diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
index 3e6f22b18..6790e9287 100644
--- a/.github/workflows/ci-coverage-build.yml
+++ b/.github/workflows/ci-coverage-build.yml
@@ -18,7 +18,7 @@ jobs:
       - uses: ros-tooling/setup-ros@v0.7
         with:
           required-ros-distributions: ${{ env.ROS_DISTRO }}
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - uses: ros-tooling/action-ros-ci@v0.3
         with:
           target-ros2-distro: ${{ env.ROS_DISTRO }}
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index 7a76e6e39..a03f39856 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -12,7 +12,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: actions/setup-python@v4.7.0
       with:
         python-version: '3.10'
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index a8be4d433..a5366dfec 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -13,7 +13,7 @@ jobs:
     env:
       AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS: true
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
@@ -40,7 +40,7 @@ jobs:
       matrix:
           linter: [cpplint]
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: ros-tooling/setup-ros@v0.7
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
diff --git a/.github/workflows/humble-docker-build.yaml b/.github/workflows/humble-docker-build.yaml
index be2f12c47..d9130d3eb 100644
--- a/.github/workflows/humble-docker-build.yaml
+++ b/.github/workflows/humble-docker-build.yaml
@@ -17,6 +17,6 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Build the Docker image
       run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_humble
diff --git a/.github/workflows/prerelease-check.yml b/.github/workflows/prerelease-check.yml
index b9460bda4..809471897 100644
--- a/.github/workflows/prerelease-check.yml
+++ b/.github/workflows/prerelease-check.yml
@@ -28,7 +28,7 @@ jobs:
   pre_release:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
           ref: ${{ github.event.inputs.branch }}
       - name: industrial_ci
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index 732b0d918..a157ccbd6 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -62,10 +62,10 @@ jobs:
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
         if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name != 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Checkout ${{ inputs.ref }} on scheduled build
         if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name == 'schedule' }}
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
diff --git a/.github/workflows/reviewer_lottery.yml b/.github/workflows/reviewer_lottery.yml
index 772809825..2edbc9b59 100644
--- a/.github/workflows/reviewer_lottery.yml
+++ b/.github/workflows/reviewer_lottery.yml
@@ -7,7 +7,7 @@ jobs:
   test:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - uses: uesteibar/reviewer-lottery@v3
       with:
         repo-token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/rolling-docker-build.yaml b/.github/workflows/rolling-docker-build.yaml
index 5e9ff32f2..cfb8b0913 100644
--- a/.github/workflows/rolling-docker-build.yaml
+++ b/.github/workflows/rolling-docker-build.yaml
@@ -17,6 +17,6 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Build the Docker image
       run: docker build . --file Dockerfile/Dockerfile --tag ros2_control_demos_rolling
diff --git a/doc/index.rst b/doc/index.rst
index 970a951fd..e602a759f 100644
--- a/doc/index.rst
+++ b/doc/index.rst
@@ -93,7 +93,7 @@ Local installation
 
 If you have ROS 2 installed already, choose the right version of this documentation and branch of the ``ros2_control_demos`` repository matching you ROS 2 distribution, see `this table <https://github.com/ros-controls/ros2_control_demos#build-status>`__.
 
-Otherwise, install `ROS 2 {DISTRO} on your computer <https://docs.ros.org/en/rolling/Installation.html>`__.
+Otherwise, install `ROS 2 {DISTRO} on your computer <https://docs.ros.org/en/{DISTRO}/Installation.html>`__.
 
 .. note::
 
diff --git a/example_2/hardware/diffbot_system.cpp b/example_2/hardware/diffbot_system.cpp
index 478819573..2602a5dfd 100644
--- a/example_2/hardware/diffbot_system.cpp
+++ b/example_2/hardware/diffbot_system.cpp
@@ -180,7 +180,7 @@ hardware_interface::return_type DiffBotSystemHardware::read(
     // Simulate DiffBot wheels's movement as a first-order system
     // Update the joint status: this is a revolute joint without any limit.
     // Simply integrates
-    hw_positions_[i] = hw_positions_[1] + period.seconds() * hw_velocities_[i];
+    hw_positions_[i] = hw_positions_[i] + period.seconds() * hw_velocities_[i];
 
     RCLCPP_INFO(
       rclcpp::get_logger("DiffBotSystemHardware"),