diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
index 5c288fabfb..d72d3725b3 100644
--- a/.github/workflows/humble-abi-compatibility.yml
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-abi-compatibility.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/humble-binary-build.yml b/.github/workflows/humble-binary-build.yml
index df449caecb..a78f6135b6 100644
--- a/.github/workflows/humble-binary-build.yml
+++ b/.github/workflows/humble-binary-build.yml
@@ -7,9 +7,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-check-docs.yml b/.github/workflows/humble-check-docs.yml
new file mode 100644
index 0000000000..0eeeaedf40
--- /dev/null
+++ b/.github/workflows/humble-check-docs.yml
@@ -0,0 +1,18 @@
+name: Humble Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - humble
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@humble
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/humble-coverage-build.yml b/.github/workflows/humble-coverage-build.yml
index 0910572227..f39758a512 100644
--- a/.github/workflows/humble-coverage-build.yml
+++ b/.github/workflows/humble-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - 'codecov.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-coverage-build.yml'
+      - 'codecov.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
 
 jobs:
   coverage_humble:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-debian-build.yml b/.github/workflows/humble-debian-build.yml
index db0a8456f8..b018fcea84 100644
--- a/.github/workflows/humble-debian-build.yml
+++ b/.github/workflows/humble-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-debian-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-pre-commit.yml b/.github/workflows/humble-pre-commit.yml
index be8c84b05b..5bb2408578 100644
--- a/.github/workflows/humble-pre-commit.yml
+++ b/.github/workflows/humble-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: humble
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/humble-rhel-semi-binary-build.yml b/.github/workflows/humble-rhel-semi-binary-build.yml
index ccf64a0246..2a7814f8b3 100644
--- a/.github/workflows/humble-rhel-semi-binary-build.yml
+++ b/.github/workflows/humble-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-rhel-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/humble-semi-binary-build.yml b/.github/workflows/humble-semi-binary-build.yml
index aaed9c8ca2..72287fa115 100644
--- a/.github/workflows/humble-semi-binary-build.yml
+++ b/.github/workflows/humble-semi-binary-build.yml
@@ -6,9 +6,27 @@ on:
   pull_request:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-semi-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/.github/workflows/humble-source-build.yml b/.github/workflows/humble-source-build.yml
index 7b4427d6d6..44d474ded4 100644
--- a/.github/workflows/humble-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -4,6 +4,14 @@ on:
   push:
     branches:
       - humble
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/humble-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.humble.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,3 +23,4 @@ jobs:
       ros_distro: humble
       ref: humble
       ros2_repo_branch: humble
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-abi-compatibility.yml b/.github/workflows/iron-abi-compatibility.yml
index ab6642625f..be1aec6680 100644
--- a/.github/workflows/iron-abi-compatibility.yml
+++ b/.github/workflows/iron-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-abi-compatibility.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/iron-binary-build.yml b/.github/workflows/iron-binary-build.yml
index 1510fac859..802ca97bb8 100644
--- a/.github/workflows/iron-binary-build.yml
+++ b/.github/workflows/iron-binary-build.yml
@@ -9,9 +9,27 @@ on:
       - iron
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/iron-binary-build.yml'
+      - '**.yaml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-check-docs.yml b/.github/workflows/iron-check-docs.yml
new file mode 100644
index 0000000000..f842902055
--- /dev/null
+++ b/.github/workflows/iron-check-docs.yml
@@ -0,0 +1,18 @@
+name: Iron Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - iron
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@iron
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/iron-coverage-build.yml b/.github/workflows/iron-coverage-build.yml
index d82c52bf51..bbc9c4e975 100644
--- a/.github/workflows/iron-coverage-build.yml
+++ b/.github/workflows/iron-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
 
 jobs:
   coverage_iron:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-debian-build.yml b/.github/workflows/iron-debian-build.yml
index e56e8940ad..105eb29aba 100644
--- a/.github/workflows/iron-debian-build.yml
+++ b/.github/workflows/iron-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-pre-commit.yml b/.github/workflows/iron-pre-commit.yml
index 60ad26d073..a128958031 100644
--- a/.github/workflows/iron-pre-commit.yml
+++ b/.github/workflows/iron-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: iron
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/iron-rhel-semi-binary-build.yml b/.github/workflows/iron-rhel-semi-binary-build.yml
index 66ad427a98..109dac7550 100644
--- a/.github/workflows/iron-rhel-semi-binary-build.yml
+++ b/.github/workflows/iron-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/iron-semi-binary-build.yml b/.github/workflows/iron-semi-binary-build.yml
index 38ca4fe490..bf5edcaa56 100644
--- a/.github/workflows/iron-semi-binary-build.yml
+++ b/.github/workflows/iron-semi-binary-build.yml
@@ -8,9 +8,27 @@ on:
       - iron
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/.github/workflows/iron-source-build.yml b/.github/workflows/iron-source-build.yml
index 3609dcfc41..c460762259 100644
--- a/.github/workflows/iron-source-build.yml
+++ b/.github/workflows/iron-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - iron
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/iron-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.iron.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,3 +24,4 @@ jobs:
       ros_distro: iron
       ref: iron
       ros2_repo_branch: iron
+      os_name: ubuntu-22.04
diff --git a/.github/workflows/jazzy-abi-compatibility.yml b/.github/workflows/jazzy-abi-compatibility.yml
new file mode 100644
index 0000000000..8e557b5ee3
--- /dev/null
+++ b/.github/workflows/jazzy-abi-compatibility.yml
@@ -0,0 +1,27 @@
+name: Jazzy - ABI Compatibility Check
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.jazzy.repos'
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: jazzy
+          ROS_REPO: testing
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/jazzy-binary-build.yml b/.github/workflows/jazzy-binary-build.yml
new file mode 100644
index 0000000000..6ec46eb6c1
--- /dev/null
+++ b/.github/workflows/jazzy-binary-build.yml
@@ -0,0 +1,48 @@
+name: Jazzy Binary Build
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.jazzy.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: jazzy
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers-not-released.jazzy.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/jazzy-check-docs.yml b/.github/workflows/jazzy-check-docs.yml
new file mode 100644
index 0000000000..2f9eaf18bd
--- /dev/null
+++ b/.github/workflows/jazzy-check-docs.yml
@@ -0,0 +1,18 @@
+name: Jazzy Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@jazzy
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/jazzy-coverage-build.yml b/.github/workflows/jazzy-coverage-build.yml
new file mode 100644
index 0000000000..c96ac88c32
--- /dev/null
+++ b/.github/workflows/jazzy-coverage-build.yml
@@ -0,0 +1,41 @@
+name: Coverage Build - Jazzy
+on:
+  workflow_dispatch:
+  # TODO(anyone) activate when branched for Jazzy
+  # push:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**.yaml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'codecov.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_controllers.jazzy.repos'
+  # pull_request:
+  #   branches:
+  #     - master
+  #   paths:
+  #     - '**.hpp'
+  #     - '**.h'
+  #     - '**.cpp'
+  #     - '.github/workflows/jazzy-coverage-build.yml'
+  #     - '**.yaml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'codecov.yml'
+  #     - '**/package.xml'
+  #     - '**/CMakeLists.txt'
+  #     - 'ros2_controllers.jazzy.repos'
+
+jobs:
+  coverage_jazzy:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-build-coverage.yml@master
+    secrets: inherit
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-debian-build.yml b/.github/workflows/jazzy-debian-build.yml
new file mode 100644
index 0000000000..61a47d0f2e
--- /dev/null
+++ b/.github/workflows/jazzy-debian-build.yml
@@ -0,0 +1,29 @@
+name: Debian Rolling Source Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  jazzy_debian:
+    name: Rolling debian build
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-debian-build.yml@master
+    with:
+      ros_distro: jazzy
+      upstream_workspace: ros2_controllers.jazzy.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-pre-commit.yml b/.github/workflows/jazzy-pre-commit.yml
new file mode 100644
index 0000000000..d9ec610bbc
--- /dev/null
+++ b/.github/workflows/jazzy-pre-commit.yml
@@ -0,0 +1,13 @@
+name: Pre-Commit - Jazzy
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  pre-commit:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
+    with:
+      ros_distro: jazzy
diff --git a/.github/workflows/jazzy-rhel-semi-binary-build.yml b/.github/workflows/jazzy-rhel-semi-binary-build.yml
new file mode 100644
index 0000000000..94ddfeb54f
--- /dev/null
+++ b/.github/workflows/jazzy-rhel-semi-binary-build.yml
@@ -0,0 +1,28 @@
+name: RHEL Jazzy Semi-Binary Build
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  jazzy_rhel:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-rhel-binary-build.yml@master
+    with:
+      ros_distro: jazzy
+      upstream_workspace: ros2_controllers.jazzy.repos
+      ref_for_scheduled_build: master
+      skip_packages: rqt_joint_trajectory_controller
diff --git a/.github/workflows/jazzy-semi-binary-build.yml b/.github/workflows/jazzy-semi-binary-build.yml
new file mode 100644
index 0000000000..7c5bdfc4dc
--- /dev/null
+++ b/.github/workflows/jazzy-semi-binary-build.yml
@@ -0,0 +1,47 @@
+name: Jazzy Semi-Binary Build
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+      - '*feature*'
+      - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-industrial-ci-with-cache.yml@master
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_REPO: [main, testing]
+    with:
+      ros_distro: jazzy
+      ros_repo: ${{ matrix.ROS_REPO }}
+      upstream_workspace: ros2_controllers.jazzy.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/jazzy-source-build.yml b/.github/workflows/jazzy-source-build.yml
new file mode 100644
index 0000000000..f77e9a5060
--- /dev/null
+++ b/.github/workflows/jazzy-source-build.yml
@@ -0,0 +1,27 @@
+name: Jazzy Source Build
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/jazzy-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.jazzy.repos'
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 3 * * *'
+
+jobs:
+  source:
+    uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-source-build.yml@master
+    with:
+      ros_distro: jazzy
+      ref: master
+      ros2_repo_branch: jazzy
+      container: ubuntu:24.04
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 73055ef3e5..da3337554c 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-abi-compatibility.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
 
 jobs:
   abi_check:
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build.yml
index d0be23f076..529c13ac64 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build.yml
@@ -9,9 +9,26 @@ on:
       - master
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers-not-released.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/ci-check-docs.yml b/.github/workflows/rolling-check-docs.yml
similarity index 67%
rename from .github/workflows/ci-check-docs.yml
rename to .github/workflows/rolling-check-docs.yml
index 629279615b..a77a645e57 100644
--- a/.github/workflows/ci-check-docs.yml
+++ b/.github/workflows/rolling-check-docs.yml
@@ -1,8 +1,14 @@
-name: Check Docs
+name: Rolling Check Docs
 
 on:
   workflow_dispatch:
   pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
 
 jobs:
   check-docs:
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 4d4750c54c..3b4b195ff7 100644
--- a/.github/workflows/rolling-coverage-build.yml
+++ b/.github/workflows/rolling-coverage-build.yml
@@ -4,9 +4,29 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-coverage-build.yml'
+      - 'codecov.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
 
 jobs:
   coverage_rolling:
@@ -14,4 +34,3 @@ jobs:
     secrets: inherit
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-debian-build.yml b/.github/workflows/rolling-debian-build.yml
index cecd67603f..c1313d7d5d 100644
--- a/.github/workflows/rolling-debian-build.yml
+++ b/.github/workflows/rolling-debian-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-debian-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-pre-commit.yml b/.github/workflows/rolling-pre-commit.yml
index 9c87311bd7..7bc07ba802 100644
--- a/.github/workflows/rolling-pre-commit.yml
+++ b/.github/workflows/rolling-pre-commit.yml
@@ -11,4 +11,3 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
     with:
       ros_distro: rolling
-      os_name: ubuntu-22.04
diff --git a/.github/workflows/rolling-rhel-semi-binary-build.yml b/.github/workflows/rolling-rhel-semi-binary-build.yml
index a175d951b4..6b7fb6b8c4 100644
--- a/.github/workflows/rolling-rhel-semi-binary-build.yml
+++ b/.github/workflows/rolling-rhel-semi-binary-build.yml
@@ -4,6 +4,15 @@ on:
   pull_request:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-rhel-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 1 * * *'
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build.yml
index 4784654db8..db0cd33de5 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build.yml
@@ -8,9 +8,27 @@ on:
       - master
       - '*feature*'
       - '*feature/**'
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-semi-binary-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every morning to detect flakiness and broken dependencies
     - cron: '33 1 * * *'
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 567b2c8ec6..66e53d1da1 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -4,6 +4,15 @@ on:
   push:
     branches:
       - master
+    paths:
+      - '**.hpp'
+      - '**.h'
+      - '**.cpp'
+      - '**.yaml'
+      - '.github/workflows/rolling-source-build.yml'
+      - '**/package.xml'
+      - '**/CMakeLists.txt'
+      - 'ros2_controllers.rolling.repos'
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -15,3 +24,4 @@ jobs:
       ros_distro: rolling
       ref: master
       ros2_repo_branch: rolling
+      container: ubuntu:24.04
diff --git a/.github/workflows/update-pre-commit.yml b/.github/workflows/update-pre-commit.yml
index 8b9545dff1..6bedaa0c97 100644
--- a/.github/workflows/update-pre-commit.yml
+++ b/.github/workflows/update-pre-commit.yml
@@ -5,7 +5,7 @@ name: Auto Update pre-commit
 on:
   workflow_dispatch:
   schedule:
-    - cron: '0 0 * * 0'  # Run every Sunday at midnight
+    - cron: '0 0 1 * *'  # Runs at 00:00, on day 1 of the month
 
 jobs:
   auto_update_and_create_pr:
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 31ba833ba5..a34629da31 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -16,7 +16,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -36,7 +36,7 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v3.15.1
+    rev: v3.15.2
     hooks:
     -   id: pyupgrade
         args: [--py36-plus]
@@ -49,7 +49,7 @@ repos:
       args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/psf/black
-    rev: 24.3.0
+    rev: 24.4.2
     hooks:
       - id: black
         args: ["--line-length=99"]
@@ -62,7 +62,7 @@ repos:
 
   # CPP hooks
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.1
+    rev: v18.1.4
     hooks:
       - id: clang-format
         args: ['-fallback-style=none', '-i']
@@ -131,7 +131,7 @@ repos:
         exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
 
   - repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.0
+    rev: 0.28.2
     hooks:
       - id: check-github-workflows
         args: ["--verbose"]
diff --git a/README.md b/README.md
index 7223ceae85..57a9ecdda1 100644
--- a/README.md
+++ b/README.md
@@ -9,7 +9,8 @@ Commonly used and generalized controllers for ros2-control framework that are re
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/master/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Jazzy** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Jazzy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-binary-build.yml?branch=master) <br /> [![Jazzy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/jazzy-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/jazzy/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#jazzy)
 **Iron** | [`iron`](https://github.com/ros-controls/ros2_controllers/tree/iron) | [![Iron Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-binary-build.yml?branch=master) <br /> [![Iron Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/iron-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/iron/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#iron)
 **Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build.yml?branch=master) | [control.ros.org](https://control.ros.org/humble/doc/ros2_controllers/doc/controllers_index.html) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
 
diff --git a/diff_drive_controller/doc/userdoc.rst b/diff_drive_controller/doc/userdoc.rst
index 70d0d7ca5c..897a7b3d9c 100644
--- a/diff_drive_controller/doc/userdoc.rst
+++ b/diff_drive_controller/doc/userdoc.rst
@@ -46,7 +46,7 @@ Subscribers
 ,,,,,,,,,,,,
 
 ~/cmd_vel [geometry_msgs/msg/TwistStamped]
-  Velocity command for the controller, if ``use_stamped_vel=true``. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
+  Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
 
 
 Publishers
diff --git a/doc/migration/Jazzy.rst b/doc/migration/Jazzy.rst
new file mode 100644
index 0000000000..72e6a52e6d
--- /dev/null
+++ b/doc/migration/Jazzy.rst
@@ -0,0 +1,20 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/migration/Jazzy.rst
+
+Iron to Jazzy
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes important changes between Iron (previous) and Jazzy (current) releases, where changes to user code might be necessary.
+
+
+diff_drive_controller
+*****************************
+* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
+
+joint_trajectory_controller
+*****************************
+
+* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
+* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
+* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
+* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
+* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
+* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_). Remove the ``angle_wraparound`` parameter from the configuration and set continuous joint type in the URDF of the respective joint.
diff --git a/doc/release_notes/Jazzy.rst b/doc/release_notes/Jazzy.rst
new file mode 100644
index 0000000000..8ecac3508f
--- /dev/null
+++ b/doc/release_notes/Jazzy.rst
@@ -0,0 +1,48 @@
+:github_url: https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/doc/release_notes/Jazzy.rst
+
+Iron to Jazzy
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+This list summarizes the changes between Iron (previous) and Jazzy (current) releases.
+
+admittance_controller
+************************
+* Remove ``robot_description`` parameter from parameter YAML, because it is not used at all (`#963 <https://github.com/ros-controls/ros2_controllers/pull/963>`_).
+
+diff_drive_controller
+*****************************
+* The twist message on ``~/cmd_vel`` is now required to be of stamped type (`#812 <https://github.com/ros-controls/ros2_controllers/pull/812>`_).
+* Remove unused parameter ``wheels_per_side`` (`#958 <https://github.com/ros-controls/ros2_controllers/pull/958>`_).
+
+joint_trajectory_controller
+*****************************
+
+* Parameter ``allow_nonzero_velocity_at_trajectory_end`` is now per default ``false`` (`#834 <https://github.com/ros-controls/ros2_controllers/pull/834>`_).
+* Activate update of dynamic parameters (`#761 <https://github.com/ros-controls/ros2_controllers/pull/761>`_ and `#849 <https://github.com/ros-controls/ros2_controllers/pull/849>`_).
+* The parameter ``start_with_holding`` is removed, it now always holds the position at activation (`#839 <https://github.com/ros-controls/ros2_controllers/pull/839>`_).
+* Continue with last trajectory-point on success, instead of hold-position from current state (`#842 <https://github.com/ros-controls/ros2_controllers/pull/842>`_).
+* Add console output for tolerance checks (`#932 <https://github.com/ros-controls/ros2_controllers/pull/932>`_):
+
+  .. code::
+
+    [tolerances]: State tolerances failed for joint 2:
+    [tolerances]: Position Error: 0.020046, Position Tolerance: 0.010000
+    [trajectory_controllers]: Aborted due goal_time_tolerance exceeding by 1.010000 seconds
+
+* Goals are now cancelled in ``on_deactivate`` transition (`#962 <https://github.com/ros-controls/ros2_controllers/pull/962>`_).
+* Empty trajectory messages are discarded (`#902 <https://github.com/ros-controls/ros2_controllers/pull/902>`_).
+* Action field ``error_string`` is now filled with meaningful strings (`#887 <https://github.com/ros-controls/ros2_controllers/pull/887>`_).
+* Angle wraparound behavior (continuous joints) was added from the current state to the first segment of the incoming trajectory (`#796 <https://github.com/ros-controls/ros2_controllers/pull/796>`_).
+* The URDF is now parsed for continuous joints and angle wraparound is automatically activated now (`#949 <https://github.com/ros-controls/ros2_controllers/pull/949>`_).
+
+pid_controller
+************************
+* 🚀 The PID controller was added 🎉 (`#434 <https://github.com/ros-controls/ros2_controllers/pull/434>`_).
+
+steering_controllers_library
+********************************
+* Changing default int values to double in steering controller's yaml file. The controllers should now initialize successfully without specifying these parameters (`#927 <https://github.com/ros-controls/ros2_controllers/pull/927>`_).
+* A fix for Ackermann steering odometry was added (`#921 <https://github.com/ros-controls/ros2_controllers/pull/921>`_).
+
+tricycle_controller
+************************
+* tricycle_controller now uses generate_parameter_library (`#957 <https://github.com/ros-controls/ros2_controllers/pull/957>`_).
diff --git a/pid_controller/doc/userdoc.rst b/pid_controller/doc/userdoc.rst
index 5570f523fe..fc94357ab3 100644
--- a/pid_controller/doc/userdoc.rst
+++ b/pid_controller/doc/userdoc.rst
@@ -83,4 +83,21 @@ Parameters
 
 The PID controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters.
 
+List of parameters
+=========================
 .. generate_parameter_library_details:: ../src/pid_controller.yaml
+
+
+An example parameter file
+=========================
+
+
+An example parameter file for this controller can be found in `the test folder (standalone) <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_params.yaml>`_:
+
+.. literalinclude:: ../test/pid_controller_params.yaml
+   :language: yaml
+
+or as `preceding controller <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/pid_controller/test/pid_controller_preceding_params.yaml>`_:
+
+.. literalinclude:: ../test/pid_controller_preceding_params.yaml
+   :language: yaml
diff --git a/ros2_controllers-not-released.jazzy.repos b/ros2_controllers-not-released.jazzy.repos
new file mode 100644
index 0000000000..66352f4960
--- /dev/null
+++ b/ros2_controllers-not-released.jazzy.repos
@@ -0,0 +1,5 @@
+repositories:
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main
diff --git a/ros2_controllers.jazzy.repos b/ros2_controllers.jazzy.repos
new file mode 100644
index 0000000000..8c20eccc96
--- /dev/null
+++ b/ros2_controllers.jazzy.repos
@@ -0,0 +1,25 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: master
+  control_toolbox:
+    type: git
+    url: https://github.com/ros-controls/control_toolbox.git
+    version: ros2-master
+  kinematics_interface:
+    type: git
+    url: https://github.com/ros-controls/kinematics_interface.git
+    version: master
+  generate_parameter_library:
+    type: git
+    url: https://github.com/picknikrobotics/generate_parameter_library.git
+    version: main
diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst
index df3d1529d0..0155bc5fd8 100644
--- a/steering_controllers_library/doc/userdoc.rst
+++ b/steering_controllers_library/doc/userdoc.rst
@@ -13,7 +13,7 @@ Nomenclature used for the controller is used from `wikipedia <https://en.wikiped
 Execution logic of the controller
 ----------------------------------
 
-The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x`` and angular ``z`` components are used.
+The controller uses velocity input, i.e., stamped Twist messages where linear ``x`` and angular ``z`` components are used.
 Angular component under
 Values in other components are ignored.
 In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position.
@@ -74,9 +74,6 @@ Subscribers
 Used when controller is not in chained mode (``in_chained_mode == false``).
 
 - <controller_name>/reference  [geometry_msgs/msg/TwistStamped]
-  If parameter ``use_stamped_vel`` is ``true``.
-- <controller_name>/reference_unstamped   [geometry_msgs/msg/Twist]
-  If parameter ``use_stamped_vel`` is ``false``.
 
 Publishers
 ,,,,,,,,,,,
diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
index eb497ebb3d..9bf9fa51d6 100644
--- a/steering_controllers_library/src/steering_controllers_library.cpp
+++ b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -116,6 +116,9 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   ref_timeout_ = rclcpp::Duration::from_seconds(params_.reference_timeout);
   if (params_.use_stamped_vel)
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     ref_subscriber_twist_ = get_node()->create_subscription<ControllerTwistReferenceMsg>(
       "~/reference", subscribers_qos,
       std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1));
diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
index a9f7fa75fb..b18cac5ae1 100644
--- a/steering_controllers_library/src/steering_controllers_library.yaml
+++ b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -116,7 +116,7 @@ steering_controllers_library:
   use_stamped_vel: {
     type: bool,
     default_value: false,
-    description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
+    description: "(Deprecated) Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
     use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type",
     read_only: false,
   }
diff --git a/tricycle_controller/doc/userdoc.rst b/tricycle_controller/doc/userdoc.rst
index 991627eca2..30973762fd 100644
--- a/tricycle_controller/doc/userdoc.rst
+++ b/tricycle_controller/doc/userdoc.rst
@@ -10,14 +10,6 @@ Controller for mobile robots with a single double-actuated wheel, including trac
 Input for control are robot base_link twist commands which are translated to traction and steering
 commands for the tricycle drive base. Odometry is computed from hardware feedback and published.
 
-Velocity commands
------------------
-
-The controller works with a velocity twist from which it extracts
-the x component of the linear velocity and the z component of the angular velocity.
-Velocities on other components are ignored.
-
-
 Other features
 --------------
 
@@ -26,6 +18,16 @@ Other features
     Velocity, acceleration and jerk limits
     Automatic stop after command timeout
 
+ROS 2 Interfaces
+------------------------
+
+Subscribers
+,,,,,,,,,,,,
+
+~/cmd_vel [geometry_msgs/msg/TwistStamped]
+  Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
+
+
 Parameters
 --------------
 
diff --git a/tricycle_controller/src/tricycle_controller.cpp b/tricycle_controller/src/tricycle_controller.cpp
index 07be8c2aae..5586b87efc 100644
--- a/tricycle_controller/src/tricycle_controller.cpp
+++ b/tricycle_controller/src/tricycle_controller.cpp
@@ -316,6 +316,9 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State &
   }
   else
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     velocity_command_unstamped_subscriber_ = get_node()->create_subscription<Twist>(
       DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(),
       [this](const std::shared_ptr<Twist> msg) -> void
diff --git a/tricycle_controller/src/tricycle_controller_parameter.yaml b/tricycle_controller/src/tricycle_controller_parameter.yaml
index 68fc2202c2..951c159510 100644
--- a/tricycle_controller/src/tricycle_controller_parameter.yaml
+++ b/tricycle_controller/src/tricycle_controller_parameter.yaml
@@ -81,7 +81,7 @@ tricycle_controller:
   use_stamped_vel: {
     type: bool,
     default_value: true,
-    description: "Use stamp from input velocity message to calculate how old the command actually is.",
+    description: "(deprecated) Use stamp from input velocity message to calculate how old the command actually is.",
   }
   traction:
     # "The positive limit will be applied to both directions. Setting different limits for positive "
diff --git a/tricycle_controller/test/config/test_tricycle_controller.yaml b/tricycle_controller/test/config/test_tricycle_controller.yaml
index efecfe968f..4cef3ee131 100644
--- a/tricycle_controller/test/config/test_tricycle_controller.yaml
+++ b/tricycle_controller/test/config/test_tricycle_controller.yaml
@@ -5,7 +5,6 @@ test_tricycle_controller:
     steering_joint_name: steering_joint
     wheel_radius: 0.125
     wheelbase: 1.252
-    use_stamped_vel: false
     enable_odom_tf: false
     use_sim_time: false
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]