diff --git a/source/compatibility.rst b/source/compatibility.rst
index 5b1142e..c254ef8 100644
--- a/source/compatibility.rst
+++ b/source/compatibility.rst
@@ -18,7 +18,7 @@ Therefore, they are compatible with libfranka versions 0.4.0 and 0.5.0.
 | Robot system version | libfranka version | Robot / Gripper |franka_ros2 version| franka_description| Ubuntu / ROS 2    | franka_ros version| Ubuntu / ROS 1    |
 |                      |                   | Server version  |                   |                   |                   |                   |                   |
 +======================+===================+=================+===================+===================+===================+===================+===================+
-| >= 5.7.0 (FR3)       | >= 0.13.4         | 8 / 3           | >= 0.1.13         | >= 0.2.0          | 22.04 / humble    |                   | 20.04 / noetic    |
+| >= 5.5.0 (FR3)       | >= 0.13.3         | 7 / 3           | >= 0.1.15         | >= 0.3.0          | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
 +----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
 | >= 5.5.0 (FR3)       | >= 0.13.3         | 7 / 3           |                   |                   | 22.04 / humble    | >= 0.10.0         | 20.04 / noetic    |
 +----------------------+-------------------+-----------------+-------------------+-------------------+-------------------+-------------------+-------------------+
diff --git a/source/franka_ros2.rst b/source/franka_ros2.rst
index b2a0865..3fe71b0 100644
--- a/source/franka_ros2.rst
+++ b/source/franka_ros2.rst
@@ -19,7 +19,7 @@ Prerequisites
   (ros-humble-desktop) or a VSCode IDE with DevContainer.
 * A :ref:`PREEMPT_RT kernel <preempt>` (optional, but strongly recommended).
 * For ``cartesian_pose``, ``joint_position`` and ``elbow_position`` command interfaces realtime-kernel is absolutely necessary.
-* A system-wide :ref:`libfranka installation <build-libfranka>`. Minimum supported version of libfranka is 0.13.4.
+* A system-wide :ref:`libfranka installation <build-libfranka>`. Minimum supported version of libfranka is 0.13.2.
   Here is a minimal example:
 
 .. code-block:: shell
@@ -27,7 +27,7 @@ Prerequisites
    sudo apt install -y libpoco-dev libeigen3-dev
    git clone https://github.com/frankaemika/libfranka.git --recursive
    cd libfranka
-   git checkout 0.13.4
+   git checkout 0.13.2
    mkdir build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=OFF  ..
    cmake --build . -j$(nproc)
@@ -238,7 +238,7 @@ state interface values before starting to send any commands.
 
 .. code-block:: shell
 
-    ros2 launch franka_bringup joint_position_example_controller arm_id:=fr3 robot_ip:=<fci-ip>
+    ros2 launch franka_bringup joint_position_example_controller.launch.py arm_id:=fr3 robot_ip:=<fci-ip>
 
 Joint Velocity Example
 ^^^^^^^^^^^^^^^^^^^^^^
@@ -613,7 +613,7 @@ Now you can launch the velocity example with Gazebo simulator.
     ros2 launch franka_gazebo_bringup gazebo_joint_velocity_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand'
 
 
-Keep in mind that the gripper joint has a bug with the joint velocity controller. 
+Keep in mind that the gripper joint has a bug with the joint velocity controller.
 If you are interested in controlling the gripper please use joint position interface.