diff --git a/stereo_image_proc/doc/changes.rst b/stereo_image_proc/doc/changes.rst
new file mode 100644
index 000000000..264172a21
--- /dev/null
+++ b/stereo_image_proc/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/stereo_image_proc/doc/components.rst b/stereo_image_proc/doc/components.rst
new file mode 100644
index 000000000..02b52cd49
--- /dev/null
+++ b/stereo_image_proc/doc/components.rst
@@ -0,0 +1,123 @@
+Nodes and Components
+====================
+
+This package includes a number of ROS 2 components that can be assembled
+into stereo image processing pipelines.
+See the tutorial :ref:`Launch stereo_image_proc Components`.
+
+Alternatively, each component can be run as a standalone node.
+
+stereo_image_proc::DisparityNode
+--------------------------------
+Performs block matching on a pair of rectified stereo images, producing a
+disparity image. Also available as a standalone node with the name
+``disparity_node``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **left/camera_info** (sensor_msgs/CameraInfo): Left camera metadata.
+ * **left/image_rect** (sensor_msgs/Image): Left monochrome rectified
+   image stream.
+ * **right/camera_info** (sensor_msgs/CameraInfo): Right camera metadata.
+ * **right/image_rect** (sensor_msgs/Image): Right monochrome rectified
+   image stream.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **disparity** (sensor_msgs/DisparityImage): Floating point disparity
+   image with metadata.
+
+Parameters
+^^^^^^^^^^
+
+*Disparity pre-filtering* 
+
+ * **prefilter_size** (int, default: 9): Normalization window size, pixels.
+ * **prefilter_cap** (int, default: 31): Bound on normalized pixel values.
+
+*Disparity correlation*
+
+ * **correlation_window_size** (int, default: 15): Edge size (pixels) of the
+   correlation window for matching. Values must be odd, in the range 5 to 255
+   (but with an extra performance hit for values larger than 21). Larger values
+   have smoother disparity results, but smear out small features and depth
+   discontinuities.
+ * **min_disparity** (int, default: 0): Minimum disparity, or the offset to the
+   disparity search window. By setting to a positive value, the cameras become
+   more "cross-eyed" and will find objects closer to the cameras. If the cameras
+   are "verged" (inclined toward each other), it may be appropriate to set
+   min_disparity to a negative value. When min_disparity is greater than 0,
+   objects at large distances will not be found.
+ * **disparity_range** (int, default: 64): The size of the disparity search
+   window (pixels). Together with min_disparity, this defines the "horopter,"
+   the 3D volume that is visible to the stereo algorithm.
+
+*Disparity post-filtering*
+
+ * **uniqueness_ratio** (double, default: 15.0): Filters disparity readings
+   based on a comparison to the next-best correlation along the epipolar
+   line. Matches where uniqueness_ratio > (best_match - next_match) / next_match
+   are filtered out.
+ * **texture_threshold** (int, default: 10): Filters disparity readings based on
+   the amount of texture in the correlation window.
+ * **speckle_size** (int, default: 100): Filters disparity regions that are less
+   than this number of pixels. For example, a value of 100 means that all regions
+   with fewer than 100 pixels will be rejected.
+ * **speckle_range** (int, default: 4): Groups disparity regions based on their
+   connectedness. Disparities are grouped together in the same region if they are
+   within this distance in pixels.
+
+*Synchronization*
+
+ * **approximate_sync** (bool, default: false): Whether to use approximate
+   synchronization. Set to true if the left and right cameras do not produce
+   exactly synced timestamps.
+ * **image_transport** (string, default: raw): Image transport to use for left
+   image subscriber.
+ * **queue size** (int, default: 5): Size of message queue for each synchronized
+   topic. You may need to raise this if images take significantly longer to travel
+   over the network than camera info and/or the delay from disparity processing
+   is too long.
+
+approximate_sync_tolerance_seconds
+
+
+stereo_image_proc::PointCloudNode
+---------------------------------
+Combines a rectified color image and disparity image to produce a
+``sensor_msgs::PointCloud2`` point cloud. Also available as a standalone
+node ``point_cloud_node``.
+
+Note: ROS 1 had both a ``point_cloud`` and ``point_cloud2`` version to
+handle the now deprecated and removed ``sensor_msgs::PointCloud`` and
+``stereo_msgs::PointCloud2``. This node corresponds to the ``point_cloud2``
+version although we have dropped the ``2``.
+
+Subscribed Topics
+^^^^^^^^^^^^^^^^^
+ * **disparity** (stereo_msgs/DisparityImage): Floating point disparity
+   image with metadata.
+ * **left/camera_info** (sensor_msgs/CameraInfo): Left camera metadata.
+ * **left/image_rect_color** (sensor_msgs/Image): Rectified image.
+ * **rigtht/camera_info** (sensor_msgs/CameraInfo): Right camera metada.
+
+Published Topics
+^^^^^^^^^^^^^^^^
+ * **points2** (sensor_msgs/PointCloud2): Stereo point cloud with RGB color.
+
+Parameters
+^^^^^^^^^^
+ * **approximate_sync** (bool, default: false): Whether to use approximate
+   synchronization. Set to true if the left and right cameras do not produce
+   exactly synced timestamps.
+ * **avoid_point_cloud_padding** (bool, default: false): Avoid using alignment
+   padding in the generated point cloud. This reduces bandwidth requirements,
+   as the point cloud size is halved. Using point clouds without alignment
+   padding might degrade performance for some algorithms.
+ * **image_transport** (string, default: raw): Image transport to use for left
+   image subscriber.
+ * **queue size** (int, default: 5): Size of message queue for each synchronized
+   topic. You may need to raise this if images take significantly longer to travel
+   over the network than camera info and/or the delay from disparity processing
+   is too long.
+ * **use_color** (oool, default: true): If false, point cloud will be XYZ only.
diff --git a/stereo_image_proc/doc/conf.py b/stereo_image_proc/doc/conf.py
new file mode 100644
index 000000000..b6fda617d
--- /dev/null
+++ b/stereo_image_proc/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 = 'stereo_image_proc'
+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_proc_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, 'stereo_image_proc', 'stereo_image_proc 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, 'stereo_image_proc', 'stereo_image_proc Documentation',
+     author, 'stereo_image_proc', 'ROS 2 components for stereo 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/stereo_image_proc/doc/configuration.rst b/stereo_image_proc/doc/configuration.rst
new file mode 100644
index 000000000..d918d47c9
--- /dev/null
+++ b/stereo_image_proc/doc/configuration.rst
@@ -0,0 +1,87 @@
+Configuration
+=============
+
+Overview
+--------
+
+The ``stereo_image_proc.launch.py`` launch file provides a full example and
+performs rectification and de-mosaicing of raw stereo camera image pairs.
+It also perform stereo processing to generate disparity images and point clouds.
+
+In topic names below, left and right are remapped using the ``left_namespace``
+and ``right_namespace`` launch file parameters.
+
+|stereo|
+
+.. |stereo| image:: images/stereo_image_proc.png
+   :width: 75%
+
+All processing is on demand. Color processing is performed only if there is a
+subscriber to a color topic. Rectification is performed only if there is a
+subscriber to a rectified topic. Disparities and point clouds are generated
+only if there is a subscriber to a relevant topic. While there are no subscribers
+to output topics, the nodes unsubscribe from the ``image_raw`` and
+``camera_info`` topics.
+
+Point clouds are generated in the optical frame of the left imager
+(X Right, Y Down, Z out):
+
+|stereo_frames|
+
+.. |stereo_frames| image:: images/stereo_frames.png
+   :width: 50%
+
+
+Quick Start
+-----------
+
+Make sure your stereo camera driver(s) are running. You can check
+``ros2 topic list | grep image_raw`` to see the available raw image
+topics from compatible drivers.
+
+To get rectified and/or colorized image streams, you need to launch the
+``stereo_image_proc.launch.py`` launch file. If you are running on a
+robot, it's probably best to run the launch file there. For example,
+if your stereo camera driver(s) are publishing:
+
+.. code-block::
+
+    /stereo/left/image_raw
+    /stereo/left/camera_info
+    /stereo/right/image_raw
+    /stereo/right/camera_info
+
+you could do:
+
+.. code-block:: bash
+
+    ros2 launch stereo_image_proc stereo_image_proc.launch.py namespace:=stereo
+
+Notice that we add the ``stereo`` namespace. Internally the launch file
+also has a ``left_namespace`` and ``right_namespace`` which default to
+``left`` and ``right``. Using this launch file is equivalent to Launching
+two instances of the ``image_proc/image_proc.launch.py`` launch file in the
+``stereo/left`` and ``stereo/right`` namespaces, with the addition of
+the stereo outputs: disparity images (``stereo/disparity`` topic) and point
+clouds (``stereo/points2`` topic)
+
+In a separate terminal (on your home machine, if you are running on a robot):
+
+.. code-block:: bash
+
+    $ ros2 run image_view image_view image:=/stereo/left/image_rect_color
+
+This will display a rectified color image from the left stereo camera.
+Alternatively, stereo_view will show you both the left and right images
+as well as a color-mapped disparity image:
+
+.. code-block:: bash
+
+    $ ros2 run image_view stereo_view stereo:=/stereo image:=image_rect_color
+
+To view point clouds, you can use ``rviz2``.
+
+Choosing Good Stereo Parameters
+-------------------------------
+
+TODO
\ No newline at end of file
diff --git a/stereo_image_proc/doc/images/disparity.jpg b/stereo_image_proc/doc/images/disparity.jpg
new file mode 100644
index 000000000..7b053e012
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diff --git a/stereo_image_proc/doc/images/raw.png b/stereo_image_proc/doc/images/raw.png
new file mode 100644
index 000000000..89954f9b3
Binary files /dev/null and b/stereo_image_proc/doc/images/raw.png differ
diff --git a/stereo_image_proc/doc/images/rectified.png b/stereo_image_proc/doc/images/rectified.png
new file mode 100644
index 000000000..a00517fac
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diff --git a/stereo_image_proc/doc/images/stereo_frames.png b/stereo_image_proc/doc/images/stereo_frames.png
new file mode 100644
index 000000000..733149ea7
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diff --git a/stereo_image_proc/doc/images/stereo_image_proc.png b/stereo_image_proc/doc/images/stereo_image_proc.png
new file mode 100644
index 000000000..e54db0dc3
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diff --git a/stereo_image_proc/doc/index.rst b/stereo_image_proc/doc/index.rst
new file mode 100644
index 000000000..acc958ffc
--- /dev/null
+++ b/stereo_image_proc/doc/index.rst
@@ -0,0 +1,59 @@
+stereo_image_proc
+=================
+
+This package contains a number of ROS 2 components, nodes, and launch files
+for stereo image processing.
+
+stereo_image_proc performs the duties of image_proc for both cameras,
+undistorting and colorizing the raw images. Note that for properly
+calibrated stereo cameras, undistortion is actually combined with
+rectification, transforming the images so that their scanlines
+line up for fast stereo processing.
+
+stereo_image_proc will also compute disparity images from incoming stereo
+pairs using
+`OpenCV's block matching <https://docs.opencv.org/2.4/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.html#stereobm>`_
+algorithm. These are best inspected
+using ``stereo_view`` which is available in the ``image_view`` package.
+
+The node will also produce point clouds, which you can view in ``rviz``,
+and process with PCL.
+
+The image below shows the **left/image_raw** and **right_image_raw**.
+These are the raw images from each camera.
+
+|raw|
+
+.. |raw| image:: images/raw.png
+
+Below are the **left/image_rect_color** and **right/image_rect_color**.
+These are the rectified images from each camera.
+The red lines show that the same point in the real world
+lies on the same horizontal line in each rectified image.
+
+|rectified|
+
+.. |rectified| image:: images/rectified.png
+
+The resulting disparity image is shown below,
+viewed with ``stereo_view`` from the ``image_view`` package.
+
+|disparity|
+
+.. |disparity| image:: images/disparity.jpg
+
+
+.. toctree::
+   :maxdepth: 2
+
+   components
+   configuration
+   tutorials
+   changes
+   stereo_image_proc <generated/index>
+
+Indices and tables
+==================
+
+* :ref:`genindex`
+* :ref:`search`
diff --git a/stereo_image_proc/doc/mainpage.dox b/stereo_image_proc/doc/mainpage.dox
deleted file mode 100644
index 39b89a1e2..000000000
--- a/stereo_image_proc/doc/mainpage.dox
+++ /dev/null
@@ -1,14 +0,0 @@
-/**
-
-@mainpage
-
-@htmlinclude manifest.html
-
-@b stereo_image_proc contains a node for performing rectification and
-color processing on the raw images produced by a pair of stereo cameras.
-It also produces 3d stereo outputs - the disparity image and point cloud.
-See http://www.ros.org/wiki/stereo_image_proc for documentation.
-
-Currently this package has no public code API.
-
-*/
diff --git a/stereo_image_proc/doc/tutorials.rst b/stereo_image_proc/doc/tutorials.rst
new file mode 100644
index 000000000..3293b7a72
--- /dev/null
+++ b/stereo_image_proc/doc/tutorials.rst
@@ -0,0 +1,47 @@
+Tutorials
+=========
+
+.. _Launch stereo_image_proc Components:
+
+Launching stereo_image_proc Components
+--------------------------------------
+While each of the components is available as a ROS 2 node, the
+recommended way to build pipelines is using the components as
+this will save overhead by not having to serialize messages
+between components.
+
+For a detailed example, see ``stereo_image_proc.launch.py``.
+
+Using Compressed Image Transport
+--------------------------------
+All of the components and nodes in ``stereo_image_proc`` support
+``image_transport``. This allows a subscriber to specify the transport to
+be used. By default, this is ``raw``, which means an uncompressed
+``sensor_msgs/Image``. When transmitting images over limited bandwidth
+networks, such as WiFi, it can be helpful to use ``compressed`` format.
+
+.. code-block:: bash
+
+    $ ros2 run stereo_image_proc disparity_node --ros-args -p image_transport:=compressed
+
+Remapping camera_info Topics
+----------------------------
+When a ``camera_info`` topic is needed, an image_transport camera subscriber
+is typically used. ROS 2 convention for naming ``camera_info`` topics is:
+
+ * camera/image - an image in namespace ``camera``.
+ * camera/camera_info - the associated camera info
+
+So if a node subscribes to a topic called ``image``, and the user remaps this
+to ``my_camera/image``, then the associated camera info will be automatically
+remapped to ``mycamera/camera_info``.
+
+Most ROS 2 camera drivers will follow the convention, but occasionally they do
+not. In this case, you will have to manually remap the camera_info - but due
+to the way that ROS 2 remapping works you have to use the fully resolved
+camera info topic. An example:
+
+ * ``image`` is remapped to ``my_camera/image``.
+ * The fully resolved name for the camera info is now ``my_camera/camera_info``.
+ * If your camera driver actually publishes ``another_ns/camera_info``, then
+   you would have to remap ``my_camera/camera_info`` to ``another_ns/camera_info``.
diff --git a/stereo_image_proc/launch/stereo_image_proc.launch.py b/stereo_image_proc/launch/stereo_image_proc.launch.py
index afe9c0cb2..8c2c81cba 100644
--- a/stereo_image_proc/launch/stereo_image_proc.launch.py
+++ b/stereo_image_proc/launch/stereo_image_proc.launch.py
@@ -53,6 +53,7 @@ def generate_launch_description():
         ComposableNode(
             package='stereo_image_proc',
             plugin='stereo_image_proc::DisparityNode',
+            namespace=LaunchConfiguration('namespace'),
             parameters=[{
                 'approximate_sync': LaunchConfiguration('approximate_sync'),
                 'stereo_algorithm': LaunchConfiguration('stereo_algorithm'),
@@ -80,6 +81,7 @@ def generate_launch_description():
         ComposableNode(
             package='stereo_image_proc',
             plugin='stereo_image_proc::PointCloudNode',
+            namespace=LaunchConfiguration('namespace'),
             parameters=[{
                 'approximate_sync': LaunchConfiguration('approximate_sync'),
                 'avoid_point_cloud_padding': LaunchConfiguration('avoid_point_cloud_padding'),
@@ -121,6 +123,10 @@ def generate_launch_description():
             name='launch_image_proc', default_value='True',
             description='Whether to launch debayer and rectify nodes from image_proc.'
         ),
+        DeclareLaunchArgument(
+            name='namespace', default_value='',
+            description='Namespace for all components loaded'
+        ),
         DeclareLaunchArgument(
             name='left_namespace', default_value='left',
             description='Namespace for the left camera'
@@ -223,24 +229,26 @@ def generate_launch_description():
         ),
         GroupAction(
             [
-                PushRosNamespace(LaunchConfiguration('left_namespace')),
+                PushRosNamespace(LaunchConfiguration('namespace')),
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource([
                         FindPackageShare('image_proc'), '/launch/image_proc.launch.py'
                     ]),
-                    launch_arguments={'container': LaunchConfiguration('container')}.items()
+                    launch_arguments={'container': LaunchConfiguration('container'),
+                                      'namespace': LaunchConfiguration('left_namespace')}.items()
                 ),
             ],
             condition=IfCondition(LaunchConfiguration('launch_image_proc')),
         ),
         GroupAction(
             [
-                PushRosNamespace(LaunchConfiguration('right_namespace')),
+                PushRosNamespace(LaunchConfiguration('namespace')),
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource([
                         FindPackageShare('image_proc'), '/launch/image_proc.launch.py'
                     ]),
-                    launch_arguments={'container': LaunchConfiguration('container')}.items()
+                    launch_arguments={'container': LaunchConfiguration('container'),
+                                      'namespace': LaunchConfiguration('right_namespace')}.items()
                 ),
             ],
             condition=IfCondition(LaunchConfiguration('launch_image_proc')),