diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index a5d175a5..48e596d8 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -16,7 +16,7 @@ jobs:
     - uses: actions/checkout@v2
     - uses: actions/setup-python@v2
       with:
-        python-version: '3.9.7'
+        python-version: '3.9'
         cache: 'pip'
     - name: Install clang-format-12
       run: sudo apt-get install clang-format-12
diff --git a/.github/workflows/ci-lint.yml b/.github/workflows/ci-lint.yml
index ddd72cb6..b2fb5705 100644
--- a/.github/workflows/ci-lint.yml
+++ b/.github/workflows/ci-lint.yml
@@ -7,6 +7,8 @@ jobs:
   ament_lint:
     name: ament_${{ matrix.linter }}
     runs-on: ubuntu-latest
+    env:
+      AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: True
     strategy:
       fail-fast: false
       matrix:
@@ -14,13 +16,13 @@ jobs:
         arguments: [""]
         include:
           - linter: copyright
-            arguments: "--exclude conf.py test_robot_description.launch.py view_robot.launch.py robot_ros2_control.launch.py robot_ros2_control_sim.launch.py test_forward_position_controller.launch.py test_joint_trajectory_controller.launch.py"
+            arguments: "--exclude docs/conf.py"
     steps:
     - uses: actions/checkout@v2
     - uses: ros-tooling/setup-ros@master
     - uses: ros-tooling/action-ros-lint@master
       with:
-        distribution: galactic
+        distribution: rolling
         linter: ${{ matrix.linter }}
         arguments: ${{ matrix.arguments }}
         package-name:
diff --git a/scripts/_RosTeamWs_Defines.bash b/scripts/_RosTeamWs_Defines.bash
index 660e4395..584addc7 100755
--- a/scripts/_RosTeamWs_Defines.bash
+++ b/scripts/_RosTeamWs_Defines.bash
@@ -383,14 +383,14 @@ function check_ros_distro {
       local upper_case=$(echo $ros_distro | tr '[:lower:]' '[:upper:]')
       local alternative_ros_location=ALTERNATIVE_ROS_${upper_case}_LOCATION
       if [ ! -f "${!alternative_ros_location}/setup.bash" ]; then
-        notify_user "You are possibly trying to run unsupported ROS distro ('$ros_distro') for your version of Ubuntu. Please set ${alternative_ros_location} variable, e.g., 'export ${alternative_ros_location}=/opt/ros/rolling/setup.bash'. The best is to add that line somewhere at the beginning of the '~/.ros_team_ws_rc' file."
+        notify_user "You are possibly trying to run unsupported ROS distro ('$ros_distro') for your version of Ubuntu. Please set ${alternative_ros_location} variable, e.g., 'export ${alternative_ros_location}=/opt/ros/rolling'. The best is to add that line somewhere at the beginning of the '~/.ros_team_ws_rc' file."
 
         print_and_exit "FATAL: ROS '$ros_distro' not installed on this computer! Exiting..."
       else
-        user_decision "Using ${alternative_ros_location} for ${ros_distro}." user_answer
+        user_decision "Using ${!alternative_ros_location} for ${ros_distro}." user_answer
         # check if the chosen ros-distro location is correct.
         if [[ " ${negative_answers[*]} " =~ " ${user_answer} " ]]; then
-          print_and_exit "Please set your ALTERNATIVE_ROS_LOCATION to the correct location. Exiting..."
+          print_and_exit "Please set ${alternative_ros_location} to the correct location. Exiting..."
         fi
       fi
     fi
diff --git a/templates/robot_description/test_robot_description.launch.py b/templates/robot_description/test_robot_description.launch.py
index 0a5d7ddb..3ad1dfff 100644
--- a/templates/robot_description/test_robot_description.launch.py
+++ b/templates/robot_description/test_robot_description.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
diff --git a/templates/robot_description/view_robot.launch.py b/templates/robot_description/view_robot.launch.py
index e40047e3..18a46f5a 100644
--- a/templates/robot_description/view_robot.launch.py
+++ b/templates/robot_description/view_robot.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
diff --git a/templates/ros2_control/robot_ros2_control.launch.py b/templates/ros2_control/robot_ros2_control.launch.py
index 3a29e9c9..5f6195da 100644
--- a/templates/ros2_control/robot_ros2_control.launch.py
+++ b/templates/ros2_control/robot_ros2_control.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.actions import (
diff --git a/templates/ros2_control/robot_ros2_control_sim.launch.py b/templates/ros2_control/robot_ros2_control_sim.launch.py
index 3af8dd21..9f62d88a 100644
--- a/templates/ros2_control/robot_ros2_control_sim.launch.py
+++ b/templates/ros2_control/robot_ros2_control_sim.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.actions import (
diff --git a/templates/ros2_control/test_forward_position_controller.launch.py b/templates/ros2_control/test_forward_position_controller.launch.py
index 78dda344..81870304 100644
--- a/templates/ros2_control/test_forward_position_controller.launch.py
+++ b/templates/ros2_control/test_forward_position_controller.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.substitutions import PathJoinSubstitution
diff --git a/templates/ros2_control/test_joint_trajectory_controller.launch.py b/templates/ros2_control/test_joint_trajectory_controller.launch.py
index 54d9006c..b86ae4e1 100644
--- a/templates/ros2_control/test_joint_trajectory_controller.launch.py
+++ b/templates/ros2_control/test_joint_trajectory_controller.launch.py
@@ -1,4 +1,20 @@
-# $LICENSE$
+# Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt) (template)
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Author: Dr. Denis
+#
 
 from launch import LaunchDescription
 from launch.substitutions import PathJoinSubstitution