diff --git a/image_publisher/doc/changes.rst b/image_publisher/doc/changes.rst
new file mode 100644
index 000000000..264172a21
--- /dev/null
+++ b/image_publisher/doc/changes.rst
@@ -0,0 +1,12 @@
+Changelog Notes
+===============
+
+Jazzy Jalisco
+-------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` parameter.
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic.
diff --git a/image_publisher/doc/components.rst b/image_publisher/doc/components.rst
new file mode 100644
index 000000000..afd7fcf5e
--- /dev/null
+++ b/image_publisher/doc/components.rst
@@ -0,0 +1,22 @@
+Nodes and Components
+====================
+
+image_publisher::ImagePublisher
+-------------------------------
+Component to publish sensor_msgs/Image, requires filename argument.
+Also avialable as a ROS 2 node named ``image_publisher``.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **image_raw** (sensor_msgs/Image): ROS Image message of your input file.
+ * **camera_info** (sensor_msgs/CameraInfo): CameraInfo published along with Image.
+
+Parameters
+^^^^^^^^^^
+ * **filename** (string, default: ""): Name of image file to be published.
+ * **flip_horizontal** (bool, default: false): Flip output image horizontally.
+ * **flip_vertical** (bool, default: false): Flip output image vertically.
+ * **frame_id** (string, default: "camera") Frame id inserted in published
+   image and camera_info.
+ * **publish_rate** (double, default: 10): Rate to publish image (hz).
+ * **camera_info_uri** (string, default: ""): Path to camera info.
diff --git a/image_publisher/doc/conf.py b/image_publisher/doc/conf.py
new file mode 100644
index 000000000..8e3c7b78a
--- /dev/null
+++ b/image_publisher/doc/conf.py
@@ -0,0 +1,194 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'image_publisher'
+copyright = '2008-2024, Open Source Robotics Foundation, Inc.'  # noqa
+author = 'Open Source Robotics Foundation, Inc.'
+
+# The short X.Y version
+version = ''
+# The full version, including alpha/beta/rc tags
+release = '3.2.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+    'sphinx_rtd_theme',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'image_publisher_doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'image_publisher', 'image_publisher Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'image_publisher', 'image_publisher Documentation',
+     author, 'image_publisher', 'ROS 2 components for image processing.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': True,  # document members
+    'undoc-members': True,  # also document members without documentation
+}
diff --git a/image_publisher/doc/index.rst b/image_publisher/doc/index.rst
new file mode 100644
index 000000000..10967899a
--- /dev/null
+++ b/image_publisher/doc/index.rst
@@ -0,0 +1,25 @@
+Overview
+========
+
+``image_publisher`` provides a node/component for publishing images
+as a ROS 2 image topic.
+
+Simplest example is:
+
+.. code-block: bash
+
+   ros2 run image_publisher image_publisher /opt/ros/rolling/share/rviz/images/splash.png
+
+.. toctree::
+   :maxdepth: 2
+
+   self
+   components
+   changes
+   image_publisher <generated/index>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`search`
diff --git a/image_rotate/doc/changes.rst b/image_rotate/doc/changes.rst
new file mode 100644
index 000000000..264172a21
--- /dev/null
+++ b/image_rotate/doc/changes.rst
@@ -0,0 +1,12 @@
+Changelog Notes
+===============
+
+Jazzy Jalisco
+-------------
+There are several major change between ``Iron`` and ``Jazzy``:
+
+ * All components now properly support ``image_transport`` parameter.
+ * All components now properly support remapping the ``camera_info`` topic
+   for an associated ``image`` topic. For instance, if you remap ``image``
+   to ``my/image`` then ``my/camera_info`` will be used. Previously you
+   would have to manually remap the ``camera_info`` topic.
diff --git a/image_rotate/doc/components.rst b/image_rotate/doc/components.rst
new file mode 100644
index 000000000..cb6b77273
--- /dev/null
+++ b/image_rotate/doc/components.rst
@@ -0,0 +1,63 @@
+Nodes and Components
+====================
+
+image_rotate::ImageRotateNode
+-----------------------------
+Node to rotate an image for visualization. The node takes a source
+vector and a target vector, and projects them onto the camera image.
+It then rotates the image by the angle neded to align the projection
+of the source vector with the projection of the target vector.
+The source and target vectors are specified in arbitrary TF
+frames allowing the rotation angle to vary dynamically as frames
+move relative to one another. With the default settings, the image
+will be rotated so that the top of the image matches the up
+direction the base_link.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **image** (sensor_msgs/Image): Image to be rotated.
+ * **camera_info** (sensor_msgs/CameraInfo): Camera metadata, only
+   used if ``use_camera_info`` is set to true.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **rotated/image** (sensor_msgs/Image): Rotated image.
+ * **out/camera_info** (sensor_msgs/CameraInfo): Camera metadata, with binning and
+   ROI fields adjusted to match output raw image.
+
+Parameters
+^^^^^^^^^^
+ * **target_frame_id** (str, default: base_link): Frame in which the target
+   vector is specified. Empty means the input frame.
+ * **target_x** (double, default: 0.0): X coordinate of the target vector.
+   Range: -10.0 to 10.0.
+ * **target_y** (double, default: 0.0): Y coordinate of the target vector.
+   Range: -10.0 to 10.0.
+ * **target_z** (double, default: 1.0): Z coordinate of the target vector,
+   Range: -10.0 to 10.0.
+ * **source_frame_id** (str, default: ""): Frame in which the source vector
+   is specified. Empty means the input frame.
+ * **source_x** (double, default: 0.0): X coordinate of the direction the
+   target should be aligned with. Range: -10.0 to 10.0.
+ * **source_y** (double, default: 0.0): Y coordinate of the direction the
+   target should be aligned with. Range: -10.0 to 10.0.
+ * **source_z** (double, default: 1.0): Z coordinate of the direction the
+   target should be aligned with. Range: -10.0 to 10.0.
+ * **input_frame_id** (str, default: ""): Frame to use for the original camera
+   image. Empty means that the frame in the image or camera_info should be
+   used depending on use_camera_info.
+ * **output_frame_id** (str, default: ""): Frame to publish for the image's
+   new orientation. Empty means add '_rotated' suffix to the image frame.
+ * **use_camera_info** (bool, default: True): Indicates that the camera_info
+   topic should be subscribed to to get the default input_frame_id.
+   Otherwise the frame from the image message will be used.
+ * **max_angular_rate** (double, default: 10.0): Limits the rate at which
+   the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0.
+ * **output_image_size** (double, default: 2.0): Size of the output image
+   as a function of the input image size. Can be varied continuously between
+   the following special settings:
+
+   * 0 ensures no black ever appears
+   * 1 is small image dimension
+   * 2 is large image dimension
+   * 3 is image diagonal
diff --git a/image_rotate/doc/conf.py b/image_rotate/doc/conf.py
new file mode 100644
index 000000000..d836ccee4
--- /dev/null
+++ b/image_rotate/doc/conf.py
@@ -0,0 +1,194 @@
+# Copyright 2024 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# -*- coding: utf-8 -*-
+#
+# Configuration file for the Sphinx documentation builder.
+#
+# This file does only contain a selection of the most common options. For a
+# full list see the documentation:
+# http://www.sphinx-doc.org/en/master/config
+
+# -- Path setup --------------------------------------------------------------
+
+# If extensions (or modules to document with autodoc) are in another directory,
+# add these directories to sys.path here. If the directory is relative to the
+# documentation root, use os.path.abspath to make it absolute, like shown here.
+#
+import os
+import sys
+sys.path.insert(0, os.path.abspath('.'))
+
+
+# -- Project information -----------------------------------------------------
+
+project = 'image_rotate'
+copyright = '2008-2024, Open Source Robotics Foundation, Inc.'  # noqa
+author = 'Open Source Robotics Foundation, Inc.'
+
+# The short X.Y version
+version = ''
+# The full version, including alpha/beta/rc tags
+release = '3.2.1'
+
+
+# -- General configuration ---------------------------------------------------
+
+# If your documentation needs a minimal Sphinx version, state it here.
+#
+# needs_sphinx = '1.0'
+
+# Add any Sphinx extension module names here, as strings. They can be
+# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
+# ones.
+extensions = [
+    'sphinx.ext.autodoc',
+    'sphinx.ext.autosummary',
+    'sphinx.ext.doctest',
+    'sphinx.ext.coverage',
+    'sphinx_rtd_theme',
+]
+
+# Add any paths that contain templates here, relative to this directory.
+templates_path = ['_templates']
+
+# The suffix(es) of source filenames.
+# You can specify multiple suffix as a list of string:
+#
+# source_suffix = ['.rst', '.md']
+source_suffix = '.rst'
+
+# The master toctree document.
+master_doc = 'index'
+
+# The language for content autogenerated by Sphinx. Refer to documentation
+# for a list of supported languages.
+#
+# This is also used if you do content translation via gettext catalogs.
+# Usually you set "language" from the command line for these cases.
+language = None
+
+# List of patterns, relative to source directory, that match files and
+# directories to ignore when looking for source files.
+# This pattern also affects html_static_path and html_extra_path.
+exclude_patterns = []
+
+# The name of the Pygments (syntax highlighting) style to use.
+pygments_style = None
+
+
+# -- Options for HTML output -------------------------------------------------
+
+# The theme to use for HTML and HTML Help pages.  See the documentation for
+# a list of builtin themes.
+#
+html_theme = 'sphinx_rtd_theme'
+
+# Theme options are theme-specific and customize the look and feel of a theme
+# further.  For a list of options available for each theme, see the
+# documentation.
+#
+# html_theme_options = {}
+
+# Add any paths that contain custom static files (such as style sheets) here,
+# relative to this directory. They are copied after the builtin static files,
+# so a file named "default.css" will overwrite the builtin "default.css".
+html_static_path = []
+
+# Custom sidebar templates, must be a dictionary that maps document names
+# to template names.
+#
+# The default sidebars (for documents that don't match any pattern) are
+# defined by theme itself.  Builtin themes are using these templates by
+# default: ``['localtoc.html', 'relations.html', 'sourcelink.html',
+# 'searchbox.html']``.
+#
+# html_sidebars = {}
+
+
+# -- Options for HTMLHelp output ---------------------------------------------
+
+# Output file base name for HTML help builder.
+htmlhelp_basename = 'image_rotate_doc'
+
+
+# -- Options for LaTeX output ------------------------------------------------
+
+latex_elements = {
+    # The paper size ('letterpaper' or 'a4paper').
+    #
+    # 'papersize': 'letterpaper',
+
+    # The font size ('10pt', '11pt' or '12pt').
+    #
+    # 'pointsize': '10pt',
+
+    # Additional stuff for the LaTeX preamble.
+    #
+    # 'preamble': '',
+
+    # Latex figure (float) alignment
+    #
+    # 'figure_align': 'htbp',
+}
+
+
+# -- Options for manual page output ------------------------------------------
+
+# One entry per manual page. List of tuples
+# (source start file, name, description, authors, manual section).
+man_pages = [
+    (master_doc, 'image_rotate', 'image_rotate Documentation',
+     [author], 1)
+]
+
+
+# -- Options for Texinfo output ----------------------------------------------
+
+# Grouping the document tree into Texinfo files. List of tuples
+# (source start file, target name, title, author,
+#  dir menu entry, description, category)
+texinfo_documents = [
+    (master_doc, 'image_rotate', 'image_rotate Documentation',
+     author, 'image_rotate', 'ROS 2 components for image processing.',
+     'Miscellaneous'),
+]
+
+
+# -- Options for Epub output -------------------------------------------------
+
+# Bibliographic Dublin Core info.
+epub_title = project
+
+# The unique identifier of the text. This can be a ISBN number
+# or the project homepage.
+#
+# epub_identifier = ''
+
+# A unique identification for the text.
+#
+# epub_uid = ''
+
+# A list of files that should not be packed into the epub file.
+epub_exclude_files = ['search.html']
+
+
+# -- Extension configuration -------------------------------------------------
+
+autoclass_content = 'both'
+
+autodoc_default_options = {
+    'members': True,  # document members
+    'undoc-members': True,  # also document members without documentation
+}
diff --git a/image_rotate/doc/index.rst b/image_rotate/doc/index.rst
new file mode 100644
index 000000000..45a574ea7
--- /dev/null
+++ b/image_rotate/doc/index.rst
@@ -0,0 +1,36 @@
+Overview
+========
+
+This package contains a node that rotates an image stream in a way that
+minimizes the angle between a vector in some arbitrary frame and a vector
+in the camera frame. The frame of the outgoing image is published by the
+node.
+
+This node is intended to allow camera images to be visualized in an
+orientation that is more intuitive than the hardware-constrained
+orientation of the physical camera. This is particularly helpful,
+for example, to show images from the PR2's forearm cameras with a
+consistent up direction, despite the fact that the forearms need to
+rotate in arbitrary ways during manipulation.
+
+It is not recommended to use the output from this node for further
+computation, as it interpolates the source image, introduces black
+borders, and does not output a ``camera_info``.
+
+|image_rotate|
+
+.. |image_rotate| image:: images/image_rotate.jpg
+
+.. toctree::
+   :maxdepth: 2
+
+   self
+   components
+   changes
+   image_rotate <generated/index>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`search`
diff --git a/image_view/doc/changes.rst b/image_view/doc/changes.rst
index 3f14b6aaf..64ecdacae 100644
--- a/image_view/doc/changes.rst
+++ b/image_view/doc/changes.rst
@@ -6,3 +6,7 @@ Jazzy Jalisco
 There are several major change between ``Iron`` and ``Jazzy``:
 
  * All components now properly support ``image_transport`` parameter.
+ * ExtractImages: incorrectly named parameter ``transport`` was renamed
+   to more consistent ``image_transport``.
+ * StereoView: incorrectly named parameter ``transport`` was renamed
+   to more consistent ``image_transport``.
\ No newline at end of file