diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 61a5f1f29c..844a4559e2 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.humble.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index 6392ba8e68..0fabfda92f 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
index f3c31703cd..078a541bf0 100644
--- a/.github/workflows/humble-check-docs.yml
+++ b/.github/workflows/humble-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 209c931d4e..8255b02bb4 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -28,6 +28,11 @@ on:
       - 'ros2_control.humble.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index 0ce72a3184..301befbcab 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index 5bb2408578..38a76ee025 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - humble
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
index 62c5cd62ba..e986bf361e 100644
--- a/.github/workflows/humble-rhel-binary-build.yml
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index 96938467f9..7b0c5f1fd3 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Humble Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on humble branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: humble
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_control.humble.repos
+      ref_for_scheduled_build: humble
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
index 367b3736fb..aa0fe81e63 100644
--- a/.github/workflows/jazzy-abi-compatibility.yml
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.jazzy.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
index 5be853ebfc..599a075d9a 100644
--- a/.github/workflows/jazzy-binary-build.yml
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
index cbdf6c30bd..7910cde0b5 100644
--- a/.github/workflows/jazzy-check-docs.yml
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
index 4ec6a29fff..0f695ed8bc 100644
--- a/.github/workflows/jazzy-debian-build.yml
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
index d9ec610bbc..aab5ba52ac 100644
--- a/.github/workflows/jazzy-pre-commit.yml
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/jazzy-rhel-binary-build.yml b/.github/workflows/jazzy-rhel-binary-build.yml
index 0dcc912dab..a6404d2dbd 100644
--- a/.github/workflows/jazzy-rhel-binary-build.yml
+++ b/.github/workflows/jazzy-rhel-binary-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   rhel_semi_binary_build:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
index 12769eb740..d5e3a96835 100644
--- a/.github/workflows/jazzy-semi-binary-build.yml
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Jazzy Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,14 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      ros_distro: jazzy
+      ros_repo: testing
+      upstream_workspace: ros2_control.jazzy.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index a07fecc660..3e30571ea1 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -14,6 +14,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control-not-released.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   abi_check:
     runs-on: ubuntu-latest
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index 24a28f16ae..0859169b15 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -32,6 +32,11 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
index 80e8287abd..8dc02f65c1 100644
--- a/.github/workflows/rolling-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -10,6 +10,10 @@ on:
       - '**.md'
       - '**.yaml'
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-docs:
     name: Check Docs
diff --git a/.github/workflows/rolling-compatibility-humble-binary-build.yml b/.github/workflows/rolling-compatibility-humble-binary-build.yml
index b55091521e..35957bbc0e 100644
--- a/.github/workflows/rolling-compatibility-humble-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-humble-binary-build.yml
@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-humble:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
index 621ffb6a26..bddbd14878 100644
--- a/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
+++ b/.github/workflows/rolling-compatibility-jazzy-binary-build.yml
@@ -29,6 +29,11 @@ on:
       - '**/CMakeLists.txt'
       - 'ros2_control.rolling.repos'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   build-on-jazzy:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 45b10876e7..ad4e467606 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -28,6 +28,11 @@ on:
       - 'ros2_control.rolling.repos'
       - 'codecov.yml'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
   coverage_rolling:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index 00d4ad844b..a54e7ad0d1 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -17,6 +17,11 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 
 jobs:
   debian_source_build:
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 7bc07ba802..792278d6d2 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -6,6 +6,10 @@ on:
     branches:
       - master
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   pre-commit:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index b8b572f921..95d6759da6 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -17,6 +17,10 @@ on:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
 
 jobs:
   rhel_semi_binary_build:
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 492da45ab9..6431b9f4fa 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -1,6 +1,6 @@
 name: Rolling Semi-Binary Build
 # author: Denis Štogl <denis@stoglrobotics.de>
-# description: 'Build & test all dependencies from released (binary) packages.'
+# description: 'Build & test all ros2_control dependencies from source.'
 
 on:
   workflow_dispatch:
@@ -32,8 +32,13 @@ on:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
 
+concurrency:
+  # cancel previous runs of the same workflow, except for pushes on master branch
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ !startsWith(github.ref, '/refs/heads') }}
+
 jobs:
-  binary:
+  semi-binary:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
     strategy:
       fail-fast: false
@@ -45,3 +50,15 @@ jobs:
       ros_repo: ${{ matrix.ROS_REPO }}
       upstream_workspace: ros2_control.${{ matrix.ROS_DISTRO }}.repos
       ref_for_scheduled_build: master
+  semi-binary-clang:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    with:
+      # job for building only, no tests -> one distro is enough
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_control.rolling.repos
+      ref_for_scheduled_build: master
+      additional_debs: clang
+      c_compiler: clang
+      cxx_compiler: clang++
+      not_test_build: true
diff --git a/.github/workflows/rosdoc2.yml b/.github/workflows/rosdoc2.yml
index 07a9e2904a..3452796f55 100644
--- a/.github/workflows/rosdoc2.yml
+++ b/.github/workflows/rosdoc2.yml
@@ -8,6 +8,9 @@ on:
       - ros2_control/rosdoc2.yaml
       - ros2_control/package.xml
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
   check:
diff --git a/controller_interface/include/semantic_components/force_torque_sensor.hpp b/controller_interface/include/semantic_components/force_torque_sensor.hpp
index ab55a537ad..c749ed1db8 100644
--- a/controller_interface/include/semantic_components/force_torque_sensor.hpp
+++ b/controller_interface/include/semantic_components/force_torque_sensor.hpp
@@ -62,7 +62,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     const std::string & interface_torque_y, const std::string & interface_torque_z)
   : SemanticComponentInterface("", 6)
   {
-    auto check_and_add_interface = [this](const std::string & interface_name, const int index)
+    auto check_and_add_interface = [this](const std::string & interface_name, const size_t index)
     {
       if (!interface_name.empty())
       {
@@ -120,7 +120,7 @@ class ForceTorqueSensor : public SemanticComponentInterface<geometry_msgs::msg::
     // find out how many force interfaces are being used
     // torque interfaces will be found from the next index onward
     auto torque_interface_counter =
-      std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true);
+      static_cast<size_t>(std::count(existing_axes_.begin(), existing_axes_.begin() + 3, true));
 
     for (size_t i = 3; i < 6; ++i)
     {
diff --git a/hardware_interface/src/component_parser.cpp b/hardware_interface/src/component_parser.cpp
index e087d39c95..45ee52c852 100644
--- a/hardware_interface/src/component_parser.cpp
+++ b/hardware_interface/src/component_parser.cpp
@@ -174,7 +174,7 @@ std::size_t parse_size_attribute(const tinyxml2::XMLElement * elem)
   std::regex int_re("[1-9][0-9]*");
   if (std::regex_match(s, int_re))
   {
-    size = std::stoi(s);
+    size = static_cast<size_t>(std::stoi(s));
   }
   else
   {
diff --git a/hardware_interface/src/mock_components/generic_system.cpp b/hardware_interface/src/mock_components/generic_system.cpp
index fb91961d60..5df702278c 100644
--- a/hardware_interface/src/mock_components/generic_system.cpp
+++ b/hardware_interface/src/mock_components/generic_system.cpp
@@ -144,7 +144,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
       custom_interface_with_following_offset_ = it->second;
     }
   }
-  // its extremlly improbably that std::distance results int this value - therefore default
+  // it's extremely improbable that std::distance results in this value - therefore default
   index_custom_interface_with_following_offset_ = std::numeric_limits<size_t>::max();
 
   // Initialize storage for standard interfaces
@@ -210,7 +210,7 @@ CallbackReturn GenericSystem::on_init(const hardware_interface::HardwareInfo & i
     if (if_it != other_interfaces_.end())
     {
       index_custom_interface_with_following_offset_ =
-        std::distance(other_interfaces_.begin(), if_it);
+        static_cast<size_t>(std::distance(other_interfaces_.begin(), if_it));
       RCUTILS_LOG_INFO_NAMED(
         "mock_generic_system", "Custom interface with following offset '%s' found at index: %zu.",
         custom_interface_with_following_offset_.c_str(),
@@ -395,7 +395,8 @@ return_type GenericSystem::prepare_command_mode_switch(
 
     if (joint_it_found != info_.joints.end())
     {
-      const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
       if (joint_found_in_x_requests_[joint_index] == 0)
       {
         joint_found_in_x_requests_[joint_index] = FOUND_ONCE_FLAG;
@@ -483,7 +484,8 @@ return_type GenericSystem::perform_command_mode_switch(
 
     if (joint_it_found != info_.joints.end())
     {
-      const size_t joint_index = std::distance(info_.joints.begin(), joint_it_found);
+      const size_t joint_index =
+        static_cast<size_t>(std::distance(info.joints.begin(), joint_it_found));
 
       if (key == info_.joints[joint_index].name + "/" + hardware_interface::HW_IF_POSITION)
       {
@@ -673,7 +675,7 @@ bool GenericSystem::get_interface(
   auto it = std::find(interface_list.begin(), interface_list.end(), interface_name);
   if (it != interface_list.end())
   {
-    auto j = std::distance(interface_list.begin(), it);
+    auto j = static_cast<size_t>(std::distance(interface_list.begin(), it));
     interfaces.emplace_back(name, *it, &values[j][vector_index]);
     return true;
   }
@@ -706,7 +708,7 @@ void GenericSystem::initialize_storage_vectors(
       // If interface name is found in the interfaces list
       if (it != interfaces.end())
       {
-        auto index = std::distance(interfaces.begin(), it);
+        auto index = static_cast<size_t>(std::distance(interfaces.begin(), it));
 
         // Check the initial_value param is used
         if (!interface.initial_value.empty())
diff --git a/hardware_interface/test/test_component_interfaces.cpp b/hardware_interface/test/test_component_interfaces.cpp
index d90756c324..6028b2f4cf 100644
--- a/hardware_interface/test/test_component_interfaces.cpp
+++ b/hardware_interface/test/test_component_interfaces.cpp
@@ -308,7 +308,7 @@ class DummySystem : public hardware_interface::SystemInterface
       return hardware_interface::return_type::ERROR;
     }
 
-    for (auto i = 0; i < 3; ++i)
+    for (size_t i = 0; i < 3; ++i)
     {
       position_state_[i] += velocity_command_[0];
       velocity_state_[i] = velocity_command_[0];
@@ -318,7 +318,7 @@ class DummySystem : public hardware_interface::SystemInterface
 
   CallbackReturn on_shutdown(const rclcpp_lifecycle::State & /*previous_state*/) override
   {
-    for (auto i = 0ul; i < 3; ++i)
+    for (size_t i = 0; i < 3; ++i)
     {
       velocity_state_[i] = 0.0;
     }
@@ -346,7 +346,7 @@ class DummySystem : public hardware_interface::SystemInterface
   std::array<double, 3> velocity_state_ = {
     std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
     std::numeric_limits<double>::quiet_NaN()};
-  std::array<double, 3> velocity_command_ = {0.0, 0.0, 0.0};
+  std::array<double, 3> velocity_command_ = {{0.0, 0.0, 0.0}};
 
   // Helper variables to initiate error on read
   unsigned int read_calls_ = 0;
diff --git a/hardware_interface/test/test_macros.cpp b/hardware_interface/test/test_macros.cpp
index a7c56849d1..7dc707d58b 100644
--- a/hardware_interface/test/test_macros.cpp
+++ b/hardware_interface/test/test_macros.cpp
@@ -62,7 +62,7 @@ TEST_F(TestMacros, throw_on_not_null)
   EXPECT_ANY_THROW(THROW_ON_NOT_NULLPTR(a_ptr));
 
   std::vector<int *> vec_ptr;
-  for (auto i : {0, 1, 2})
+  for (size_t i = 0; i < 3; ++i)
   {
     vec_ptr.push_back(i_ptr);
     EXPECT_ANY_THROW(THROW_ON_NOT_NULLPTR(vec_ptr[i]));
diff --git a/ros2_control.humble.repos b/ros2_control.humble.repos
index 98b2866d38..af5cbc3c26 100644
--- a/ros2_control.humble.repos
+++ b/ros2_control.humble.repos
@@ -2,7 +2,7 @@ repositories:
   ros-controls/realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: master
+    version: humble
   ros-controls/control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git