the <a href="https://github.com/ARC-OPT/wbc/issues">issue tracker</a> to submit bug reports and feature requests. Please use merge requests as described <a href="https://github.com/ARC-OPT/wbc/blob/master/CONTRIBUTING.md">here</a> to add/adapt functionality.</p>
-<h2><a class="anchor" id="autotoc_md9"></a>
+<h2><a class="anchor" id="autotoc_md10"></a>
 License</h2>
 <p>WBC is distributed under the <a href="https://opensource.org/licenses/BSD-3-Clause">3-clause BSD license</a>.</p>
-<h2><a class="anchor" id="autotoc_md10"></a>
+<h2><a class="anchor" id="autotoc_md11"></a>
 Acknowledge WBC</h2>
 <p>If you use WBC within your scientific work, please cite <a href="https://arc-opt.github.io/Documentation/publications/icra_2022/index.html">this paper</a>.</p>
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+<h2><a class="anchor" id="autotoc_md12"></a>
 Funding</h2>
 <p>WBC has been developed in the research projects <a href="https://robotik.dfki-bremen.de/en/research/projects/transfit/">TransFit</a> (Grant number 50RA1701) and <a href="https://robotik.dfki-bremen.de/en/research/projects/besman.html">BesMan</a> (Grant number 50RA1216) funded by the German Aerospace Center (DLR) with funds from the German Federal Ministry for Economic Affairs and Climate Action (BMWK). It is further developed in the <a href="https://robotik.dfki-bremen.de/en/research/projects/m-rock/">M-Rock</a> (Grant number 01IW21002) and <a href="https://robotik.dfki-bremen.de/en/research/projects/veryhuman/">VeryHuman</a> (Grant number 01IW20004) projects funded by the German Aerospace Center (DLR) with federal funds from the German Federal Ministry of Education and Research (BMBF).</p>
-<h2><a class="anchor" id="autotoc_md12"></a>
+<h2><a class="anchor" id="autotoc_md13"></a>
 Maintainer / Authors / Contributers</h2>
 <p>Dennis Mronga, <a href="#" onclick="location.href='mai'+'lto:'+'den'+'ni'+'s.m'+'ro'+'nga'+'@d'+'fki'+'.d'+'e'; return false;">denni<span class="obfuscator">.nosp@m.</span>s.mr<span class="obfuscator">.nosp@m.</span>onga@<span class="obfuscator">.nosp@m.</span>dfki<span class="obfuscator">.nosp@m.</span>.de</a></p>
 <p>Copyright 2017, DFKI GmbH / Robotics Innovation Center </p>