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 6325fd50d8..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 * * *'
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/ci-check-docs.yml b/.github/workflows/iron-check-docs.yml
similarity index 57%
rename from .github/workflows/ci-check-docs.yml
rename to .github/workflows/iron-check-docs.yml
index 629279615b..f842902055 100644
--- a/.github/workflows/ci-check-docs.yml
+++ b/.github/workflows/iron-check-docs.yml
@@ -1,12 +1,18 @@
-name: Check Docs
+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@master
+    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 2d12734df0..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 * * *'
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/rolling-check-docs.yml b/.github/workflows/rolling-check-docs.yml
new file mode 100644
index 0000000000..15b7eff57e
--- /dev/null
+++ b/.github/workflows/rolling-check-docs.yml
@@ -0,0 +1,19 @@
+name: Rolling Check Docs
+
+on:
+  workflow_dispatch:
+  pull_request:
+    branches:
+      - master
+    paths:
+      - '**.rst'
+      - '**.md'
+      - '**.yaml'
+      - '.github/workflows/rolling-check-docs.yml'
+
+jobs:
+  check-docs:
+    name: Check Docs
+    uses: ros-controls/control.ros.org/.github/workflows/reusable-sphinx-check-single-version.yml@rolling
+    with:
+      ROS2_CONTROLLERS_PR: ${{ github.ref }}
diff --git a/.github/workflows/rolling-coverage-build.yml b/.github/workflows/rolling-coverage-build.yml
index 8374afe8dc..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
-      container: ubuntu:24.04
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 4d91d19100..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
-      container: ubuntu:24.04
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 ae38197455..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 * * *'
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/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/ackermann_steering_controller/CHANGELOG.rst b/ackermann_steering_controller/CHANGELOG.rst
index f14bd8ba01..371af97240 100644
--- a/ackermann_steering_controller/CHANGELOG.rst
+++ b/ackermann_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package ackermann_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
index 771494e67f..edd040ad5a 100644
--- a/ackermann_steering_controller/package.xml
+++ b/ackermann_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ackermann_steering_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Steering controller for Ackermann kinematics. Rear fixed wheels are powering the vehicle and front wheels are steering it.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/ackermann_steering_controller/src/ackermann_steering_controller.yaml b/ackermann_steering_controller/src/ackermann_steering_controller.yaml
index 3726146919..1ec0b41c9f 100644
--- a/ackermann_steering_controller/src/ackermann_steering_controller.yaml
+++ b/ackermann_steering_controller/src/ackermann_steering_controller.yaml
@@ -5,6 +5,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_track:
@@ -13,6 +16,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   wheelbase:
@@ -21,6 +27,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheels_radius:
@@ -29,6 +38,9 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Front wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheels_radius:
@@ -37,4 +49,7 @@ ackermann_steering_controller:
       default_value: 0.0,
       description: "Rear wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/admittance_controller/CHANGELOG.rst b/admittance_controller/CHANGELOG.rst
index 7dd8e0b321..cc2d01d333 100644
--- a/admittance_controller/CHANGELOG.rst
+++ b/admittance_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package admittance_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * Use CMake target for eigen (`#1058 <https://github.com/ros-controls/ros2_controllers/issues/1058>`_)
diff --git a/admittance_controller/package.xml b/admittance_controller/package.xml
index e9779eda4d..ae1ed5fc79 100644
--- a/admittance_controller/package.xml
+++ b/admittance_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>admittance_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Implementation of admittance controllers for different input and output interface.</description>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/bicycle_steering_controller/CHANGELOG.rst b/bicycle_steering_controller/CHANGELOG.rst
index de67c5bc72..6715b36e3c 100644
--- a/bicycle_steering_controller/CHANGELOG.rst
+++ b/bicycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package bicycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
diff --git a/bicycle_steering_controller/package.xml b/bicycle_steering_controller/package.xml
index 97c12290df..be87ada566 100644
--- a/bicycle_steering_controller/package.xml
+++ b/bicycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>bicycle_steering_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Steering controller with bicycle kinematics. Rear fixed wheel is powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/bicycle_steering_controller/src/bicycle_steering_controller.yaml b/bicycle_steering_controller/src/bicycle_steering_controller.yaml
index c40e27ef96..fde323ef74 100644
--- a/bicycle_steering_controller/src/bicycle_steering_controller.yaml
+++ b/bicycle_steering_controller/src/bicycle_steering_controller.yaml
@@ -5,6 +5,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheel. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheel_radius:
@@ -13,6 +16,9 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Front wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheel_radius:
@@ -21,4 +27,7 @@ bicycle_steering_controller:
       default_value: 0.0,
       description: "Rear wheel radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/diff_drive_controller/CHANGELOG.rst b/diff_drive_controller/CHANGELOG.rst
index ae38961d10..c045692fc9 100644
--- a/diff_drive_controller/CHANGELOG.rst
+++ b/diff_drive_controller/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package diff_drive_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Remove non-existing parameter (`#1119 <https://github.com/ros-controls/ros2_controllers/issues/1119>`_)
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 <https://github.com/ros-controls/ros2_controllers/issues/1093>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
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/diff_drive_controller/package.xml b/diff_drive_controller/package.xml
index 5252803de9..c6bdc4e229 100644
--- a/diff_drive_controller/package.xml
+++ b/diff_drive_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>diff_drive_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller for a differential drive mobile base.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
diff --git a/diff_drive_controller/src/diff_drive_controller_parameter.yaml b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
index 9720e068e1..755259cc2a 100644
--- a/diff_drive_controller/src/diff_drive_controller_parameter.yaml
+++ b/diff_drive_controller/src/diff_drive_controller_parameter.yaml
@@ -19,11 +19,17 @@ diff_drive_controller:
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the left and right wheels. If this parameter is wrong, the robot will not behave correctly in curves.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_radius: {
     type: double,
     default_value: 0.0,
     description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_separation_multiplier: {
     type: double,
diff --git a/diff_drive_controller/test/config/test_diff_drive_controller.yaml b/diff_drive_controller/test/config/test_diff_drive_controller.yaml
index bfbf8f2d19..606bacbf4f 100644
--- a/diff_drive_controller/test/config/test_diff_drive_controller.yaml
+++ b/diff_drive_controller/test/config/test_diff_drive_controller.yaml
@@ -4,7 +4,6 @@ test_diff_drive_controller:
     right_wheel_names: ["right_wheels"]
 
     wheel_separation: 0.40
-    wheels_per_side: 1  # actually 2, but both are controlled by 1 signal
     wheel_radius: 0.02
 
     wheel_separation_multiplier: 1.0
diff --git a/diff_drive_controller/test/test_diff_drive_controller.cpp b/diff_drive_controller/test/test_diff_drive_controller.cpp
index 9ab3022a9f..f3f99ac8d8 100644
--- a/diff_drive_controller/test/test_diff_drive_controller.cpp
+++ b/diff_drive_controller/test/test_diff_drive_controller.cpp
@@ -184,6 +184,10 @@ class TestDiffDriveController : public ::testing::Test
       rclcpp::Parameter("left_wheel_names", rclcpp::ParameterValue(left_wheel_joints_init)));
     parameter_overrides.push_back(
       rclcpp::Parameter("right_wheel_names", rclcpp::ParameterValue(right_wheel_joints_init)));
+    // default parameters
+    parameter_overrides.push_back(
+      rclcpp::Parameter("wheel_separation", rclcpp::ParameterValue(1.0)));
+    parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1)));
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
diff --git a/doc/controllers_index.rst b/doc/controllers_index.rst
index d042fe79dd..6f31fbee7a 100644
--- a/doc/controllers_index.rst
+++ b/doc/controllers_index.rst
@@ -6,7 +6,7 @@
 ros2_controllers
 #################
 
-Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://navigation.ros.org/>`_.
+Commonly used and generalized controllers for ros2_control framework that are ready to use with many robots, `MoveIt2 <https://moveit.picknik.ai/main/index.html>`_ and `Nav2 <https://nav2.org/>`_.
 
 `Link to GitHub Repository <https://github.com/ros-controls/ros2_controllers>`_
 
diff --git a/effort_controllers/CHANGELOG.rst b/effort_controllers/CHANGELOG.rst
index 306cc24ff6..f69b29af93 100644
--- a/effort_controllers/CHANGELOG.rst
+++ b/effort_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package effort_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/effort_controllers/package.xml b/effort_controllers/package.xml
index 9acfdd2ddc..92458dc25e 100644
--- a/effort_controllers/package.xml
+++ b/effort_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>effort_controllers</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
diff --git a/force_torque_sensor_broadcaster/CHANGELOG.rst b/force_torque_sensor_broadcaster/CHANGELOG.rst
index f4cbbe1bec..7b9b15f785 100644
--- a/force_torque_sensor_broadcaster/CHANGELOG.rst
+++ b/force_torque_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package force_torque_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/force_torque_sensor_broadcaster/package.xml b/force_torque_sensor_broadcaster/package.xml
index dee37dd565..f76fa39cea 100644
--- a/force_torque_sensor_broadcaster/package.xml
+++ b/force_torque_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>force_torque_sensor_broadcaster</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller to publish state of force-torque sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
diff --git a/forward_command_controller/CHANGELOG.rst b/forward_command_controller/CHANGELOG.rst
index 607ec25f23..9d2ed3f105 100644
--- a/forward_command_controller/CHANGELOG.rst
+++ b/forward_command_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package forward_command_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/forward_command_controller/package.xml b/forward_command_controller/package.xml
index 1aed0d3c83..a15e03260b 100644
--- a/forward_command_controller/package.xml
+++ b/forward_command_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>forward_command_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
diff --git a/gripper_controllers/CHANGELOG.rst b/gripper_controllers/CHANGELOG.rst
index bb4d699bd0..c191f02239 100644
--- a/gripper_controllers/CHANGELOG.rst
+++ b/gripper_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package gripper_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix usage of visibility macros (`#1039 <https://github.com/ros-controls/ros2_controllers/issues/1039>`_)
diff --git a/gripper_controllers/package.xml b/gripper_controllers/package.xml
index 7183bc7ebd..a942ef7362 100644
--- a/gripper_controllers/package.xml
+++ b/gripper_controllers/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>gripper_controllers</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>The gripper_controllers package</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
 
diff --git a/imu_sensor_broadcaster/CHANGELOG.rst b/imu_sensor_broadcaster/CHANGELOG.rst
index 6a9df05038..f453510963 100644
--- a/imu_sensor_broadcaster/CHANGELOG.rst
+++ b/imu_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package imu_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/imu_sensor_broadcaster/package.xml b/imu_sensor_broadcaster/package.xml
index 3817b7a536..4bb3b025cb 100644
--- a/imu_sensor_broadcaster/package.xml
+++ b/imu_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>imu_sensor_broadcaster</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller to publish readings of IMU sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Štogl</maintainer>
diff --git a/joint_state_broadcaster/CHANGELOG.rst b/joint_state_broadcaster/CHANGELOG.rst
index 9762bcb55c..14c9594643 100644
--- a/joint_state_broadcaster/CHANGELOG.rst
+++ b/joint_state_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package joint_state_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
diff --git a/joint_state_broadcaster/package.xml b/joint_state_broadcaster/package.xml
index 14f226450e..37e7ef518c 100644
--- a/joint_state_broadcaster/package.xml
+++ b/joint_state_broadcaster/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_state_broadcaster</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Broadcaster to publish joint state</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis@stogl.de">Denis Stogl</maintainer>
diff --git a/joint_trajectory_controller/CHANGELOG.rst b/joint_trajectory_controller/CHANGELOG.rst
index d008380af9..bb784700f4 100644
--- a/joint_trajectory_controller/CHANGELOG.rst
+++ b/joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* [JTC] Remove unused test code (`#1095 <https://github.com/ros-controls/ros2_controllers/issues/1095>`_)
+* Contributors: Bence Magyar
+
 4.7.0 (2024-03-22)
 ------------------
 * Remove action_msg dependency (`#1077 <https://github.com/ros-controls/ros2_controllers/issues/1077>`_)
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index a44d55a731..fb1f180a40 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>joint_trajectory_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller for executing joint-space trajectories on a group of joints</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis.stogl@stoglrobotics.de">Dr. Denis Štogl</maintainer>
diff --git a/pid_controller/CHANGELOG.rst b/pid_controller/CHANGELOG.rst
index 82e631a75c..6c45be4315 100644
--- a/pid_controller/CHANGELOG.rst
+++ b/pid_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package pid_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* [PID] Add example yaml to docs (`#951 <https://github.com/ros-controls/ros2_controllers/issues/951>`_)
+* Contributors: Christoph Fröhlich
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
diff --git a/pid_controller/package.xml b/pid_controller/package.xml
index 151862dc11..8fe803626e 100644
--- a/pid_controller/package.xml
+++ b/pid_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>pid_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller based on PID implememenation from control_toolbox package.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="denis.stogl@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/position_controllers/CHANGELOG.rst b/position_controllers/CHANGELOG.rst
index cdb4165691..26975a6fee 100644
--- a/position_controllers/CHANGELOG.rst
+++ b/position_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package position_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/position_controllers/package.xml b/position_controllers/package.xml
index b56e3e154a..dc3ec1d315 100644
--- a/position_controllers/package.xml
+++ b/position_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>position_controllers</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
diff --git a/range_sensor_broadcaster/CHANGELOG.rst b/range_sensor_broadcaster/CHANGELOG.rst
index 89365b7754..b396198081 100644
--- a/range_sensor_broadcaster/CHANGELOG.rst
+++ b/range_sensor_broadcaster/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package range_sensor_broadcaster
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
diff --git a/range_sensor_broadcaster/package.xml b/range_sensor_broadcaster/package.xml
index 4cdae222a5..1cf6c7600b 100644
--- a/range_sensor_broadcaster/package.xml
+++ b/range_sensor_broadcaster/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>range_sensor_broadcaster</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller to publish readings of Range sensors.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <author email="flopubs@gmail.com">Florent Chretien</author>
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/ros2_controllers/CHANGELOG.rst b/ros2_controllers/CHANGELOG.rst
index 2d7e5f08de..399bbf198a 100644
--- a/ros2_controllers/CHANGELOG.rst
+++ b/ros2_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/ros2_controllers/package.xml b/ros2_controllers/package.xml
index fc2e40fb8a..3051fd9f24 100644
--- a/ros2_controllers/package.xml
+++ b/ros2_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>ros2_controllers</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Metapackage for ROS2 controllers related packages</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>
diff --git a/ros2_controllers_test_nodes/CHANGELOG.rst b/ros2_controllers_test_nodes/CHANGELOG.rst
index a77c2635e8..e0b2b19a05 100644
--- a/ros2_controllers_test_nodes/CHANGELOG.rst
+++ b/ros2_controllers_test_nodes/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package ros2_controllers_test_nodes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/ros2_controllers_test_nodes/package.xml b/ros2_controllers_test_nodes/package.xml
index fef330a0c7..45fd5f713c 100644
--- a/ros2_controllers_test_nodes/package.xml
+++ b/ros2_controllers_test_nodes/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>ros2_controllers_test_nodes</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Demo nodes for showing and testing functionalities of the ros2_control framework.</description>
 
   <maintainer email="denis@stoglrobotics.de">Denis Štogl</maintainer>
diff --git a/ros2_controllers_test_nodes/setup.py b/ros2_controllers_test_nodes/setup.py
index 273957f688..f085c09134 100644
--- a/ros2_controllers_test_nodes/setup.py
+++ b/ros2_controllers_test_nodes/setup.py
@@ -20,7 +20,7 @@
 
 setup(
     name=package_name,
-    version="4.7.0",
+    version="4.8.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/rqt_joint_trajectory_controller/CHANGELOG.rst b/rqt_joint_trajectory_controller/CHANGELOG.rst
index 416c399cc6..bf3091b934 100644
--- a/rqt_joint_trajectory_controller/CHANGELOG.rst
+++ b/rqt_joint_trajectory_controller/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rqt_joint_trajectory_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 * [CI] Code coverage + pre-commit (`#1057 <https://github.com/ros-controls/ros2_controllers/issues/1057>`_)
diff --git a/rqt_joint_trajectory_controller/package.xml b/rqt_joint_trajectory_controller/package.xml
index c7ec8d4666..70bf579033 100644
--- a/rqt_joint_trajectory_controller/package.xml
+++ b/rqt_joint_trajectory_controller/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rqt_joint_trajectory_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Graphical frontend for interacting with joint_trajectory_controller instances.</description>
 
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/rqt_joint_trajectory_controller/setup.py b/rqt_joint_trajectory_controller/setup.py
index 0339f47b5a..12eb399a61 100644
--- a/rqt_joint_trajectory_controller/setup.py
+++ b/rqt_joint_trajectory_controller/setup.py
@@ -21,7 +21,7 @@
 
 setup(
     name=package_name,
-    version="4.7.0",
+    version="4.8.0",
     packages=[package_name],
     data_files=[
         ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
diff --git a/steering_controllers_library/CHANGELOG.rst b/steering_controllers_library/CHANGELOG.rst
index 43e3cc30da..f40ad793cf 100644
--- a/steering_controllers_library/CHANGELOG.rst
+++ b/steering_controllers_library/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package steering_controllers_library
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 <https://github.com/ros-controls/ros2_controllers/issues/1093>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
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/package.xml b/steering_controllers_library/package.xml
index 97d03dc809..d7f1159cee 100644
--- a/steering_controllers_library/package.xml
+++ b/steering_controllers_library/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>steering_controllers_library</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Package for steering robot configurations including odometry and interfaces.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
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/CHANGELOG.rst b/tricycle_controller/CHANGELOG.rst
index 150a575260..ce997f2f8d 100644
--- a/tricycle_controller/CHANGELOG.rst
+++ b/tricycle_controller/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package tricycle_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* Deprecate non-stamped twist for tricycle_controller and steering_controllers (`#1093 <https://github.com/ros-controls/ros2_controllers/issues/1093>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * added conditioning to have rolling tags compilable in older versions (`#1071 <https://github.com/ros-controls/ros2_controllers/issues/1071>`_)
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/package.xml b/tricycle_controller/package.xml
index 900f906a11..0bb5a61344 100644
--- a/tricycle_controller/package.xml
+++ b/tricycle_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tricycle_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Controller for a tricycle drive mobile base</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="tony.najjar@logivations.com">Tony Najjar</maintainer>
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..b6d1fdf964 100644
--- a/tricycle_controller/src/tricycle_controller_parameter.yaml
+++ b/tricycle_controller/src/tricycle_controller_parameter.yaml
@@ -19,11 +19,17 @@ tricycle_controller:
     type: double,
     default_value: 0.0,
     description: "Shortest distance between the front wheel and the rear axle. If this parameter is wrong, the robot will not behave correctly in curves.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   wheel_radius: {
     type: double,
     default_value: 0.0,
     description: "Radius of a wheel, i.e., wheels size, used for transformation of linear velocity into wheel rotations. If this parameter is wrong the robot will move faster or slower then expected.",
+    validation: {
+      gt<>: [0.0]
+    }
   }
   odom_frame_id: {
     type: string,
@@ -81,7 +87,7 @@ 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]
diff --git a/tricycle_controller/test/test_tricycle_controller.cpp b/tricycle_controller/test/test_tricycle_controller.cpp
index 5280aaf244..4be1680980 100644
--- a/tricycle_controller/test/test_tricycle_controller.cpp
+++ b/tricycle_controller/test/test_tricycle_controller.cpp
@@ -164,6 +164,9 @@ class TestTricycleController : public ::testing::Test
       rclcpp::Parameter("traction_joint_name", rclcpp::ParameterValue(traction_joint_name_init)));
     parameter_overrides.push_back(
       rclcpp::Parameter("steering_joint_name", rclcpp::ParameterValue(steering_joint_name_init)));
+    // default parameters
+    parameter_overrides.push_back(rclcpp::Parameter("wheelbase", rclcpp::ParameterValue(1.)));
+    parameter_overrides.push_back(rclcpp::Parameter("wheel_radius", rclcpp::ParameterValue(0.1)));
 
     parameter_overrides.insert(parameter_overrides.end(), parameters.begin(), parameters.end());
     node_options.parameter_overrides(parameter_overrides);
diff --git a/tricycle_steering_controller/CHANGELOG.rst b/tricycle_steering_controller/CHANGELOG.rst
index 04e3bf43fe..2ac25f4c33 100644
--- a/tricycle_steering_controller/CHANGELOG.rst
+++ b/tricycle_steering_controller/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package tricycle_steering_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+* Add parameter check for geometric values (`#1120 <https://github.com/ros-controls/ros2_controllers/issues/1120>`_)
+* add missing compiler definitions of RCPPUTILS_VERSION (`#1089 <https://github.com/ros-controls/ros2_controllers/issues/1089>`_)
+* Contributors: Christoph Fröhlich, Sai Kishor Kothakota
+
 4.7.0 (2024-03-22)
 ------------------
 * Fix pid_controller build on ROS 2 Rolling on Ubuntu 24.04 (`#1084 <https://github.com/ros-controls/ros2_controllers/issues/1084>`_)
diff --git a/tricycle_steering_controller/package.xml b/tricycle_steering_controller/package.xml
index ccb973be40..a0c90d80a2 100644
--- a/tricycle_steering_controller/package.xml
+++ b/tricycle_steering_controller/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>tricycle_steering_controller</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Steering controller with tricycle kinematics. Rear fixed wheels are powering the vehicle and front wheel is steering.</description>
   <license>Apache License 2.0</license>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
diff --git a/tricycle_steering_controller/src/tricycle_steering_controller.yaml b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
index 1015865fd9..6e5ae2b477 100644
--- a/tricycle_steering_controller/src/tricycle_steering_controller.yaml
+++ b/tricycle_steering_controller/src/tricycle_steering_controller.yaml
@@ -5,6 +5,9 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Wheel track length. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   wheelbase:
@@ -13,6 +16,9 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Distance between front and rear wheels. For details see: https://en.wikipedia.org/wiki/Wheelbase",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   front_wheels_radius:
@@ -21,6 +27,9 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Front wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
 
   rear_wheels_radius:
@@ -29,4 +38,7 @@ tricycle_steering_controller:
       default_value: 0.0,
       description: "Rear wheels radius.",
       read_only: false,
+      validation: {
+        gt<>: [0.0]
+      }
     }
diff --git a/velocity_controllers/CHANGELOG.rst b/velocity_controllers/CHANGELOG.rst
index e15ecc94e7..71946c0e55 100644
--- a/velocity_controllers/CHANGELOG.rst
+++ b/velocity_controllers/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package velocity_controllers
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.8.0 (2024-05-14)
+------------------
+
 4.7.0 (2024-03-22)
 ------------------
 
diff --git a/velocity_controllers/package.xml b/velocity_controllers/package.xml
index a6c28a3cd1..2c37e0aec6 100644
--- a/velocity_controllers/package.xml
+++ b/velocity_controllers/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>velocity_controllers</name>
-  <version>4.7.0</version>
+  <version>4.8.0</version>
   <description>Generic controller for forwarding commands.</description>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="jordan.palacios@pal-robotics.com">Jordan Palacios</maintainer>