diff --git a/available_ros2_types b/available_ros2_types
index 40b3b7dc3..4a11d63a2 100644
--- a/available_ros2_types
+++ b/available_ros2_types
@@ -98,6 +98,7 @@ geometry_msgs/Vector3.msg
 geometry_msgs/Vector3Stamped.msg
 geometry_msgs/Wrench.msg
 geometry_msgs/WrenchStamped.msg
+kaiaai_msgs/JointPosVel.msg
 kaiaai_msgs/KaiaaiTelemetry.msg
 kaiaai_msgs/KaiaaiTelemetry2.msg
 kaiaai_msgs/WifiState.msg
diff --git a/built_packages b/built_packages
index c37ce4a96..21ffc5ea7 100644
--- a/built_packages
+++ b/built_packages
@@ -1,5 +1,5 @@
 
-https://github.com/ament/ament_cmake.git 34699da101215393ab379dc447e27b9330e947dc
+https://github.com/ament/ament_cmake.git c1cf011746457c2dace5f5236b486af83030813b
 https://github.com/ament/ament_index.git 076cef041834ae7a8c515ffb86f97b51e3aaff61
 https://github.com/ament/ament_lint.git 4bd8e5bc0ae0ed891400a20b7e2fbd0835ca05b8
 https://github.com/ament/ament_package.git 35b15ae4d8c5e1dbb6ab622ff95d046aa3ca1b28
@@ -7,10 +7,10 @@ https://github.com/ament/googletest.git 449327bfc17e58db5ce53955b8e250427909a1c8
 https://github.com/ament/uncrustify_vendor.git 37d7088131449989663c4258ff8b88b886fb83d8
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
-https://github.com/kaiaai/kaiaai_msgs 2929154eaf359353cd3ffa7873967efa6ad68744
+https://github.com/kaiaai/kaiaai_msgs 79fe7a6642df3caed806dcbda4dac916784d103d
 https://github.com/micro-ROS/micro_ros_msgs.git cefbf4883654083d195671971d3bf9a290e7917c
 https://github.com/micro-ROS/micro_ros_utilities 4757528454cb0386ec0a18fcbd7ce3627fcca60d
-https://github.com/micro-ROS/rcl 5c921997f15f5e9feed8d9a9134a74733ae73755
+https://github.com/micro-ROS/rcl 47516ecde79f9ba5b18821281ce7b0adb20705e3
 https://github.com/micro-ROS/rcutils 6256bce32da1056cf2ab197a58b60fa675545f9c
 https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43
 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5
@@ -20,15 +20,15 @@ https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa42465
 https://github.com/ros2/common_interfaces.git 0b72b046f41547328172ddec3691c62bdaf2765f
 https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f
 https://github.com/ros2/libyaml_vendor.git cca2f1431f37a70bde64716632b8979c0b89a5f1
-https://github.com/ros2/rcl.git b98e22e9ce94f42e93839bf3d710a88161b92185
+https://github.com/ros2/rcl.git 061f54669e7e48b91426b51d4db8382d069c2bb4
 https://github.com/ros2/rcl_interfaces.git fbd32f8b8ef90fb9cefdc90d8d2f5b992fd843bb
-https://github.com/ros2/rcl_logging.git 658972a26248e2cfc5c0db4d3e6ab341d6cbc6b6
+https://github.com/ros2/rcl_logging.git 32ef3f657bacce77fdbbede1e8cd069a08c74e6d
 https://github.com/ros2/rclc 169b246f738a1b5604423f6187d27dc770781871
 https://github.com/ros2/rcpputils.git 292be119c13edb8baa1e78c348637c460ad7a846
 https://github.com/ros2/rmw.git 9b3d9d0e3021b7a6e75d8886e3e061a53c36c789
 https://github.com/ros2/rmw_implementation.git 513f6701ccfeedaa0df64c478f8dece1ec1022aa
 https://github.com/ros2/ros2_tracing.git 327e8dfbf0cab3ab3472be409b5d184e4c1eacb9
-https://github.com/ros2/rosidl.git 0425e869022b36fa7c5ce30696093546edad488f
+https://github.com/ros2/rosidl.git 0775e1059638dc24e7d87c0b6b51bd2c8809d678
 https://github.com/ros2/rosidl_core.git 84fa73d3974fe31fbe397e41e4449a31c2fb6ce4
 https://github.com/ros2/rosidl_dds.git 8d6fdb365792c81861cf1d49da2d265e91dca86d
 https://github.com/ros2/rosidl_defaults.git 65d0e79a6f477e22b7213590bc8d2465e16cedbf
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index dfe5fc224..10b38ca26 100644
Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index 7ae63f912..bf8e4f225 100644
Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index 3ade3d803..baa4865ad 100644
Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index c09e66b94..5e7fbdd3b 100644
Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 58242e422..2b868b3d0 100644
Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 85101bfc4..20af9d866 100644
Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index 3c21e2f42..c2b4783db 100644
Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index d489b350b..a3ec9b339 100644
Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ
diff --git a/src/kaiaai_msgs/msg/detail/joint_pos_vel__functions.h b/src/kaiaai_msgs/msg/detail/joint_pos_vel__functions.h
new file mode 100644
index 000000000..4a76d6e5e
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/joint_pos_vel__functions.h
@@ -0,0 +1,210 @@
+// generated from rosidl_generator_c/resource/idl__functions.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+
+// IWYU pragma: private, include "kaiaai_msgs/msg/joint_pos_vel.h"
+
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__FUNCTIONS_H_
+#define KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__FUNCTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/type_description/type_description__struct.h"
+#include "rosidl_runtime_c/type_description/type_source__struct.h"
+#include "rosidl_runtime_c/type_hash.h"
+#include "rosidl_runtime_c/visibility_control.h"
+#include "kaiaai_msgs/msg/rosidl_generator_c__visibility_control.h"
+
+#include "kaiaai_msgs/msg/detail/joint_pos_vel__struct.h"
+
+/// Initialize msg/JointPosVel message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * kaiaai_msgs__msg__JointPosVel
+ * )) before or use
+ * kaiaai_msgs__msg__JointPosVel__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__init(kaiaai_msgs__msg__JointPosVel * msg);
+
+/// Finalize msg/JointPosVel message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__JointPosVel__fini(kaiaai_msgs__msg__JointPosVel * msg);
+
+/// Create msg/JointPosVel message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * kaiaai_msgs__msg__JointPosVel__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+kaiaai_msgs__msg__JointPosVel *
+kaiaai_msgs__msg__JointPosVel__create();
+
+/// Destroy msg/JointPosVel message.
+/**
+ * It calls
+ * kaiaai_msgs__msg__JointPosVel__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__JointPosVel__destroy(kaiaai_msgs__msg__JointPosVel * msg);
+
+/// Check for msg/JointPosVel message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__are_equal(const kaiaai_msgs__msg__JointPosVel * lhs, const kaiaai_msgs__msg__JointPosVel * rhs);
+
+/// Copy a msg/JointPosVel message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__copy(
+  const kaiaai_msgs__msg__JointPosVel * input,
+  kaiaai_msgs__msg__JointPosVel * output);
+
+/// Retrieve pointer to the hash of the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_type_hash_t *
+kaiaai_msgs__msg__JointPosVel__get_type_hash(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeDescription *
+kaiaai_msgs__msg__JointPosVel__get_type_description(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the single raw source text that defined this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeSource *
+kaiaai_msgs__msg__JointPosVel__get_individual_type_description_source(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the recursive raw sources that defined the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeSource__Sequence *
+kaiaai_msgs__msg__JointPosVel__get_type_description_sources(
+  const rosidl_message_type_support_t * type_support);
+
+/// Initialize array of msg/JointPosVel messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * kaiaai_msgs__msg__JointPosVel__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__Sequence__init(kaiaai_msgs__msg__JointPosVel__Sequence * array, size_t size);
+
+/// Finalize array of msg/JointPosVel messages.
+/**
+ * It calls
+ * kaiaai_msgs__msg__JointPosVel__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__JointPosVel__Sequence__fini(kaiaai_msgs__msg__JointPosVel__Sequence * array);
+
+/// Create array of msg/JointPosVel messages.
+/**
+ * It allocates the memory for the array and calls
+ * kaiaai_msgs__msg__JointPosVel__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+kaiaai_msgs__msg__JointPosVel__Sequence *
+kaiaai_msgs__msg__JointPosVel__Sequence__create(size_t size);
+
+/// Destroy array of msg/JointPosVel messages.
+/**
+ * It calls
+ * kaiaai_msgs__msg__JointPosVel__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__JointPosVel__Sequence__destroy(kaiaai_msgs__msg__JointPosVel__Sequence * array);
+
+/// Check for msg/JointPosVel message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__Sequence__are_equal(const kaiaai_msgs__msg__JointPosVel__Sequence * lhs, const kaiaai_msgs__msg__JointPosVel__Sequence * rhs);
+
+/// Copy an array of msg/JointPosVel messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__JointPosVel__Sequence__copy(
+  const kaiaai_msgs__msg__JointPosVel__Sequence * input,
+  kaiaai_msgs__msg__JointPosVel__Sequence * output);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__FUNCTIONS_H_
diff --git a/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_introspection_c.h b/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_introspection_c.h
new file mode 100644
index 000000000..8a0779245
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+#define KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "kaiaai_msgs/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, kaiaai_msgs, msg, JointPosVel)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_microxrcedds_c.h b/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_microxrcedds_c.h
new file mode 100644
index 000000000..9d71ef0d4
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/joint_pos_vel__rosidl_typesupport_microxrcedds_c.h
@@ -0,0 +1,39 @@
+// generated from rosidl_typesupport_microxrcedds_c/resource/idl__rosidl_typesupport_c.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+#ifndef KAIAAI_MSGS__MSG__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
+#define KAIAAI_MSGS__MSG__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
+
+
+#include <stddef.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "kaiaai_msgs/msg/rosidl_typesupport_microxrcedds_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+size_t get_serialized_size_kaiaai_msgs__msg__JointPosVel(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+size_t max_serialized_size_kaiaai_msgs__msg__JointPosVel(
+  bool * full_bounded,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_microxrcedds_c, kaiaai_msgs, msg, JointPosVel)();
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif  // KAIAAI_MSGS__MSG__JOINT_POS_VEL__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
diff --git a/src/kaiaai_msgs/msg/detail/joint_pos_vel__struct.h b/src/kaiaai_msgs/msg/detail/joint_pos_vel__struct.h
new file mode 100644
index 000000000..146b2b7e4
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/joint_pos_vel__struct.h
@@ -0,0 +1,43 @@
+// generated from rosidl_generator_c/resource/idl__struct.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+
+// IWYU pragma: private, include "kaiaai_msgs/msg/joint_pos_vel.h"
+
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__STRUCT_H_
+#define KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__STRUCT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+// Constants defined in the message
+
+/// Struct defined in msg/JointPosVel in the package kaiaai_msgs.
+typedef struct kaiaai_msgs__msg__JointPosVel
+{
+  float pos;
+  float vel;
+} kaiaai_msgs__msg__JointPosVel;
+
+// Struct for a sequence of kaiaai_msgs__msg__JointPosVel.
+typedef struct kaiaai_msgs__msg__JointPosVel__Sequence
+{
+  kaiaai_msgs__msg__JointPosVel * data;
+  /// The number of valid items in data
+  size_t size;
+  /// The number of allocated items in data
+  size_t capacity;
+} kaiaai_msgs__msg__JointPosVel__Sequence;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__STRUCT_H_
diff --git a/src/kaiaai_msgs/msg/detail/joint_pos_vel__type_support.h b/src/kaiaai_msgs/msg/detail/joint_pos_vel__type_support.h
new file mode 100644
index 000000000..d97e3ce29
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/joint_pos_vel__type_support.h
@@ -0,0 +1,36 @@
+// generated from rosidl_generator_c/resource/idl__type_support.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+
+// IWYU pragma: private, include "kaiaai_msgs/msg/joint_pos_vel.h"
+
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__TYPE_SUPPORT_H_
+#define KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__TYPE_SUPPORT_H_
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "kaiaai_msgs/msg/rosidl_generator_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_c,
+  kaiaai_msgs,
+  msg,
+  JointPosVel
+)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__JOINT_POS_VEL__TYPE_SUPPORT_H_
diff --git a/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h b/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
index b07fec27d..7c32dea97 100644
--- a/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
+++ b/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
@@ -22,8 +22,8 @@ extern "C"
 // Include directives for member types
 // Member 'stamp'
 #include "builtin_interfaces/msg/detail/time__struct.h"
-// Member 'joint_pos'
-// Member 'joint_vel'
+// Member 'joint'
+#include "kaiaai_msgs/msg/detail/joint_pos_vel__struct.h"
 // Member 'distance_mm'
 // Member 'bumper'
 // Member 'cliff'
@@ -31,6 +31,38 @@ extern "C"
 // Member 'lds'
 #include "rosidl_runtime_c/primitives_sequence.h"
 
+// constants for array fields with an upper bound
+// joint
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__joint__MAX_SIZE = 15
+};
+// distance_mm
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__distance_mm__MAX_SIZE = 15
+};
+// bumper
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__bumper__MAX_SIZE = 15
+};
+// cliff
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__cliff__MAX_SIZE = 15
+};
+// touch
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__touch__MAX_SIZE = 15
+};
+// lds
+enum
+{
+  kaiaai_msgs__msg__KaiaaiTelemetry2__lds__MAX_SIZE = 511
+};
+
 /// Struct defined in msg/KaiaaiTelemetry2 in the package kaiaai_msgs.
 typedef struct kaiaai_msgs__msg__KaiaaiTelemetry2
 {
@@ -41,14 +73,14 @@ typedef struct kaiaai_msgs__msg__KaiaaiTelemetry2
   float odom_pos_yaw;
   float odom_vel_x;
   float odom_vel_yaw;
-  rosidl_runtime_c__float__Sequence joint_pos;
-  rosidl_runtime_c__float__Sequence joint_vel;
+  kaiaai_msgs__msg__JointPosVel__Sequence joint;
   int8_t wifi_rssi_dbm;
   uint16_t battery_mv;
   rosidl_runtime_c__uint16__Sequence distance_mm;
   rosidl_runtime_c__boolean__Sequence bumper;
   rosidl_runtime_c__boolean__Sequence cliff;
   rosidl_runtime_c__uint16__Sequence touch;
+  bool scan_start_hint;
   rosidl_runtime_c__uint8__Sequence lds;
 } kaiaai_msgs__msg__KaiaaiTelemetry2;
 
diff --git a/src/kaiaai_msgs/msg/joint_pos_vel.h b/src/kaiaai_msgs/msg/joint_pos_vel.h
new file mode 100644
index 000000000..019f877a4
--- /dev/null
+++ b/src/kaiaai_msgs/msg/joint_pos_vel.h
@@ -0,0 +1,12 @@
+// generated from rosidl_generator_c/resource/idl.h.em
+// with input from kaiaai_msgs:msg/JointPosVel.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__JOINT_POS_VEL_H_
+#define KAIAAI_MSGS__MSG__JOINT_POS_VEL_H_
+
+#include "kaiaai_msgs/msg/detail/joint_pos_vel__struct.h"
+#include "kaiaai_msgs/msg/detail/joint_pos_vel__functions.h"
+#include "kaiaai_msgs/msg/detail/joint_pos_vel__type_support.h"
+
+#endif  // KAIAAI_MSGS__MSG__JOINT_POS_VEL_H_
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index b972e207d..944dcba29 100644
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diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 3a5fdf2fe..350ac9d48 100644
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diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 3a5fdf2fe..350ac9d48 100644
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