diff --git a/distros/humble/aandd-ekew-driver-py/default.nix b/distros/humble/aandd-ekew-driver-py/default.nix
new file mode 100644
index 0000000000..e34c183be0
--- /dev/null
+++ b/distros/humble/aandd-ekew-driver-py/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, action-msgs, ament-copyright, ament-flake8, ament-pep257, python3Packages, pythonPackages, rclpy, weight-scale-interfaces }:
+buildRosPackage {
+  pname = "ros-humble-aandd-ekew-driver-py";
+  version = "0.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/TechMagicKK/aandd_ekew_driver_py-release/archive/release/humble/aandd_ekew_driver_py/0.0.1-1.tar.gz";
+    name = "0.0.1-1.tar.gz";
+    sha256 = "dc6357fb7e60f945af1cc7520f48c625d1ecf6abf4620869ab5b504d557be7a5";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
+  propagatedBuildInputs = [ action-msgs python3Packages.pyserial rclpy weight-scale-interfaces ];
+
+  meta = {
+    description = ''aandd ek/ew series driver python package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/humble/ament-black/default.nix b/distros/humble/ament-black/default.nix
index bbb2c2bb93..f8297992bb 100644
--- a/distros/humble/ament-black/default.nix
+++ b/distros/humble/ament-black/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, python39Packages, pythonPackages }:
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-humble-ament-black";
   version = "0.1.0-r1";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "ament_python";
   checkInputs = [ ament-copyright ament-flake8 ament-pep257 pythonPackages.pytest ];
-  propagatedBuildInputs = [ python39Packages.unidiff pythonPackages.black ];
+  propagatedBuildInputs = [ python3Packages.unidiff pythonPackages.black ];
 
   meta = {
     description = ''The ability to check code against style conventions using
diff --git a/distros/humble/aruco-opencv/default.nix b/distros/humble/aruco-opencv/default.nix
index 369b5d9193..8e627ecd79 100644
--- a/distros/humble/aruco-opencv/default.nix
+++ b/distros/humble/aruco-opencv/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python39Packages, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-humble-aruco-opencv";
   version = "2.1.1-r1";
@@ -16,7 +16,7 @@ buildRosPackage {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-copyright ament-cmake-cpplint ament-cmake-lint-cmake ament-cmake-uncrustify ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python39Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python3Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/humble/base2d-kinematics-msgs/default.nix b/distros/humble/base2d-kinematics-msgs/default.nix
new file mode 100644
index 0000000000..5c472f97b1
--- /dev/null
+++ b/distros/humble/base2d-kinematics-msgs/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime }:
+buildRosPackage {
+  pname = "ros-humble-base2d-kinematics-msgs";
+  version = "0.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/metro_nav-release/archive/release/humble/base2d_kinematics_msgs/0.2.0-1.tar.gz";
+    name = "0.2.0-1.tar.gz";
+    sha256 = "eff43fd05ed76365cb153e8f0334dcc19a02899d886717b3a7e63910c002fade";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  propagatedBuildInputs = [ rosidl-default-runtime ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Interfaces for 2.5D kinematics'';
+    license = with lib.licenses; [ "BSD-3-clause" ];
+  };
+}
diff --git a/distros/humble/base2d-kinematics/default.nix b/distros/humble/base2d-kinematics/default.nix
new file mode 100644
index 0000000000..c98105eea8
--- /dev/null
+++ b/distros/humble/base2d-kinematics/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, base2d-kinematics-msgs, geometry-msgs, nav-2d-msgs, rclcpp }:
+buildRosPackage {
+  pname = "ros-humble-base2d-kinematics";
+  version = "0.2.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/metro_nav-release/archive/release/humble/base2d_kinematics/0.2.0-1.tar.gz";
+    name = "0.2.0-1.tar.gz";
+    sha256 = "e83e5959c457d97a44ebfac68b5489eb2b244fa67d1ea020f04fea49dce4d635";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ base2d-kinematics-msgs geometry-msgs nav-2d-msgs rclcpp ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Implementation of simple kinematics in two and half dimensions'';
+    license = with lib.licenses; [ "BSD-3-clause" ];
+  };
+}
diff --git a/distros/humble/behaviortree-cpp/default.nix b/distros/humble/behaviortree-cpp/default.nix
index 62f61f1f62..ed87267456 100644
--- a/distros/humble/behaviortree-cpp/default.nix
+++ b/distros/humble/behaviortree-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, cppzmq, rclcpp, ros-environment, sqlite }:
 buildRosPackage {
   pname = "ros-humble-behaviortree-cpp";
-  version = "4.3.6-r1";
+  version = "4.3.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/humble/behaviortree_cpp/4.3.6-1.tar.gz";
-    name = "4.3.6-1.tar.gz";
-    sha256 = "153c9db82db641f3f11e0e70dc864dea8d62b7cf8631806becd29afff5718ca6";
+    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/humble/behaviortree_cpp/4.3.7-1.tar.gz";
+    name = "4.3.7-1.tar.gz";
+    sha256 = "e302ccdc45c55288d02126a737699db34ff1354e5335e75a395e7824211d14a3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/chomp-motion-planner/default.nix b/distros/humble/chomp-motion-planner/default.nix
index c97ce51b49..417855e7ed 100644
--- a/distros/humble/chomp-motion-planner/default.nix
+++ b/distros/humble/chomp-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, rclcpp, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-chomp-motion-planner";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/chomp_motion_planner/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "a4ae7dba7ef85ac7eaa1be70ac5ecc6855fab5df45da9b85cdd62fe9e02ec015";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/chomp_motion_planner/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "8f68c53d2e7607917885f0a91b62fbbe76ba559117b5f8743f0ec60c31511cfa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/classic-bags/default.nix b/distros/humble/classic-bags/default.nix
new file mode 100644
index 0000000000..1556c6359d
--- /dev/null
+++ b/distros/humble/classic-bags/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, builtin-interfaces, rclcpp, rclpy, rosbag2-cpp, rosbag2-py, rosbag2-storage, rosidl-runtime-py, std-msgs }:
+buildRosPackage {
+  pname = "ros-humble-classic-bags";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/classic_bags-release/archive/release/humble/classic_bags/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "766240777c6ffb592c52a490866bb661512f94b3f723f94ab63310403dbe9f2b";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-cmake-pytest std-msgs ];
+  propagatedBuildInputs = [ builtin-interfaces rclcpp rclpy rosbag2-cpp rosbag2-py rosbag2-storage rosidl-runtime-py ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = ''A ROS 2 interface in the style of ROS 1 for reading and writing bag files'';
+    license = with lib.licenses; [ "BSD-3-clause" ];
+  };
+}
diff --git a/distros/humble/controller-interface/default.nix b/distros/humble/controller-interface/default.nix
index abd7a28187..bcfa2981b0 100644
--- a/distros/humble/controller-interface/default.nix
+++ b/distros/humble/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, hardware-interface, rclcpp-lifecycle, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-controller-interface";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_interface/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "164685b56969acd412f60aac384b19b18cf54bc9163150a05b91ffc13816a6bf";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_interface/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "4930c369dee1ecfb1e8f7cd20ae19fdd1c6bd98cc031021b3e44878a2fa58d68";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/controller-manager-msgs/default.nix b/distros/humble/controller-manager-msgs/default.nix
index 8bd08a930c..75ae9d51fc 100644
--- a/distros/humble/controller-manager-msgs/default.nix
+++ b/distros/humble/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-humble-controller-manager-msgs";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_manager_msgs/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "ba47348d8af2cc8aceed826c57c5bb99c1611e5c3c8d6f2eabab2c33ae688d39";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_manager_msgs/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "d8fe20b7e898a36f64feb9c6f17115ef461ac8e688027380913b409ca5c87377";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/controller-manager/default.nix b/distros/humble/controller-manager/default.nix
index e0d33260bb..7e131b1c78 100644
--- a/distros/humble/controller-manager/default.nix
+++ b/distros/humble/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-python, ament-index-cpp, backward-ros, controller-interface, controller-manager-msgs, hardware-interface, launch, launch-ros, pluginlib, rclcpp, rcpputils, realtime-tools, ros2-control-test-assets, ros2param, ros2run }:
 buildRosPackage {
   pname = "ros-humble-controller-manager";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_manager/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "053072d4d77d1fd5d00d817eaa7f9c98b902f7d3c27b7f97e7a2dd81181ae56c";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/controller_manager/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "9f657f5a9b56c29796ff0decaf5ae95c9f73abdb7068db832e0ce7eeb465b5ae";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus-control/default.nix b/distros/humble/crane-plus-control/default.nix
index c5667d8dca..4f46d20942 100644
--- a/distros/humble/crane-plus-control/default.nix
+++ b/distros/humble/crane-plus-control/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager, crane-plus-description, dynamixel-sdk, hardware-interface, pluginlib, rclcpp, ros2-controllers, ros2controlcli, xacro }:
 buildRosPackage {
   pname = "ros-humble-crane-plus-control";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_control/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "0bbfa300fa64bd366df8761a5348af142cab613eb46ae7a54c16298d89f706ff";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_control/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "cf303ed0624aac9f90f576f010a49edd3401ce4d99dc9fc62294b1b6548bb06a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus-description/default.nix b/distros/humble/crane-plus-description/default.nix
index 7559704388..a61b4da0d1 100644
--- a/distros/humble/crane-plus-description/default.nix
+++ b/distros/humble/crane-plus-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, gazebo-ros2-control, ign-ros2-control, joint-state-publisher-gui, launch, robot-state-publisher, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-humble-crane-plus-description";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_description/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "48f76bb303af532f42fd60e6e6439df98014ed40bc94b8d4695d4a6335b0fd91";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_description/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "a9a5ae883477e16748b3509fe17dcd2bd61c067e99c815ffd227014b442fa6e5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus-examples/default.nix b/distros/humble/crane-plus-examples/default.nix
index ac3647554d..15ae0c126e 100644
--- a/distros/humble/crane-plus-examples/default.nix
+++ b/distros/humble/crane-plus-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, crane-plus-control, crane-plus-description, crane-plus-moveit-config, cv-bridge, geometry-msgs, image-geometry, moveit-ros-planning-interface, opencv, rclcpp, tf2-geometry-msgs, usb-cam }:
 buildRosPackage {
   pname = "ros-humble-crane-plus-examples";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_examples/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "c89d8b881a67aa6a3b477f11be90a7e35d283d8c9d392b60768b6f232c066d2b";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_examples/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "de5040345ca7eedc5abf3ff7c0043418a9769dd9ed2e1619cdd963caf9034b2d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus-gazebo/default.nix b/distros/humble/crane-plus-gazebo/default.nix
index be709db236..3f6570ee97 100644
--- a/distros/humble/crane-plus-gazebo/default.nix
+++ b/distros/humble/crane-plus-gazebo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager, crane-plus-description, crane-plus-moveit-config, gripper-controllers, robot-state-publisher, ros-gz, ros2-controllers }:
 buildRosPackage {
   pname = "ros-humble-crane-plus-gazebo";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_gazebo/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "4b0e7bb079cacd9f337e8474f5aa31b1e31fe2b8c45634c3c4488b293caf0e85";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_gazebo/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "442844a408276a68db713d16fd6c592903e8ebc1168697f44440512619ffda04";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus-moveit-config/default.nix b/distros/humble/crane-plus-moveit-config/default.nix
index 8fa4ded0c5..63d0e56dab 100644
--- a/distros/humble/crane-plus-moveit-config/default.nix
+++ b/distros/humble/crane-plus-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit, robot-state-publisher, rviz2, tf2-ros, xacro }:
 buildRosPackage {
   pname = "ros-humble-crane-plus-moveit-config";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_moveit_config/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "397049ce66242ebf2530761f4904ee347832510e2b44b92e29868df106e45fcd";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus_moveit_config/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "5848ec6a4b3702e9132c0de18b7a9bc2c800f5ba06bde383f10533daeb4a6508";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crane-plus/default.nix b/distros/humble/crane-plus/default.nix
index 146a570ce0..28e39f0f98 100644
--- a/distros/humble/crane-plus/default.nix
+++ b/distros/humble/crane-plus/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, crane-plus-control, crane-plus-description, crane-plus-examples, crane-plus-gazebo, crane-plus-moveit-config }:
 buildRosPackage {
   pname = "ros-humble-crane-plus";
-  version = "2.0.0-r1";
+  version = "2.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus/2.0.0-1.tar.gz";
-    name = "2.0.0-1.tar.gz";
-    sha256 = "8970cb60e5203f1c8a2ed608d7812ec152f97a8461c979a06ddf937574f5d1ab";
+    url = "https://github.com/ros2-gbp/crane_plus-release/archive/release/humble/crane_plus/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "f49f38e4c6e40fc43239fb9d749c6a4467734b732ca9e77adca993eed895bf69";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-bridge/default.nix b/distros/humble/depthai-bridge/default.nix
index 41ae7d9941..9b1327dca4 100644
--- a/distros/humble/depthai-bridge/default.nix
+++ b/distros/humble/depthai-bridge/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, boost, camera-info-manager, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, sensor-msgs, std-msgs, stereo-msgs, tf2-ros, vision-msgs, xacro }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, boost, camera-info-manager, composition-interfaces, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, sensor-msgs, std-msgs, stereo-msgs, tf2, tf2-geometry-msgs, tf2-ros, vision-msgs, xacro }:
 buildRosPackage {
   pname = "ros-humble-depthai-bridge";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_bridge/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "d91fa8463553e5cb2431bdf38b88c79e231a53db82259974dc3e7394e57470d2";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_bridge/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "3aca9ac19e47aae7f9483d128b44226f171124e9a06484f924a92d57d1d57f6d";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ boost camera-info-manager cv-bridge depthai depthai-ros-msgs image-transport opencv rclcpp robot-state-publisher ros-environment sensor-msgs std-msgs stereo-msgs tf2-ros vision-msgs xacro ];
+  propagatedBuildInputs = [ boost camera-info-manager composition-interfaces cv-bridge depthai depthai-ros-msgs image-transport opencv rclcpp robot-state-publisher ros-environment sensor-msgs std-msgs stereo-msgs tf2 tf2-geometry-msgs tf2-ros vision-msgs xacro ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/humble/depthai-descriptions/default.nix b/distros/humble/depthai-descriptions/default.nix
index 86900b7014..d861892a90 100644
--- a/distros/humble/depthai-descriptions/default.nix
+++ b/distros/humble/depthai-descriptions/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, robot-state-publisher, xacro }:
 buildRosPackage {
   pname = "ros-humble-depthai-descriptions";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_descriptions/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "0502e3504ff4e8dac15e3608cd44efcd590de5b4c6b439c70c9b8fbf4b14ecd1";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_descriptions/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "f25d30ed5ffacdc15eed02fd8f136b0947804021ddefd0427c0a5f34611619c1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-examples/default.nix b/distros/humble/depthai-examples/default.nix
index 76fb37f975..a14c915209 100644
--- a/distros/humble/depthai-examples/default.nix
+++ b/distros/humble/depthai-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, camera-info-manager, cv-bridge, depth-image-proc, depthai, depthai-bridge, depthai-descriptions, depthai-ros-msgs, foxglove-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, rviz-imu-plugin, sensor-msgs, std-msgs, stereo-msgs, vision-msgs, xacro }:
 buildRosPackage {
   pname = "ros-humble-depthai-examples";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_examples/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "62984a93eec4acc019c80ed59705bba399d464be703ac615f28b1b7d37c5934b";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_examples/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "3857bdc75c10a91c5d98d9963b73b837b7e7070d04918e47b72d89cb7191ad55";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-filters/default.nix b/distros/humble/depthai-filters/default.nix
index ffd2f389cb..2e907b4cc0 100644
--- a/distros/humble/depthai-filters/default.nix
+++ b/distros/humble/depthai-filters/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-auto, cv-bridge, depthai-ros-msgs, image-transport, message-filters, opencv, rclcpp, rclcpp-components, sensor-msgs, vision-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-humble-depthai-filters";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_filters/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "c7fcb0bb77c65294b49d778e5c1cc392763ee13ef566b334f9a81aee4a9df658";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_filters/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "2d46f2856b1508f55f1a27c1fdef5eca1b604f0f56166427181f86b309d21d5a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-ros-driver/default.nix b/distros/humble/depthai-ros-driver/default.nix
index 85a1096b7d..b83d66857f 100644
--- a/distros/humble/depthai-ros-driver/default.nix
+++ b/distros/humble/depthai-ros-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, camera-calibration, cv-bridge, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-ros-msgs, diagnostic-msgs, diagnostic-updater, image-pipeline, image-transport, image-transport-plugins, pluginlib, rclcpp, rclcpp-components, sensor-msgs, std-msgs, std-srvs, vision-msgs }:
 buildRosPackage {
   pname = "ros-humble-depthai-ros-driver";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_ros_driver/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "a94b5320167b9ae80e3c18aa29c0b4e652dd8f363fe10fb9dc87396243bd9a76";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_ros_driver/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "70b3ab26367cd19c5d39f988e3676065b61431c52e7392da0d13d452583e26a5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-ros-msgs/default.nix b/distros/humble/depthai-ros-msgs/default.nix
index 40780b30a1..d9c727fcda 100644
--- a/distros/humble/depthai-ros-msgs/default.nix
+++ b/distros/humble/depthai-ros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geometry-msgs, rclcpp, rosidl-default-generators, sensor-msgs, std-msgs, vision-msgs }:
 buildRosPackage {
   pname = "ros-humble-depthai-ros-msgs";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_ros_msgs/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "c4985f22702b3109f0d69cb8e93e926be308655e820238cf19d2f4a543c63a63";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai_ros_msgs/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "c90ca8d8ee53d7a6b806b16101561107f101c2c67cea9778fb4866b20f2d4e82";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/depthai-ros/default.nix b/distros/humble/depthai-ros/default.nix
index 21831733cd..67ef187748 100644
--- a/distros/humble/depthai-ros/default.nix
+++ b/distros/humble/depthai-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-filters, depthai-ros-driver, depthai-ros-msgs }:
 buildRosPackage {
   pname = "ros-humble-depthai-ros";
-  version = "2.8.0-r1";
+  version = "2.8.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai-ros/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "44ecc50da290733b3461a159ff033ff720285c3cc3d64ee0a3fc4081fad21f51";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/humble/depthai-ros/2.8.1-2.tar.gz";
+    name = "2.8.1-2.tar.gz";
+    sha256 = "8215b31cf32d25e4c7849c29848737c3b24be1042f89d395dc666a53d2787afa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ecal/default.nix b/distros/humble/ecal/default.nix
index fc8c5ea31e..f0f2d329ea 100644
--- a/distros/humble/ecal/default.nix
+++ b/distros/humble/ecal/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, protobuf }:
 buildRosPackage {
   pname = "ros-humble-ecal";
-  version = "5.12.0-r2";
+  version = "5.12.0-r3";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ecal-release/archive/release/humble/ecal/5.12.0-2.tar.gz";
-    name = "5.12.0-2.tar.gz";
-    sha256 = "e4fcbb77ab8c5101b1a9c6a50d88f30ac0eb8b0dc9543822dda884cb98fa1457";
+    url = "https://github.com/ros2-gbp/ecal-release/archive/release/humble/ecal/5.12.0-3.tar.gz";
+    name = "5.12.0-3.tar.gz";
+    sha256 = "7ae3184c46ccc9fb5ba7eeefd5a279a6dda1e7a7db8d555c9d1d43c7befa6d52";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/foxglove-bridge/default.nix b/distros/humble/foxglove-bridge/default.nix
index 87af5bc934..fc205a3db7 100644
--- a/distros/humble/foxglove-bridge/default.nix
+++ b/distros/humble/foxglove-bridge/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, asio, nlohmann_json, openssl, rclcpp, rclcpp-components, resource-retriever, ros-environment, rosgraph-msgs, std-msgs, std-srvs, websocketpp, zlib }:
 buildRosPackage {
   pname = "ros-humble-foxglove-bridge";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/humble/foxglove_bridge/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "a39e29195377cf76b152cadb6f0992ba3edd28f1719e12fd74f08c2743ed6ff3";
+    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/humble/foxglove_bridge/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "a43198e619dc6957dd94105d67158df41269946379fed61c5c6e34e6cb187929";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/generated.nix b/distros/humble/generated.nix
index 2b266c3d5c..c6c0fcc6d1 100644
--- a/distros/humble/generated.nix
+++ b/distros/humble/generated.nix
@@ -4,6 +4,8 @@
 
 self: super: {
 
+ aandd-ekew-driver-py = self.callPackage ./aandd-ekew-driver-py {};
+
  acado-vendor = self.callPackage ./acado-vendor {};
 
  ackermann-msgs = self.callPackage ./ackermann-msgs {};
@@ -246,6 +248,10 @@ self: super: {
 
  bag2-to-image = self.callPackage ./bag2-to-image {};
 
+ base2d-kinematics = self.callPackage ./base2d-kinematics {};
+
+ base2d-kinematics-msgs = self.callPackage ./base2d-kinematics-msgs {};
+
  behaviortree-cpp = self.callPackage ./behaviortree-cpp {};
 
  behaviortree-cpp-v3 = self.callPackage ./behaviortree-cpp-v3 {};
@@ -294,6 +300,8 @@ self: super: {
 
  class-loader = self.callPackage ./class-loader {};
 
+ classic-bags = self.callPackage ./classic-bags {};
+
  clearpath-common = self.callPackage ./clearpath-common {};
 
  clearpath-config = self.callPackage ./clearpath-config {};
@@ -958,6 +966,8 @@ self: super: {
 
  lgsvl-msgs = self.callPackage ./lgsvl-msgs {};
 
+ libcamera = self.callPackage ./libcamera {};
+
  libcreate = self.callPackage ./libcreate {};
 
  libcurl-vendor = self.callPackage ./libcurl-vendor {};
@@ -1042,6 +1052,8 @@ self: super: {
 
  message-tf-frame-transformer = self.callPackage ./message-tf-frame-transformer {};
 
+ metavision-driver = self.callPackage ./metavision-driver {};
+
  micro-ros-diagnostic-bridge = self.callPackage ./micro-ros-diagnostic-bridge {};
 
  micro-ros-diagnostic-msgs = self.callPackage ./micro-ros-diagnostic-msgs {};
@@ -1064,12 +1076,26 @@ self: super: {
 
  mola-common = self.callPackage ./mola-common {};
 
+ mola-demos = self.callPackage ./mola-demos {};
+
+ mola-imu-preintegration = self.callPackage ./mola-imu-preintegration {};
+
  mola-input-euroc-dataset = self.callPackage ./mola-input-euroc-dataset {};
 
  mola-input-kitti-dataset = self.callPackage ./mola-input-kitti-dataset {};
 
+ mola-input-rawlog = self.callPackage ./mola-input-rawlog {};
+
+ mola-input-ros2 = self.callPackage ./mola-input-ros2 {};
+
  mola-kernel = self.callPackage ./mola-kernel {};
 
+ mola-launcher = self.callPackage ./mola-launcher {};
+
+ mola-test-datasets = self.callPackage ./mola-test-datasets {};
+
+ mola-viz = self.callPackage ./mola-viz {};
+
  mola-yaml = self.callPackage ./mola-yaml {};
 
  mouse-teleop = self.callPackage ./mouse-teleop {};
@@ -1162,6 +1188,8 @@ self: super: {
 
  mp2p-icp = self.callPackage ./mp2p-icp {};
 
+ mqtt-client = self.callPackage ./mqtt-client {};
+
  mqtt-client-interfaces = self.callPackage ./mqtt-client-interfaces {};
 
  mrpt2 = self.callPackage ./mrpt2 {};
@@ -1258,6 +1286,8 @@ self: super: {
 
  nerian-stereo = self.callPackage ./nerian-stereo {};
 
+ network-interface = self.callPackage ./network-interface {};
+
  nlohmann-json-schema-validator-vendor = self.callPackage ./nlohmann-json-schema-validator-vendor {};
 
  nmea-hardware-interface = self.callPackage ./nmea-hardware-interface {};
@@ -1608,6 +1638,10 @@ self: super: {
 
  rcutils = self.callPackage ./rcutils {};
 
+ reach = self.callPackage ./reach {};
+
+ reach-ros = self.callPackage ./reach-ros {};
+
  realsense2-camera = self.callPackage ./realsense2-camera {};
 
  realsense2-camera-msgs = self.callPackage ./realsense2-camera-msgs {};
@@ -1756,6 +1790,8 @@ self: super: {
 
  ros2-controllers-test-nodes = self.callPackage ./ros2-controllers-test-nodes {};
 
+ ros2-ouster = self.callPackage ./ros2-ouster {};
+
  ros2-socketcan = self.callPackage ./ros2-socketcan {};
 
  ros2acceleration = self.callPackage ./ros2acceleration {};
@@ -2174,6 +2210,8 @@ self: super: {
 
  stubborn-buddies-msgs = self.callPackage ./stubborn-buddies-msgs {};
 
+ swri-cli-tools = self.callPackage ./swri-cli-tools {};
+
  swri-console = self.callPackage ./swri-console {};
 
  swri-console-util = self.callPackage ./swri-console-util {};
diff --git a/distros/humble/hardware-interface/default.nix b/distros/humble/hardware-interface/default.nix
index 8b0440bb29..0d14eb2e65 100644
--- a/distros/humble/hardware-interface/default.nix
+++ b/distros/humble/hardware-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, lifecycle-msgs, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, ros2-control-test-assets, tinyxml2-vendor }:
 buildRosPackage {
   pname = "ros-humble-hardware-interface";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/hardware_interface/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "7cc908dd2c28d41f5cf5e8af5ad663cf5280fdb7fe514aba1a168e036e958942";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/hardware_interface/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "c67b29d545b9bc6881b68072f605934c958570e2ccba8aa92a93692162624a7b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/joint-limits/default.nix b/distros/humble/joint-limits/default.nix
index f969cdb8a5..52e5b3e3bf 100644
--- a/distros/humble/joint-limits/default.nix
+++ b/distros/humble/joint-limits/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, launch-testing-ament-cmake, rclcpp, rclcpp-lifecycle }:
 buildRosPackage {
   pname = "ros-humble-joint-limits";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/joint_limits/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "85d136bf02cf8db2e87a2850f79ec7a0abb4b45ad964684a8fe06a886dc8082d";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/joint_limits/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "2efbfa6419c008ef08df4b1ce1bdfd2a4f8fc612c623d76879faec5a0d09e9c2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/libcamera/default.nix b/distros/humble/libcamera/default.nix
new file mode 100644
index 0000000000..eda6af01c8
--- /dev/null
+++ b/distros/humble/libcamera/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, libyaml, meson, openssl, pkg-config, python3Packages, udev }:
+buildRosPackage {
+  pname = "ros-humble-libcamera";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/libcamera-release/archive/release/humble/libcamera/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "bc1fd57c844650ea25b854739a93b02797c7305aea633d6e2ef696178bf0996b";
+  };
+
+  buildType = "meson";
+  buildInputs = [ meson pkg-config python3Packages.jinja2 python3Packages.ply python3Packages.pyyaml ];
+  propagatedBuildInputs = [ libyaml openssl udev ];
+  nativeBuildInputs = [ meson ];
+
+  meta = {
+    description = ''An open source camera stack and framework for Linux, Android, and ChromeOS'';
+    license = with lib.licenses; [ "LGPL-2.1-only" ];
+  };
+}
diff --git a/distros/humble/libmavconn/default.nix b/distros/humble/libmavconn/default.nix
index 4261502b8e..408ab92ee9 100644
--- a/distros/humble/libmavconn/default.nix
+++ b/distros/humble/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, asio, console-bridge, mavlink, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-libmavconn";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/libmavconn/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "d86e97de8324d0a95fb94541fbf7af4d231514cf85f3f43b3fb8098b5fa4db7f";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/libmavconn/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "7c95231da45eb26f7d3800ea1e140c28155d118273e572462656b3e2c803685c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/mavlink/default.nix b/distros/humble/mavlink/default.nix
index b5a3bae13f..ebf791a0c7 100644
--- a/distros/humble/mavlink/default.nix
+++ b/distros/humble/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cmake, python3, python3Packages, ros-environment }:
 buildRosPackage {
   pname = "ros-humble-mavlink";
-  version = "2023.6.6-r1";
+  version = "2023.9.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/humble/mavlink/2023.6.6-1.tar.gz";
-    name = "2023.6.6-1.tar.gz";
-    sha256 = "35560f5585c9a191f7b0093eb21eb53aa37c4c6bc74eac5220c543e58fcdbf5f";
+    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/humble/mavlink/2023.9.9-1.tar.gz";
+    name = "2023.9.9-1.tar.gz";
+    sha256 = "8b8896b4819f2380f8fab6c7240aa5d5ab605f71f5a2b760d22b953179101c64";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mavros-extras/default.nix b/distros/humble/mavros-extras/default.nix
index 23273eaa45..27580f569c 100644
--- a/distros/humble/mavros-extras/default.nix
+++ b/distros/humble/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros, mavros-msgs, message-filters, nav-msgs, pluginlib, rclcpp, rclcpp-components, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs, urdf, visualization-msgs, yaml-cpp, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-humble-mavros-extras";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros_extras/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "8840bf287a4a3a43214fa91f9957b6d6c4a08a6903dfac02cdb8f7f82336faa2";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros_extras/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "ce98b7072949fb346592584402163f7ebf0b8d5e8eb5afcca346ce5b8a1b309d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/mavros-msgs/default.nix b/distros/humble/mavros-msgs/default.nix
index 0de83f025b..a596b54be1 100644
--- a/distros/humble/mavros-msgs/default.nix
+++ b/distros/humble/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geographic-msgs, geometry-msgs, rcl-interfaces, rosidl-default-generators, rosidl-default-runtime, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-mavros-msgs";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros_msgs/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "2b1a2fdda7a02127fb6b18202eac1f920a0c9a74f209d2ac10751143622c2380";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "44419c3206ea7bd7cad75e1eb22392bbc29f2dd9595cd0173b399f7fd863acb1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/mavros/default.nix b/distros/humble/mavros/default.nix
index e5ae6e8373..ef9090cf64 100644
--- a/distros/humble/mavros/default.nix
+++ b/distros/humble/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, console-bridge, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-filters, nav-msgs, pluginlib, python3Packages, rclcpp, rclcpp-components, rclpy, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-mavros";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "4f067522e79868f9a3b956288c203ebe78e01d782bf6300a9712b19ca8a1e3d3";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/humble/mavros/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "4868ba9dc3b7696b9aae63d2ae1b9af29aaeba47140410a672867ccc101f7648";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/metavision-driver/default.nix b/distros/humble/metavision-driver/default.nix
index 70f88a1323..e74542c262 100644
--- a/distros/humble/metavision-driver/default.nix
+++ b/distros/humble/metavision-driver/default.nix
@@ -2,22 +2,22 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, ament-lint-auto, ament-lint-common, event-camera-msgs, rclcpp, rclcpp-components, std-srvs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, ament-cmake-clang-format, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-flake8, ament-cmake-lint-cmake, ament-cmake-pep257, ament-cmake-ros, ament-cmake-xmllint, boost, cmake, curl, event-camera-msgs, ffmpeg, git, glew, glfw3, gtest, hdf5, libusb1, opencv, openscenegraph, rclcpp, rclcpp-components, ros-environment, std-srvs, unzip, wget }:
 buildRosPackage {
   pname = "ros-humble-metavision-driver";
-  version = "1.0.1-r2";
+  version = "1.1.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/metavision_driver-release/archive/release/humble/metavision_driver/1.0.1-2.tar.gz";
-    name = "1.0.1-2.tar.gz";
-    sha256 = "b62b8c79e93216ea3db78a616d7a3dfa1e9cd959614dcad201ff9e83b7e61795";
+    url = "https://github.com/ros2-gbp/metavision_driver-release/archive/release/humble/metavision_driver/1.1.7-1.tar.gz";
+    name = "1.1.7-1.tar.gz";
+    sha256 = "ace307e9b21e692962cb97fa4211f3b6048e9d65e3a99ebf528cd3b1edbdbee6";
   };
 
   buildType = "ament_cmake";
-  buildInputs = [ ament-cmake ament-cmake-auto ];
-  checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ event-camera-msgs rclcpp rclcpp-components std-srvs ];
-  nativeBuildInputs = [ ament-cmake ament-cmake-auto ];
+  buildInputs = [ ament-cmake ament-cmake-auto ament-cmake-ros cmake curl git ros-environment unzip wget ];
+  checkInputs = [ ament-cmake-clang-format ament-cmake-copyright ament-cmake-cppcheck ament-cmake-cpplint ament-cmake-flake8 ament-cmake-lint-cmake ament-cmake-pep257 ament-cmake-xmllint gtest ];
+  propagatedBuildInputs = [ boost event-camera-msgs ffmpeg glew glfw3 hdf5 libusb1 opencv openscenegraph rclcpp rclcpp-components std-srvs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-auto ament-cmake-ros cmake curl git hdf5 ros-environment unzip wget ];
 
   meta = {
     description = ''ROS1 and ROS2 drivers for metavision based event cameras'';
diff --git a/distros/humble/mola-common/default.nix b/distros/humble/mola-common/default.nix
index 4655de502b..1228f46be7 100644
--- a/distros/humble/mola-common/default.nix
+++ b/distros/humble/mola-common/default.nix
@@ -2,20 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
 buildRosPackage {
   pname = "ros-humble-mola-common";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_common/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "429998fc9493eec01f6ae4cc6a5fcc694d596b7dfd4d823b341acd13af5124cb";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_common/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "d87a0e65c800a4e0ebde17b432844994fa1f5925da5c8cd662536692c6b46db8";
   };
 
-  buildType = "cmake";
-  buildInputs = [ cmake ];
-  nativeBuildInputs = [ cmake ];
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
 
   meta = {
     description = ''Common CMake scripts to all MOLA modules'';
diff --git a/distros/humble/mola-demos/default.nix b/distros/humble/mola-demos/default.nix
new file mode 100644
index 0000000000..774e6cf30c
--- /dev/null
+++ b/distros/humble/mola-demos/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-humble-mola-demos";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_demos/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "b5bb43267c8d1200e2fc524a489f985a1247fe2e6efbb5ab6e9e87799fe4f6b5";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Demo and example launch files for MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/humble/mola-imu-preintegration/default.nix b/distros/humble/mola-imu-preintegration/default.nix
new file mode 100644
index 0000000000..f4bc9f5ea1
--- /dev/null
+++ b/distros/humble/mola-imu-preintegration/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
+buildRosPackage {
+  pname = "ros-humble-mola-imu-preintegration";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_imu_preintegration/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "72b280f8b8e93ff916abccc9075ff92d9e36e5899cafa6f77a6468df0816b5e4";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-common mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Integrator of IMU angular velocity readings'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/humble/mola-input-euroc-dataset/default.nix b/distros/humble/mola-input-euroc-dataset/default.nix
index c4569154e7..4acd137953 100644
--- a/distros/humble/mola-input-euroc-dataset/default.nix
+++ b/distros/humble/mola-input-euroc-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-humble-mola-input-euroc-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_euroc_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "3f39d4ddd15d0b07158352c2211275421a517cf89ab2f238b82f1595b25afcad";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_euroc_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "83ccb89ef6628f753f67be6e3b12496378ceccb09768662d8383d3a3060e9a66";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mola-input-kitti-dataset/default.nix b/distros/humble/mola-input-kitti-dataset/default.nix
index edf4c5495b..d560d4ef97 100644
--- a/distros/humble/mola-input-kitti-dataset/default.nix
+++ b/distros/humble/mola-input-kitti-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-humble-mola-input-kitti-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_kitti_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "e750a6f84f23c8587f51b0de983503db7d05666099bcec9e7458910d35f991f2";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_kitti_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "1bca27c957b2fd8e911bec4c2d52005f179e635dc867e0e886491ae800f22781";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Offline RawDataSource from Kitti odometry/SLAM datasets'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/humble/mola-input-rawlog/default.nix b/distros/humble/mola-input-rawlog/default.nix
new file mode 100644
index 0000000000..499ac120b3
--- /dev/null
+++ b/distros/humble/mola-input-rawlog/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-humble-mola-input-rawlog";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_rawlog/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "c299d9501ba0ac2c16c88b2be07b9e79b6b5fbe51a4092d10b8ac1fda2e72783";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Offline RawDataSource from MRPT rawlog datasets'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/humble/mola-input-ros2/default.nix b/distros/humble/mola-input-ros2/default.nix
new file mode 100644
index 0000000000..a5e36c5567
--- /dev/null
+++ b/distros/humble/mola-input-ros2/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, geometry-msgs, mola-common, mola-kernel, mrpt2, nav-msgs, rclcpp, ros-environment, sensor-msgs, tf2, tf2-geometry-msgs }:
+buildRosPackage {
+  pname = "ros-humble-mola-input-ros2";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_input_ros2/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "e5743b286bed7193004945fa9596e4c1dee9c4f216791961999d97394f3294cf";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ ament-lint-auto ament-lint-common geometry-msgs mola-common mola-kernel mrpt2 nav-msgs rclcpp sensor-msgs tf2 tf2-geometry-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''RawDataSource acting as a bridge: ROS2 -> MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/humble/mola-kernel/default.nix b/distros/humble/mola-kernel/default.nix
index 1d5050b1a5..6af14392c7 100644
--- a/distros/humble/mola-kernel/default.nix
+++ b/distros/humble/mola-kernel/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-yaml, mrpt2 }:
 buildRosPackage {
   pname = "ros-humble-mola-kernel";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_kernel/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "6318388bae11442b31d9cd2abbb9219609eb6b01b833b18d8f8536c482a54908";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_kernel/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "57108ad222bde0ca8e46bd734761892a08383bbd956d9862990fbf23c721b6b0";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Fundamental C++ virtual interfaces and data types for the rest of MOLA modules'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/humble/mola-launcher/default.nix b/distros/humble/mola-launcher/default.nix
new file mode 100644
index 0000000000..42b7919851
--- /dev/null
+++ b/distros/humble/mola-launcher/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-humble-mola-launcher";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_launcher/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "e9f2e57dfe118476d15a517a892ce2fb59b08c3a8785a98077f20b7ad92bd070";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Launcher app for MOLA systems'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/humble/mola-test-datasets/default.nix b/distros/humble/mola-test-datasets/default.nix
new file mode 100644
index 0000000000..9e00fd138f
--- /dev/null
+++ b/distros/humble/mola-test-datasets/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-humble-mola-test-datasets";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_test_datasets/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "a338cee4b582d48fc25f4c3edc6c7cf05ac89c715ea6029d63382f758bc86de7";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Small SLAM dataset extracts used for demos or unit tests in the rest of MOLA packages'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/humble/mola-viz/default.nix b/distros/humble/mola-viz/default.nix
new file mode 100644
index 0000000000..a46cba2ff5
--- /dev/null
+++ b/distros/humble/mola-viz/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-humble-mola-viz";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_viz/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "6f2c71dc9d0d96b6eb186191015f2c9cc7014b3b6478e5afc56a0e8ae1828a69";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''GUI for MOLA'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/humble/mola-yaml/default.nix b/distros/humble/mola-yaml/default.nix
index 1b03564fb5..d64b3f9637 100644
--- a/distros/humble/mola-yaml/default.nix
+++ b/distros/humble/mola-yaml/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-humble-mola-yaml";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_yaml/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "cdda8616ef2a829ad9219967d2a9976a3981d5002373bab617b28d9322b9c0e5";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mola_yaml/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "d88bb0fa62c746b2c9d88b71577a2aaf09d09822c2aa282ff69023ad8d946052";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/moveit-chomp-optimizer-adapter/default.nix b/distros/humble/moveit-chomp-optimizer-adapter/default.nix
index 73fddf47b9..5863be4839 100644
--- a/distros/humble/moveit-chomp-optimizer-adapter/default.nix
+++ b/distros/humble/moveit-chomp-optimizer-adapter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib }:
 buildRosPackage {
   pname = "ros-humble-moveit-chomp-optimizer-adapter";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_chomp_optimizer_adapter/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "bc93e6c7778a72bce58b8c3f13cef641e45a788bc27bc16f5fe82b0e342b3193";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_chomp_optimizer_adapter/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "5b7313307c165ca77f5739c599fe8614a7d29a9d1a1ec5678eb425ec7d2ffe4f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-common/default.nix b/distros/humble/moveit-common/default.nix
index 675b01566e..c5a8aadf85 100644
--- a/distros/humble/moveit-common/default.nix
+++ b/distros/humble/moveit-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, backward-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-common";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_common/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "4e63d0220029b381c1a09d359d091a4e57e40e1b1f2c97aa070c4a2c00300477";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_common/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "d6dd352ca8ddbb4693858a4ca852cf85ba487a137316d799d36c496545fb549c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-configs-utils/default.nix b/distros/humble/moveit-configs-utils/default.nix
index b48f2a6b8c..27bdbca871 100644
--- a/distros/humble/moveit-configs-utils/default.nix
+++ b/distros/humble/moveit-configs-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-index-python, ament-lint-auto, ament-lint-common, launch, launch-param-builder, launch-ros, srdfdom }:
 buildRosPackage {
   pname = "ros-humble-moveit-configs-utils";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_configs_utils/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "e26e6f3a938be0a632d52f1830767abb0be532a88271615b4bb23d24c1f0b0ad";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_configs_utils/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "c3e448991b03e40d2d160eeb774ae43fdcd98f97fbc29ae4b0f55ad193d46b36";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/moveit-core/default.nix b/distros/humble/moveit-core/default.nix
index ab749fc46a..c1fd9e0724 100644
--- a/distros/humble/moveit-core/default.nix
+++ b/distros/humble/moveit-core/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, generate-parameter-library, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-humble-moveit-core";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_core/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "7b8381cc6d4cba4443e6fd0571ca97a5b99cb645c596c24b85c6e67177628934";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_core/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "0e71705886c8b62478971767c012cbfc5ce7fc057962823c58eea4ac6ed5bcf9";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake pkg-config ];
-  checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor tf2-kdl ];
-  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl geometric-shapes geometry-msgs kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
+  checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor ];
+  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl generate-parameter-library geometric-shapes geometry-msgs kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-kdl trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module pkg-config ];
 
   meta = {
diff --git a/distros/humble/moveit-hybrid-planning/default.nix b/distros/humble/moveit-hybrid-planning/default.nix
index d2bd467f10..096bd1359e 100644
--- a/distros/humble/moveit-hybrid-planning/default.nix
+++ b/distros/humble/moveit-hybrid-planning/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, moveit-common, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-panda-moveit-config, moveit-ros-planning, moveit-ros-planning-interface, pluginlib, position-controllers, rclcpp, rclcpp-action, rclcpp-components, robot-state-publisher, ros-testing, rviz2, std-msgs, std-srvs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-moveit-hybrid-planning";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_hybrid_planning/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "487676782c81593f10e1009bc1269f6b7f6218f79c8521ba1bb42cbbe763fdf7";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_hybrid_planning/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "a0cc8653f14a128462e6c052fcd091ffe7ea40a56ed85aa0e73c3388486e6541";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-kinematics/default.nix b/distros/humble/moveit-kinematics/default.nix
index 5ae8a464f3..61e475c804 100644
--- a/distros/humble/moveit-kinematics/default.nix
+++ b/distros/humble/moveit-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, class-loader, eigen, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-fanuc-description, moveit-resources-fanuc-moveit-config, moveit-resources-panda-description, moveit-resources-panda-moveit-config, moveit-ros-planning, orocos-kdl-vendor, pluginlib, python3Packages, ros-testing, tf2, tf2-kdl, urdfdom }:
 buildRosPackage {
   pname = "ros-humble-moveit-kinematics";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_kinematics/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "c14f4e622da0226c849e59d43a8cc50c33b76d3ff0ce7c21f5149addb270c75a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_kinematics/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "9743cfa3859c4d29d7e573c3ff697b1ec526b300b8bee872fcd409ad7856a63b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-planners-chomp/default.nix b/distros/humble/moveit-planners-chomp/default.nix
index 5483ff8985..09d93be5dc 100644
--- a/distros/humble/moveit-planners-chomp/default.nix
+++ b/distros/humble/moveit-planners-chomp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-moveit-planners-chomp";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners_chomp/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "f2ba3a2cb8410639477485ff222b1c471c0e2b7dd4e53f581c7c79dae9ef67c6";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners_chomp/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "576e8838d0c6847d80e1904db9ad3bd306cb8165d152198cf636bdfe9cbb915f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-planners-ompl/default.nix b/distros/humble/moveit-planners-ompl/default.nix
index fbfa1a4172..10094eb77c 100644
--- a/distros/humble/moveit-planners-ompl/default.nix
+++ b/distros/humble/moveit-planners-ompl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, llvmPackages, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, moveit-ros-planning, ompl, pluginlib, rclcpp, tf2-eigen, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-planners-ompl";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners_ompl/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "aa5b679b1198fe4924bf51a12db0d87fea39152915d5c1af8f1e9259564573eb";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners_ompl/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "4b48361175ac1eb1a83a0a1278630dbd0f8766cce02a67a939e3eb4ffebec0c3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-planners/default.nix b/distros/humble/moveit-planners/default.nix
index 9576007a6c..d136bc4646 100644
--- a/distros/humble/moveit-planners/default.nix
+++ b/distros/humble/moveit-planners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-planners-ompl, pilz-industrial-motion-planner }:
 buildRosPackage {
   pname = "ros-humble-moveit-planners";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "342c063471efabe1937c7f59e734c6135df256d44edd24a1ef1fa017a8925587";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_planners/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "8f164da760600011b83e195d18534501f8580ff514df200387e69ac7122456ed";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-plugins/default.nix b/distros/humble/moveit-plugins/default.nix
index 848bda999a..a0a4f9d508 100644
--- a/distros/humble/moveit-plugins/default.nix
+++ b/distros/humble/moveit-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-simple-controller-manager }:
 buildRosPackage {
   pname = "ros-humble-moveit-plugins";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_plugins/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "6a546bd233b1740083372fcc59c90071f8db41da67aacdd6975e72d228458982";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_plugins/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "56e6db623e76ca1b32ddd98997cd0d19424791cb7895ae900eef054de153ff45";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix b/distros/humble/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
index 7758e5613b..9c4dc129ec 100644
--- a/distros/humble/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
+++ b/distros/humble/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, moveit-core, pluginlib, rclcpp, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl }:
 buildRosPackage {
   pname = "ros-humble-moveit-resources-prbt-ikfast-manipulator-plugin";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_ikfast_manipulator_plugin/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "817bcc70f37624f259e33ae1fac33f72bfbcb51ddf4aa55241a3ecec1b608425";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_ikfast_manipulator_plugin/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "8a8a5220caf887ed1501ebbad8db6e2120b4a0a469854dbdb3641f8877befa1f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-resources-prbt-moveit-config/default.nix b/distros/humble/moveit-resources-prbt-moveit-config/default.nix
index 88bbc15e2d..61b9b27039 100644
--- a/distros/humble/moveit-resources-prbt-moveit-config/default.nix
+++ b/distros/humble/moveit-resources-prbt-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-support, moveit-ros-move-group, robot-state-publisher, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-humble-moveit-resources-prbt-moveit-config";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_moveit_config/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "dc41757555736eb9bad37751d7bd74ce7f4d2c26b9ac7e7a1b9075447d8fb574";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_moveit_config/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "f32c60577356e5b3f662973ae7401b42de16706f269c047785ac821aa7145031";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-resources-prbt-pg70-support/default.nix b/distros/humble/moveit-resources-prbt-pg70-support/default.nix
index 8c29dea912..eeb6698ec4 100644
--- a/distros/humble/moveit-resources-prbt-pg70-support/default.nix
+++ b/distros/humble/moveit-resources-prbt-pg70-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-moveit-config, moveit-resources-prbt-support, xacro }:
 buildRosPackage {
   pname = "ros-humble-moveit-resources-prbt-pg70-support";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_pg70_support/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "6cddc50396824bff772407e67307e29ec48d4aab68f088013fdbf264e48b55fb";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_pg70_support/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "2fc4a06abcce8847af1241cb7844866df79a8bc813f184eb5d96fdf7e028647a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-resources-prbt-support/default.nix b/distros/humble/moveit-resources-prbt-support/default.nix
index ca12b64148..de2c95a9bb 100644
--- a/distros/humble/moveit-resources-prbt-support/default.nix
+++ b/distros/humble/moveit-resources-prbt-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, xacro }:
 buildRosPackage {
   pname = "ros-humble-moveit-resources-prbt-support";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_support/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "cf43a55288e7af0a87ec1248e44cec9bf6abaf51bd7b397b8dfbf0beea30e772";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_resources_prbt_support/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "6671aca6df9cdbe25302ca950b981e0e6a1ce8ec71ab5fe721a4be876a0a8308";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-benchmarks/default.nix b/distros/humble/moveit-ros-benchmarks/default.nix
index 9102c7460f..ae63bc364a 100644
--- a/distros/humble/moveit-ros-benchmarks/default.nix
+++ b/distros/humble/moveit-ros-benchmarks/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, boost, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-ros-planning, moveit-ros-warehouse, pluginlib, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-benchmarks";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_benchmarks/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "09625f3e5817569b1cd85917196652be91ff98621ed34bac205291a82d9a24f2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_benchmarks/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "f964b5819ff5b63b8ae810b14e24bf92396225de0b6556c8096bef23282203d8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-control-interface/default.nix b/distros/humble/moveit-ros-control-interface/default.nix
index bd126af4e9..94707643aa 100644
--- a/distros/humble/moveit-ros-control-interface/default.nix
+++ b/distros/humble/moveit-ros-control-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager-msgs, moveit-common, moveit-core, moveit-simple-controller-manager, pluginlib, rclcpp-action, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-control-interface";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_control_interface/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "f215fcf281b345f83f74919eaa4f977265b0fc79963da349e0450a2e3b5b22c2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_control_interface/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "2ad12ede82ba2bf987c9aea0835ee47c06d84e62e2f34e4e01148ab7d62fa806";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-move-group/default.nix b/distros/humble/moveit-ros-move-group/default.nix
index 8ebae8303e..bfc0e7240e 100644
--- a/distros/humble/moveit-ros-move-group/default.nix
+++ b/distros/humble/moveit-ros-move-group/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-move-group";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_move_group/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "39db31a7e30e1a80d746ff60531af45a5b1c20344dfbe4ec5f67273017ec68c8";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_move_group/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "cc1dd334b9dc50299f36ae381485e726b1417719e4702a6833a7896bc6bd69f8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-occupancy-map-monitor/default.nix b/distros/humble/moveit-ros-occupancy-map-monitor/default.nix
index e6b01cf03b..9b497eefc7 100644
--- a/distros/humble/moveit-ros-occupancy-map-monitor/default.nix
+++ b/distros/humble/moveit-ros-occupancy-map-monitor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometric-shapes, moveit-common, moveit-core, moveit-msgs, octomap, pluginlib, rclcpp, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-occupancy-map-monitor";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_occupancy_map_monitor/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "23e7c980c26ea8aada8df4ad7d9414982c0ec51c28332bb9f7463403fc26923e";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_occupancy_map_monitor/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "594f4b7d67a81f254669e89ff519453d6e7a0fa389a02bb0ef1fcb98f486576e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-perception/default.nix b/distros/humble/moveit-ros-perception/default.nix
index cc45e55843..8fc93a2ae5 100644
--- a/distros/humble/moveit-ros-perception/default.nix
+++ b/distros/humble/moveit-ros-perception/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, moveit-ros-planning, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-perception";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_perception/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "156fa8b5eadace41233c93284d21ce12df2268de4800dcfdd8b561c43f041601";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_perception/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "08ecb4b44db4e2d39654b7fee0a8495fb6a76d807a2e709f8df07563ca71f6fe";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-planning-interface/default.nix b/distros/humble/moveit-ros-planning-interface/default.nix
index 39e7bc3841..3468eb360b 100644
--- a/distros/humble/moveit-ros-planning-interface/default.nix
+++ b/distros/humble/moveit-ros-planning-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, eigen, eigen3-cmake-module, geometry-msgs, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-ros-move-group, moveit-ros-planning, moveit-ros-warehouse, moveit-simple-controller-manager, python3, rclcpp, rclcpp-action, rclpy, ros-testing, rviz2, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-planning-interface";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_planning_interface/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "8ddac69d8995ab51b17699a6911dd9f40e4a568f1226a89e5066222217b1de8a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_planning_interface/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "b02cf19244cc781e398112a9d4d08e8dd84432d1960fa470bfccede62c5f49f3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-planning/default.nix b/distros/humble/moveit-ros-planning/default.nix
index 760d41e499..54a093a751 100644
--- a/distros/humble/moveit-ros-planning/default.nix
+++ b/distros/humble/moveit-ros-planning/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, ros-testing, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-planning";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_planning/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "6191d9ae4028264b3c4bf08afe542bea38ca80130b7ba33d0a3a8a6c8361dd1c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_planning/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "6acbd9248fe92a05afb3a9d7d5b3375bcd71e6e884a39c86148290449d8af275";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-robot-interaction/default.nix b/distros/humble/moveit-ros-robot-interaction/default.nix
index 9c991ccb16..ef380be18b 100644
--- a/distros/humble/moveit-ros-robot-interaction/default.nix
+++ b/distros/humble/moveit-ros-robot-interaction/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, interactive-markers, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-robot-interaction";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_robot_interaction/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "51c690f15b2b0ea9d1623fc3e8c49bdffe348f233abae5e6667717f3f43098a4";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_robot_interaction/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "533b0967ee511163348feb973d75d360cddaee5723b8f390725abb5e09413523";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-visualization/default.nix b/distros/humble/moveit-ros-visualization/default.nix
index 0db23e64fe..4fdd0e6199 100644
--- a/distros/humble/moveit-ros-visualization/default.nix
+++ b/distros/humble/moveit-ros-visualization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, eigen, geometric-shapes, interactive-markers, moveit-common, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-warehouse, object-recognition-msgs, pkg-config, pluginlib, qt5, rclcpp, rclpy, rviz2, tf2-eigen }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-visualization";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_visualization/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "9b99d2a6942431a44b4212669da686266de659f12fdc79ca9b8ac2e7a7e37054";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_visualization/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "b09635d98e3027d74a4105d95144b9fa34b213f4fff42fe4a1430f64faa14836";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros-warehouse/default.nix b/distros/humble/moveit-ros-warehouse/default.nix
index aecfc7467f..8468ecbe57 100644
--- a/distros/humble/moveit-ros-warehouse/default.nix
+++ b/distros/humble/moveit-ros-warehouse/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros-warehouse";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_warehouse/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "aba17c05868ccf8e59c736b3b67a89e24a924d0048680dd62749eb19f9f875eb";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros_warehouse/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "d7cea46c881d18bc49bade1fbd1af0758ee363693de34036b4fa81c3b91d1379";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-ros/default.nix b/distros/humble/moveit-ros/default.nix
index e8df1a0dbb..a6e29d63d3 100644
--- a/distros/humble/moveit-ros/default.nix
+++ b/distros/humble/moveit-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-ros-benchmarks, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-visualization, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-humble-moveit-ros";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "c9130953382833021a46cca7b099dbd17ee5dfffd75aeb3b0c2ac70b2bdd6954";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_ros/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "16a157064b7cd3545afbfaa940e6d8a865963c4a09146172f6ad66473d047c0b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-runtime/default.nix b/distros/humble/moveit-runtime/default.nix
index 1b1ffb2256..8abdd403cb 100644
--- a/distros/humble/moveit-runtime/default.nix
+++ b/distros/humble/moveit-runtime/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros-move-group, moveit-ros-perception, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-humble-moveit-runtime";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_runtime/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "9732a5b3a254d89398f1da2774aa0e51a9682460f67fb7d3ea0572a4e69237cc";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_runtime/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "2b30848b7ce2c56e194b021e158c470c83221d1eb479061588511a135e474681";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-servo/default.nix b/distros/humble/moveit-servo/default.nix
index 0a06d25692..371e33b5bc 100644
--- a/distros/humble/moveit-servo/default.nix
+++ b/distros/humble/moveit-servo/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, controller-manager, geometry-msgs, gripper-controllers, joint-state-broadcaster, joint-trajectory-controller, joy, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, pluginlib, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-moveit-servo";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_servo/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "17c1cdd5fd109409ff273715238b217d4bf3cc4c50ce43597a3ef2b2be3b1fee";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_servo/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "83d6233c0b9cbc8eaba4bc6ba63df7b5b9e7b61ac49f9f23ca76f6ce288a2281";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-setup-app-plugins/default.nix b/distros/humble/moveit-setup-app-plugins/default.nix
index d302a62e37..2601fea7dc 100644
--- a/distros/humble/moveit-setup-app-plugins/default.nix
+++ b/distros/humble/moveit-setup-app-plugins/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp }:
+{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-app-plugins";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_app_plugins/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "5931a2a00799054a75ffa18457bad05fb5840b161045e4bf8b61cefc173095b9";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_app_plugins/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "06a5b0f77e8b69219e2098deaeb8b732d335efa7b2d62c0a99985d8dee0f6b02";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-clang-format ament-cmake-gtest ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ ament-index-cpp moveit-ros-visualization moveit-setup-framework pluginlib rclcpp ];
+  propagatedBuildInputs = [ ament-index-cpp moveit-configs-utils moveit-ros-visualization moveit-setup-framework pluginlib rclcpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/humble/moveit-setup-assistant/default.nix b/distros/humble/moveit-setup-assistant/default.nix
index 07f809e399..5bdd056794 100644
--- a/distros/humble/moveit-setup-assistant/default.nix
+++ b/distros/humble/moveit-setup-assistant/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-resources-panda-moveit-config, moveit-setup-app-plugins, moveit-setup-controllers, moveit-setup-core-plugins, moveit-setup-framework, moveit-setup-srdf-plugins, pluginlib, qt5, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-assistant";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_assistant/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "1e871c66920a28b23b96bbf75f687476019f1204e41e8c53f3e2d7df2e416a12";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_assistant/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "2ab9e159e948492e739154241ce135a390bc1341b0a6a0e29df4210ea382883d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-setup-controllers/default.nix b/distros/humble/moveit-setup-controllers/default.nix
index 49ce48cfc7..2cf1b3ecfc 100644
--- a/distros/humble/moveit-setup-controllers/default.nix
+++ b/distros/humble/moveit-setup-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-setup-framework, pluginlib, rclcpp }:
+{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-controllers";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_controllers/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "c311611f974dce1e6405d44196e271cb47f127da8f19ab92318424bd8d84b8fe";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_controllers/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "99400240b25f2755e3c4251702e1518b46326326fb56a013dc92ff44063b793c";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  checkInputs = [ ament-clang-format ament-cmake-gtest ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto moveit-resources-fanuc-moveit-config moveit-resources-panda-moveit-config ];
+  checkInputs = [ ament-clang-format ament-cmake-gtest ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto moveit-configs-utils moveit-resources-fanuc-moveit-config moveit-resources-panda-moveit-config ];
   propagatedBuildInputs = [ ament-index-cpp moveit-setup-framework pluginlib rclcpp ];
   nativeBuildInputs = [ ament-cmake ];
 
diff --git a/distros/humble/moveit-setup-core-plugins/default.nix b/distros/humble/moveit-setup-core-plugins/default.nix
index c1f02df829..d25940609c 100644
--- a/distros/humble/moveit-setup-core-plugins/default.nix
+++ b/distros/humble/moveit-setup-core-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-core-plugins";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_core_plugins/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "3f25c69c9737022727e1074dd717046458d555810e7f89db4b81ea8537e5adc4";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_core_plugins/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "4a1c24d1b90c6d75f216c938cd27202ae41dcb57b26890123c435052329ef48f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-setup-framework/default.nix b/distros/humble/moveit-setup-framework/default.nix
index 3216783fbe..8d0e20304f 100644
--- a/distros/humble/moveit-setup-framework/default.nix
+++ b/distros/humble/moveit-setup-framework/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-common, moveit-core, moveit-ros-planning, moveit-ros-visualization, pluginlib, rclcpp, rviz-common, rviz-rendering, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-framework";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_framework/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "dad0785da53e0e4537b07dd49a9bf33d56e044f38200331b8dc97b760ae3c064";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_framework/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "1161dc253ae9148aa06c4a9fc806a91287c6faab88dd5b92cc70b448a7cc0b80";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-setup-srdf-plugins/default.nix b/distros/humble/moveit-setup-srdf-plugins/default.nix
index 0b8803b29c..e53cab9df1 100644
--- a/distros/humble/moveit-setup-srdf-plugins/default.nix
+++ b/distros/humble/moveit-setup-srdf-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-lint-auto, moveit-resources-fanuc-description, moveit-setup-framework, pluginlib }:
 buildRosPackage {
   pname = "ros-humble-moveit-setup-srdf-plugins";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_srdf_plugins/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "b9f9abf660c183aa427342ce7c22e052a2efd06d22c241c47ebad22a440a4a0c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_setup_srdf_plugins/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "3ebf18f00bbdd53130fce71c4cb33d18153afbd6746cde23f04a3a1e0f1ec8a9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit-simple-controller-manager/default.nix b/distros/humble/moveit-simple-controller-manager/default.nix
index b8e3a2cc6e..ce72933605 100644
--- a/distros/humble/moveit-simple-controller-manager/default.nix
+++ b/distros/humble/moveit-simple-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, control-msgs, moveit-common, moveit-core, pluginlib, rclcpp, rclcpp-action }:
 buildRosPackage {
   pname = "ros-humble-moveit-simple-controller-manager";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_simple_controller_manager/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "ae6e6c39c7ee9741a4b44152ad8d1e14bf789d14df47455195c3bb881dda7889";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit_simple_controller_manager/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "3c17d27e89bff5eddf985a03af5b50978211336094df1a1dde7377ec168e78c4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/moveit/default.nix b/distros/humble/moveit/default.nix
index 7f228ec62d..6cfd24c9a5 100644
--- a/distros/humble/moveit/default.nix
+++ b/distros/humble/moveit/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros, moveit-setup-assistant }:
 buildRosPackage {
   pname = "ros-humble-moveit";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "ee0fdf5afcae1d95cc79f98eba19931214107dd69ad899ffae036aef8e517b33";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/moveit/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "6b4548e003deb4fc5e3c8038ca32e7dc780a2220cbde62e62e69ac7e082837ce";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/mp2p-icp/default.nix b/distros/humble/mp2p-icp/default.nix
index abbde226b4..a58eb7fd98 100644
--- a/distros/humble/mp2p-icp/default.nix
+++ b/distros/humble/mp2p-icp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-humble-mp2p-icp";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mp2p_icp/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "17fb5a522cc6d41a6884a7c9c933d477551e90d57e249890dfb426db2afd25a4";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/humble/mp2p_icp/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "38abe20f7ac16fed544c489cc067c39c72561592a6df49a302565041084ad5fe";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mqtt-client/default.nix b/distros/humble/mqtt-client/default.nix
new file mode 100644
index 0000000000..3593ec8077
--- /dev/null
+++ b/distros/humble/mqtt-client/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, mqtt-client-interfaces, paho-mqtt-c, paho-mqtt-cpp, rclcpp, rcpputils, ros-environment, std-msgs }:
+buildRosPackage {
+  pname = "ros-humble-mqtt-client";
+  version = "2.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ika-rwth-aachen/mqtt_client-release/archive/release/humble/mqtt_client/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "a644d682d807ccfaaf1084c2b2793c9e39ab55b523da17f8fead561db69632b9";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ mqtt-client-interfaces paho-mqtt-c paho-mqtt-cpp rclcpp rcpputils ros-environment std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol.'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/humble/mrpt2/default.nix b/distros/humble/mrpt2/default.nix
index 0c3cd40c5c..e97e747d12 100644
--- a/distros/humble/mrpt2/default.nix
+++ b/distros/humble/mrpt2/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK32, xorg, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt2";
   version = "2.10.0-r1";
@@ -14,7 +14,7 @@ buildRosPackage {
   };
 
   buildType = "cmake";
-  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK zlib ];
+  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK32 zlib ];
   propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv rclcpp rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mvsim/default.nix b/distros/humble/mvsim/default.nix
index 8328a10c7b..84cea496e1 100644
--- a/distros/humble/mvsim/default.nix
+++ b/distros/humble/mvsim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, boost, cmake, cppzmq, mrpt2, nav-msgs, protobuf, python3, python3Packages, pythonPackages, ros-environment, ros2launch, sensor-msgs, tf2, tf2-geometry-msgs, unzip, visualization-msgs, wget }:
 buildRosPackage {
   pname = "ros-humble-mvsim";
-  version = "0.8.0-r1";
+  version = "0.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/humble/mvsim/0.8.0-1.tar.gz";
-    name = "0.8.0-1.tar.gz";
-    sha256 = "25279effce76ac05bdbfc80091f01bec92b20080ed127d68c0d9208fd130b151";
+    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/humble/mvsim/0.8.1-1.tar.gz";
+    name = "0.8.1-1.tar.gz";
+    sha256 = "41d9c45fe7e939dcd3eb2ba0b2622b9763d3cb89559c09cb50c9cc0d366729a3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/network-interface/default.nix b/distros/humble/network-interface/default.nix
new file mode 100644
index 0000000000..5015f894bd
--- /dev/null
+++ b/distros/humble/network-interface/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake-auto, std-msgs }:
+buildRosPackage {
+  pname = "ros-humble-network-interface";
+  version = "2003.1.1-r2";
+
+  src = fetchurl {
+    url = "https://github.com/astuff/network_interface-release/archive/release/humble/network_interface/2003.1.1-2.tar.gz";
+    name = "2003.1.1-2.tar.gz";
+    sha256 = "a32a68f9a9beaed917e398348b2631bbe5491e5013a2cbb6dd6627365c6255e9";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake-auto ];
+  propagatedBuildInputs = [ std-msgs ];
+  nativeBuildInputs = [ ament-cmake-auto ];
+
+  meta = {
+    description = ''Network interfaces and messages.'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/humble/pilz-industrial-motion-planner-testutils/default.nix b/distros/humble/pilz-industrial-motion-planner-testutils/default.nix
index 3d32e07d91..0974fe85a2 100644
--- a/distros/humble/pilz-industrial-motion-planner-testutils/default.nix
+++ b/distros/humble/pilz-industrial-motion-planner-testutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen3-cmake-module, moveit-common, moveit-core, moveit-msgs, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-humble-pilz-industrial-motion-planner-testutils";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/pilz_industrial_motion_planner_testutils/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "02539071e04afd0b8dd3e493563a6dd4553e58f35041b2c01ad1fd54ac618f01";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/pilz_industrial_motion_planner_testutils/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "af7c7abd92cbb520f2a8385e2de7fb396cd85c85b5ec8f06031f84540fad0501";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/pilz-industrial-motion-planner/default.nix b/distros/humble/pilz-industrial-motion-planner/default.nix
index 6faf228cfe..59cf6c3e8d 100644
--- a/distros/humble/pilz-industrial-motion-planner/default.nix
+++ b/distros/humble/pilz-industrial-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, boost, eigen3-cmake-module, geometry-msgs, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-prbt-moveit-config, moveit-resources-prbt-pg70-support, moveit-resources-prbt-support, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, orocos-kdl-vendor, pilz-industrial-motion-planner-testutils, pluginlib, rclcpp, ros-testing, tf2, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-pilz-industrial-motion-planner";
-  version = "2.5.4-r1";
+  version = "2.5.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/pilz_industrial_motion_planner/2.5.4-1.tar.gz";
-    name = "2.5.4-1.tar.gz";
-    sha256 = "1ec8f83454a995d83a3a808e974e805ca784650afe437728008e298eefd458a3";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/humble/pilz_industrial_motion_planner/2.5.5-1.tar.gz";
+    name = "2.5.5-1.tar.gz";
+    sha256 = "d23b71f7598f15e47cd79aacb738e826dbfef34409bf010e43654e8512202ee8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/reach-ros/default.nix b/distros/humble/reach-ros/default.nix
new file mode 100644
index 0000000000..b4de0674c0
--- /dev/null
+++ b/distros/humble/reach-ros/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, interactive-markers, joint-state-publisher, moveit-core, moveit-msgs, moveit-ros-planning-interface, reach, robot-state-publisher, sensor-msgs, tf2-eigen, visualization-msgs, xacro }:
+buildRosPackage {
+  pname = "ros-humble-reach-ros";
+  version = "1.3.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/reach_ros2-release/archive/release/humble/reach_ros/1.3.2-1.tar.gz";
+    name = "1.3.2-1.tar.gz";
+    sha256 = "4213994e610a04a51997ba083bc307867bd0f1fb0fe000ebd4e382e796a57ed5";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  propagatedBuildInputs = [ interactive-markers joint-state-publisher moveit-core moveit-msgs moveit-ros-planning-interface reach robot-state-publisher sensor-msgs tf2-eigen visualization-msgs xacro ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = ''The reach_ros package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/humble/reach/default.nix b/distros/humble/reach/default.nix
new file mode 100644
index 0000000000..a9f3c1e5cd
--- /dev/null
+++ b/distros/humble/reach/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, boost, boost-plugin-loader, cmake, eigen, gtest, llvmPackages, pcl, ros-industrial-cmake-boilerplate, yaml-cpp }:
+buildRosPackage {
+  pname = "ros-humble-reach";
+  version = "1.5.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/reach-release/archive/release/humble/reach/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "f24ae9d69dd24d6a0bf49eebc743a7b769eb0ba1657c3264e197a685d294e4e5";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  checkInputs = [ gtest ];
+  propagatedBuildInputs = [ boost boost-plugin-loader eigen llvmPackages.openmp pcl ros-industrial-cmake-boilerplate yaml-cpp ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''The reach package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/humble/ros2-control-test-assets/default.nix b/distros/humble/ros2-control-test-assets/default.nix
index a155809634..b67f2c6061 100644
--- a/distros/humble/ros2-control-test-assets/default.nix
+++ b/distros/humble/ros2-control-test-assets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-humble-ros2-control-test-assets";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2_control_test_assets/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "542d0259dc5e89e9f5b8777f39c93a8a5fffd48b20c4f4919f3c20f348c1e4b3";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2_control_test_assets/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "f79baafd8c77b244018ca34fa049a034613756a6360d07fa498ac54a171b7554";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ros2-control/default.nix b/distros/humble/ros2-control/default.nix
index 30935ebf2b..13094f07b2 100644
--- a/distros/humble/ros2-control/default.nix
+++ b/distros/humble/ros2-control/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, controller-interface, controller-manager, controller-manager-msgs, hardware-interface, joint-limits, ros2-control-test-assets, ros2controlcli, transmission-interface }:
 buildRosPackage {
   pname = "ros-humble-ros2-control";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2_control/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "4a480a69cafcbd8d74057d123682ce77dc12e3c8b8d4beedf3dd1c4f10a6c9fb";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2_control/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "b6e1ad3fb601e81f067df52ad40d118892fdd4e8224f84af8da0f85bfb58353c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ros2-ouster/default.nix b/distros/humble/ros2-ouster/default.nix
new file mode 100644
index 0000000000..2e82f080eb
--- /dev/null
+++ b/distros/humble/ros2-ouster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, launch, launch-ros, libtins, ouster-msgs, pcl, pcl-conversions, rclcpp, rclcpp-components, rclcpp-lifecycle, sensor-msgs, std-srvs, tf2-geometry-msgs, tf2-ros, visualization-msgs }:
+buildRosPackage {
+  pname = "ros-humble-ros2-ouster";
+  version = "0.4.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_ouster_drivers-release/archive/release/humble/ros2_ouster/0.4.2-1.tar.gz";
+    name = "0.4.2-1.tar.gz";
+    sha256 = "6de63b6b84d56891bd82c890d839ee8cf70f03f66822a2b2cb5a2ce18b71d7dd";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ builtin-interfaces geometry-msgs launch launch-ros libtins ouster-msgs pcl pcl-conversions rclcpp rclcpp-components rclcpp-lifecycle sensor-msgs std-srvs tf2-geometry-msgs tf2-ros visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''ROS2 Drivers for the Ouster OS-1 Lidar'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/humble/ros2controlcli/default.nix b/distros/humble/ros2controlcli/default.nix
index decd4fd2f8..eb700c8cdc 100644
--- a/distros/humble/ros2controlcli/default.nix
+++ b/distros/humble/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-humble-ros2controlcli";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2controlcli/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "8ab12bf64e58d1d4668a527f0200e6cf19fc1672730e3c1f630981d455c36414";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/ros2controlcli/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "8e06730489aa57072f3e159c4858346315b43f83c0a359ced9e2fe5629933406";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/rqt-controller-manager/default.nix b/distros/humble/rqt-controller-manager/default.nix
index 064ef517b1..e2fe7ae3fb 100644
--- a/distros/humble/rqt-controller-manager/default.nix
+++ b/distros/humble/rqt-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-humble-rqt-controller-manager";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/rqt_controller_manager/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "e1eaeb5f3e058c849a5265a38d9fe9c7b3d5eb67e76a02f76cb10b1f20a60c1a";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/rqt_controller_manager/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "999d569f22ec40ac9a6a58a268f6f133eef01d5dc7baf6beb3adcfbc9c13df4a";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/swri-cli-tools/default.nix b/distros/humble/swri-cli-tools/default.nix
index dc04c739b1..180f3ff93c 100644
--- a/distros/humble/swri-cli-tools/default.nix
+++ b/distros/humble/swri-cli-tools/default.nix
@@ -2,22 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, marti-introspection-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, marti-introspection-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli }:
 buildRosPackage {
   pname = "ros-humble-swri-cli-tools";
-  version = "3.5.2-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_cli_tools/3.5.2-1.tar.gz";
-    name = "3.5.2-1.tar.gz";
-    sha256 = "b4c3c7c9d450e56b04344f84a160d89c64ce35d417543db48e265c4f596fa5af";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_cli_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "27a50002e2cf61143d9ab7514d2a68fc3b27874b2f6effe128e7d94705e9aaab";
   };
 
   buildType = "ament_python";
-  buildInputs = [ ament-cmake ];
-  checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ marti-introspection-msgs ];
-  nativeBuildInputs = [ ament-cmake ];
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ];
+  propagatedBuildInputs = [ marti-introspection-msgs python3Packages.natsort rcl-interfaces rclpy ros2cli ];
 
   meta = {
     description = ''Command line tools for introspecting ROS systems'';
diff --git a/distros/humble/swri-console-util/default.nix b/distros/humble/swri-console-util/default.nix
index 7141172443..ef7cccc751 100644
--- a/distros/humble/swri-console-util/default.nix
+++ b/distros/humble/swri-console-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-swri-console-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_console_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "1caeb007781050cf04ab2ee53a5bb2c125a29e02d85b5dcf73c4f7a77ad1926f";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_console_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "621d97936c73996ed444174431efea67d1ae261069220e63b15e49b77d3239d1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-dbw-interface/default.nix b/distros/humble/swri-dbw-interface/default.nix
index 7f5563c177..4a99f69b68 100644
--- a/distros/humble/swri-dbw-interface/default.nix
+++ b/distros/humble/swri-dbw-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-humble-swri-dbw-interface";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_dbw_interface/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "8badda81cd24bb38e5847d2e7a492d8e2927ac5cf17a228dbf628a47025845fa";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_dbw_interface/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "f222cb4ac2adacaae59e9e9c92cca650294f493240dac239ac3dfa8aee3046d7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-geometry-util/default.nix b/distros/humble/swri-geometry-util/default.nix
index e8dffdfe2d..dd426c9e75 100644
--- a/distros/humble/swri-geometry-util/default.nix
+++ b/distros/humble/swri-geometry-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, cv-bridge, eigen, geos, pkg-config, rclcpp, tf2 }:
 buildRosPackage {
   pname = "ros-humble-swri-geometry-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_geometry_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "3681d3862936c30eb1b572b788e88423367c62234f11691fd96d455c7a70cf4d";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_geometry_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "0901548b447f2aae19615dd523b89c130d3b970e9c20e97d5aea20f1a78ac3b7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-image-util/default.nix b/distros/humble/swri-image-util/default.nix
index 5a59d6b59d..75c4e5fe76 100644
--- a/distros/humble/swri-image-util/default.nix
+++ b/distros/humble/swri-image-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, camera-calibration-parsers, cv-bridge, eigen, geometry-msgs, image-geometry, image-transport, message-filters, nav-msgs, pkg-config, rclcpp, rclcpp-components, rclpy, std-msgs, swri-geometry-util, swri-math-util, swri-opencv-util, swri-roscpp, tf2 }:
 buildRosPackage {
   pname = "ros-humble-swri-image-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_image_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "e571ae5a85d89387478addc93371f61f67b39cf797f16b6a4b92f5f68e884f12";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_image_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "71de414a260ab122e864b24700d46b80d397405c5653f1c5a63b3035fd35c904";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-math-util/default.nix b/distros/humble/swri-math-util/default.nix
index 5504b85a7b..54b50f7342 100644
--- a/distros/humble/swri-math-util/default.nix
+++ b/distros/humble/swri-math-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-swri-math-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_math_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "eb3d13b68c2b9030543058d99c56e415f1bcdf941496d904808b3691bb313f20";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_math_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "512601eb7da624ab23cf69585c68eaa3ceaf38472e7e66a756af441e5dd90711";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-opencv-util/default.nix b/distros/humble/swri-opencv-util/default.nix
index 90b69e6c16..edd0713119 100644
--- a/distros/humble/swri-opencv-util/default.nix
+++ b/distros/humble/swri-opencv-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, cv-bridge, swri-math-util }:
 buildRosPackage {
   pname = "ros-humble-swri-opencv-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_opencv_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "66390b6b879b21faa3c134325fc1b607e0c36728315575d1d3f7299457e34d37";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_opencv_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "a268102e5476f63ed4bd3e6df0aea5331dc42ae7d519ecf61846eeb4e90640a3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-prefix-tools/default.nix b/distros/humble/swri-prefix-tools/default.nix
index b06691a776..dcfd3c7cb7 100644
--- a/distros/humble/swri-prefix-tools/default.nix
+++ b/distros/humble/swri-prefix-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-swri-prefix-tools";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_prefix_tools/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "d60f3057b57e23f8338b9866d51d24fea1c866fe42c4200a5ddfa27c6eb0a68d";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_prefix_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "c7ddc88e77561db511437047d0f96299baa4eb814e8ddf4438283fc68a89988c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-roscpp/default.nix b/distros/humble/swri-roscpp/default.nix
index a5d75e6444..b7d1f473a4 100644
--- a/distros/humble/swri-roscpp/default.nix
+++ b/distros/humble/swri-roscpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, diagnostic-updater, gtest, marti-common-msgs, nav-msgs, rclcpp, ros-environment, rosidl-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-humble-swri-roscpp";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_roscpp/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "2140b29e67afe33740842aa31d842fb7149d873b7a45af5fe2addfec1ecbdc2d";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_roscpp/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "d681f8742714d8257758fe23f3128622b4d2c0f1445c31c939d452821fbca93a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-route-util/default.nix b/distros/humble/swri-route-util/default.nix
index 69c44b2101..3ee2ddd455 100644
--- a/distros/humble/swri-route-util/default.nix
+++ b/distros/humble/swri-route-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, marti-common-msgs, marti-nav-msgs, rclcpp, swri-geometry-util, swri-math-util, swri-roscpp, swri-transform-util, tf2-geometry-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-humble-swri-route-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_route_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "9676d299953eb46851349db39820639e30b62c4ed7861ee39a1a8ecb505d7db6";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_route_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "67c5bd8751023db6415ef8dca1f98637b76bdfa4eaba770c7127709c2cd54fd2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-serial-util/default.nix b/distros/humble/swri-serial-util/default.nix
index 6239915dfc..cbc7230795 100644
--- a/distros/humble/swri-serial-util/default.nix
+++ b/distros/humble/swri-serial-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost }:
 buildRosPackage {
   pname = "ros-humble-swri-serial-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_serial_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "070233818d40aa62727c2a4c343f1eb46c37939e50666221d2e245665f9a8530";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_serial_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "2c8a63606dd642185456dcfa9f88b0e6b5fd18abb3e6b45392ad3145f267069a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-system-util/default.nix b/distros/humble/swri-system-util/default.nix
index df77b21180..5edffd58e0 100644
--- a/distros/humble/swri-system-util/default.nix
+++ b/distros/humble/swri-system-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-swri-system-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_system_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "7e7d715006189b74d90650b233482b36809aea1754c946def494fdf414fde9bc";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_system_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "69a63855052664ea5b3866c562e6faa70baf6995b470edf5058295681792365c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-transform-util/default.nix b/distros/humble/swri-transform-util/default.nix
index b41e7abe99..81cb120e30 100644
--- a/distros/humble/swri-transform-util/default.nix
+++ b/distros/humble/swri-transform-util/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, boost, cv-bridge, diagnostic-msgs, diagnostic-updater, geographic-msgs, geometry-msgs, geos, gps-msgs, launch-xml, marti-nav-msgs, pkg-config, proj, python3Packages, rcl-interfaces, rclcpp, rclcpp-components, rclpy, sensor-msgs, swri-math-util, swri-roscpp, tf2, tf2-geometry-msgs, tf2-py, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, boost, cv-bridge, diagnostic-msgs, diagnostic-updater, geographic-msgs, geometry-msgs, geos, gps-msgs, marti-nav-msgs, pkg-config, proj, python3Packages, rcl-interfaces, rclcpp, rclcpp-components, rclpy, sensor-msgs, swri-math-util, swri-roscpp, tf2, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-humble-swri-transform-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_transform_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "90c617a1fe190f1f1980b18ca7a2d93004f4a86d345ee35f8575c2b940d3bb8a";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/humble/swri_transform_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "db0399992637af44d782de271bf234973228fb6aed7e1d792dfb67ed781d1008";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python pkg-config ];
-  propagatedBuildInputs = [ boost cv-bridge diagnostic-msgs diagnostic-updater geographic-msgs geometry-msgs geos gps-msgs launch-xml marti-nav-msgs proj python3Packages.numpy rcl-interfaces rclcpp rclcpp-components rclpy sensor-msgs swri-math-util swri-roscpp tf2 tf2-geometry-msgs tf2-py tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ boost cv-bridge diagnostic-msgs diagnostic-updater geographic-msgs geometry-msgs geos gps-msgs marti-nav-msgs proj python3Packages.numpy rcl-interfaces rclcpp rclcpp-components rclpy sensor-msgs swri-math-util swri-roscpp tf2 tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python pkg-config ];
 
   meta = {
diff --git a/distros/humble/transmission-interface/default.nix b/distros/humble/transmission-interface/default.nix
index 10e7c85c6c..0ca1bcc042 100644
--- a/distros/humble/transmission-interface/default.nix
+++ b/distros/humble/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, hardware-interface, pluginlib }:
 buildRosPackage {
   pname = "ros-humble-transmission-interface";
-  version = "2.30.0-r1";
+  version = "2.31.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/transmission_interface/2.30.0-1.tar.gz";
-    name = "2.30.0-1.tar.gz";
-    sha256 = "5d8e001fd5ac84cb37f8d61872b447514905f868cbe0ab425207d42a2c6c013e";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/humble/transmission_interface/2.31.0-1.tar.gz";
+    name = "2.31.0-1.tar.gz";
+    sha256 = "31f75e23d848208b9d2eaea96f427054ab5d1ff455388f62f699c9be9ca66a9a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ur-description/default.nix b/distros/humble/ur-description/default.nix
index feba480d19..b1c0746ebf 100644
--- a/distros/humble/ur-description/default.nix
+++ b/distros/humble/ur-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }:
 buildRosPackage {
   pname = "ros-humble-ur-description";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/humble/ur_description/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "539afcd063dfb1cf38cfddb8792c5ce79304ba247fa5841099b9264051ea69c3";
+    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/humble/ur_description/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "9bfe422167239b05395148d8098db1383fef260e58d8957001815ef5c16130de";
   };
 
   buildType = "ament_cmake";
@@ -21,6 +21,6 @@ buildRosPackage {
 
   meta = {
     description = ''URDF description for Universal Robots'';
-    license = with lib.licenses; [ bsd3 ];
+    license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ];
   };
 }
diff --git a/distros/humble/urdf-launch/default.nix b/distros/humble/urdf-launch/default.nix
index 96823d4ec0..a81bbb9582 100644
--- a/distros/humble/urdf-launch/default.nix
+++ b/distros/humble/urdf-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, joint-state-publisher-gui, launch-ros, robot-state-publisher, rviz-common, rviz-default-plugins, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-humble-urdf-launch";
-  version = "0.1.0-r1";
+  version = "0.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/humble/urdf_launch/0.1.0-1.tar.gz";
-    name = "0.1.0-1.tar.gz";
-    sha256 = "22eb4cb5ca1b0c57aa8490b9d0ab88afefab281aa0b9aa22be5d42a13f296a41";
+    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/humble/urdf_launch/0.1.1-1.tar.gz";
+    name = "0.1.1-1.tar.gz";
+    sha256 = "88a118b64b633747b082f0c56120e21c0e38eb40e24548514dd04e7471d0cc71";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/weight-scale-interfaces/default.nix b/distros/humble/weight-scale-interfaces/default.nix
index ecde3b573e..2bc133c798 100644
--- a/distros/humble/weight-scale-interfaces/default.nix
+++ b/distros/humble/weight-scale-interfaces/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }:
+{ lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-humble-weight-scale-interfaces";
-  version = "0.0.1-r1";
+  version = "0.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/TechMagicKK/weight_scale_interfaces-release/archive/release/humble/weight_scale_interfaces/0.0.1-1.tar.gz";
-    name = "0.0.1-1.tar.gz";
-    sha256 = "c23b45efac85df71f7d05f1f3427251eacd80f346714fd1493e68ff8ec29a5ff";
+    url = "https://github.com/TechMagicKK/weight_scale_interfaces-release/archive/release/humble/weight_scale_interfaces/0.0.3-1.tar.gz";
+    name = "0.0.3-1.tar.gz";
+    sha256 = "b8cac8f91ee3a15a4ab41ff5cb7a4919d6cc61f6ec4a001e946caa726b39813b";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake rosidl-default-generators ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ rosidl-default-runtime ];
+  propagatedBuildInputs = [ action-msgs builtin-interfaces rosidl-default-runtime ];
   nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
 
   meta = {
diff --git a/distros/iron/ackermann-steering-controller/default.nix b/distros/iron/ackermann-steering-controller/default.nix
index ca29149763..95f5efc7a4 100644
--- a/distros/iron/ackermann-steering-controller/default.nix
+++ b/distros/iron/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-iron-ackermann-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ackermann_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "9679c23af9d19d11db2b375eb36665ef2a68af6a340a45657c41698f42a0be4b";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ackermann_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "862ea1222318e671f85d19a92b7fd9e711352cc60c015167184ecaa1d79e55ad";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/admittance-controller/default.nix b/distros/iron/admittance-controller/default.nix
index 3dd1cb6e8f..7557bd134f 100644
--- a/distros/iron/admittance-controller/default.nix
+++ b/distros/iron/admittance-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, filters, generate-parameter-library, geometry-msgs, hardware-interface, joint-trajectory-controller, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-admittance-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/admittance_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "23a02caf2ba604c39382e28e21f092031f1115765d572eba5eda53643d4de5c7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/admittance_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "7671269d635a553ca7957c144e128e5f73644cba7b1fdda34c993c6f77b59c27";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-clang-format/default.nix b/distros/iron/ament-clang-format/default.nix
index ed119c2125..1d5f5a2179 100644
--- a/distros/iron/ament-clang-format/default.nix
+++ b/distros/iron/ament-clang-format/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, clang, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-clang-format";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_clang_format/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "d272fa64859383a964484be541c2a06415339d52bb78b798f5336dacaea07f0d";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_clang_format/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "2bfae69d2090f4c803313769130e76203c7c358b767c305aab37ae33ca923588";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-clang-tidy/default.nix b/distros/iron/ament-clang-tidy/default.nix
index 350ad9b549..e7c32d9966 100644
--- a/distros/iron/ament-clang-tidy/default.nix
+++ b/distros/iron/ament-clang-tidy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, clang, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-clang-tidy";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_clang_tidy/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "684c17444c4fe4fdabe1d6013a14c3a9a42fb6c034df042804f917310e78e907";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_clang_tidy/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "079cd244d7ea38e0064fa227f47850d48e77352c27e0223672f927d7fb9d1734";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-cmake-clang-format/default.nix b/distros/iron/ament-cmake-clang-format/default.nix
index 346518660e..cda5164826 100644
--- a/distros/iron/ament-cmake-clang-format/default.nix
+++ b/distros/iron/ament-cmake-clang-format/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-clang-format";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_clang_format/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "41b45fb387d43601cb90e1f1e0f117cd86a0b37dc9bfadcc2d36e81d93fa15c7";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_clang_format/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "714954675a8274eb75550d0aea689ca8eb8769134a5b48c96fab1e05900035f1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-clang-tidy/default.nix b/distros/iron/ament-cmake-clang-tidy/default.nix
index 373b240ccd..ba6ab52622 100644
--- a/distros/iron/ament-cmake-clang-tidy/default.nix
+++ b/distros/iron/ament-cmake-clang-tidy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-tidy, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-clang-tidy";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_clang_tidy/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "d4a99aab1d8f2cf827039ec06a38019376bfb0a7f4e05acdcae046fff0f51f3f";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_clang_tidy/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "c4d1c5e154dd9736d620b93a3ee93cea628175a7ae4a777a2c77462f8013943b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-copyright/default.nix b/distros/iron/ament-cmake-copyright/default.nix
index d02e4d93f8..742b3d16c5 100644
--- a/distros/iron/ament-cmake-copyright/default.nix
+++ b/distros/iron/ament-cmake-copyright/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-copyright }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-copyright";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_copyright/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "8962957da7ae9c864d97c52e654df9111020aac452ebc9b1542effc6d79d255b";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_copyright/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "796d2ee886b8334507bc96e78e48e50a1eee0ceec2bedd99ebba3bd7a7c97ef6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-cppcheck/default.nix b/distros/iron/ament-cmake-cppcheck/default.nix
index 8c3f8c851b..aef3a921c6 100644
--- a/distros/iron/ament-cmake-cppcheck/default.nix
+++ b/distros/iron/ament-cmake-cppcheck/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-cppcheck }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-cppcheck";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_cppcheck/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "f77363aac873bf46762eafeacebe50d18b9dd344f9b27734e7019b758e05442a";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_cppcheck/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "fc0af62119f869c4f3dca8130d0dc54f747e3927590ded9f5b0b7bffd7ddbc3c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-cpplint/default.nix b/distros/iron/ament-cmake-cpplint/default.nix
index 8e5678c27c..674c0fb2ec 100644
--- a/distros/iron/ament-cmake-cpplint/default.nix
+++ b/distros/iron/ament-cmake-cpplint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-cpplint }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-cpplint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_cpplint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "b587f53de473d8089e53311beec61e8e1da7666c5cb2b62f867e7a6bf54f8958";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_cpplint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "31acb712ce2c4737774b2e703b68bb08d31e23b02142058aef2ce1c6d314b04d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-flake8/default.nix b/distros/iron/ament-cmake-flake8/default.nix
index 1b175c219e..d957edbf2a 100644
--- a/distros/iron/ament-cmake-flake8/default.nix
+++ b/distros/iron/ament-cmake-flake8/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-flake8 }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-flake8";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_flake8/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "f55eee47f97238eae0e62a244ca176ffb6c42786332b8a3ffffc62c9cb69465e";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_flake8/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "828ad22ac1ba794cc960e02ba708a6a06e9b837e497e7f46a140a314b6144118";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-lint-cmake/default.nix b/distros/iron/ament-cmake-lint-cmake/default.nix
index 729fe24b84..2f7448d366 100644
--- a/distros/iron/ament-cmake-lint-cmake/default.nix
+++ b/distros/iron/ament-cmake-lint-cmake/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-test, ament-lint-cmake }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-lint-cmake";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_lint_cmake/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "3c2da950c05c5f6c8a3547f72dac7b7ee76533ed2b6112c760676fce8d1de659";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_lint_cmake/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "51ea08dc742096d2c7a0d46ef6013ddf7d70eca8e0c7671d68037ec668608c4a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-mypy/default.nix b/distros/iron/ament-cmake-mypy/default.nix
index 2ed46852a6..b283f67a2e 100644
--- a/distros/iron/ament-cmake-mypy/default.nix
+++ b/distros/iron/ament-cmake-mypy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-mypy }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-mypy";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_mypy/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "670f9d4ee5912947565d52a58ce17ac3ab5c84d5b2255c23ba853972629fb09f";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_mypy/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "be53d19a4d166175f09794b4c9a32996ef475805ebfe4a5b5aaa7c6665ca91d7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-pclint/default.nix b/distros/iron/ament-cmake-pclint/default.nix
index 3f96282544..bc8ab46ae9 100644
--- a/distros/iron/ament-cmake-pclint/default.nix
+++ b/distros/iron/ament-cmake-pclint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-pclint }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-pclint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pclint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "2dd526c4d91de601c695f8ff35e0fc1f8df0d325589454b22de8efb4c7f9a6f0";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pclint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "890dd36741a1307b11b8df857a5842b42111b1c2ec6ce9b0c0ac8bc2c85ab3c6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-pep257/default.nix b/distros/iron/ament-cmake-pep257/default.nix
index 4f26039036..bdf34dce41 100644
--- a/distros/iron/ament-cmake-pep257/default.nix
+++ b/distros/iron/ament-cmake-pep257/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-pep257 }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-pep257";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pep257/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "1754fd3fe9af9a46ce66592ad377cda58eebda38ca5928abccd1c5e49a9fd225";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pep257/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "2360693b364bbe7981cd29f1be1faf30191f94f4d2cfec0690aaeae4083b6434";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-pycodestyle/default.nix b/distros/iron/ament-cmake-pycodestyle/default.nix
index 95e44a45fe..e779a26cae 100644
--- a/distros/iron/ament-cmake-pycodestyle/default.nix
+++ b/distros/iron/ament-cmake-pycodestyle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-pycodestyle }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-pycodestyle";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pycodestyle/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "c2b58e771065b5f300cf0332f85a80f839204853c9960727f8d9fa701d243736";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pycodestyle/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "b6186becefc329bc19a48b119006d9f1c12cdac63b5b87fd9c86242112678401";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-pyflakes/default.nix b/distros/iron/ament-cmake-pyflakes/default.nix
index 8631f82c40..4b0020f6ed 100644
--- a/distros/iron/ament-cmake-pyflakes/default.nix
+++ b/distros/iron/ament-cmake-pyflakes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-pyflakes }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-pyflakes";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pyflakes/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "414cd99c6ab836aff8e4e3a81f201c749371e873a4526d436dd92cdd93ecd6fd";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_pyflakes/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "1e3c777c05de6724c7b8557e2149ff1574e6137be88b59e5313f040da3140d94";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-uncrustify/default.nix b/distros/iron/ament-cmake-uncrustify/default.nix
index 614886b1df..e22c9d7443 100644
--- a/distros/iron/ament-cmake-uncrustify/default.nix
+++ b/distros/iron/ament-cmake-uncrustify/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-uncrustify }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-uncrustify";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_uncrustify/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "b759b422589474e1fe49d5d66479ee9e8c816b9081535e384890af983efc4e0a";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_uncrustify/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "16c590005300fd691b555007ebbc3257449180675dcebc61d174e334b10b2b0d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-cmake-xmllint/default.nix b/distros/iron/ament-cmake-xmllint/default.nix
index aeeba2986c..858d0a618f 100644
--- a/distros/iron/ament-cmake-xmllint/default.nix
+++ b/distros/iron/ament-cmake-xmllint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-lint-cmake, ament-cmake-test, ament-xmllint }:
 buildRosPackage {
   pname = "ros-iron-ament-cmake-xmllint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_xmllint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "87f2036015bd07918ff1bbacda3c8a69764bd6d24f250fb21f8438df6c32f5a2";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cmake_xmllint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "a925c7fd15d0f5c943f159e6abab2fb1bb60172401f9408784aae5a9fb412a8c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-copyright/default.nix b/distros/iron/ament-copyright/default.nix
index 227eb3a220..49d533d699 100644
--- a/distros/iron/ament-copyright/default.nix
+++ b/distros/iron/ament-copyright/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-lint, ament-pep257, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-copyright";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_copyright/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "47da87860c30a273cbfb264fdfcfb471ae73811d5ca9a6847c50098d105f7298";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_copyright/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "4650c963be6c43b1fb0a49f30ad1366e55a07c721dd32c992ec24cbebe7d70d1";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-cppcheck/default.nix b/distros/iron/ament-cppcheck/default.nix
index 39c6d5ea00..fb416e2f0f 100644
--- a/distros/iron/ament-cppcheck/default.nix
+++ b/distros/iron/ament-cppcheck/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cppcheck }:
 buildRosPackage {
   pname = "ros-iron-ament-cppcheck";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cppcheck/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "d03c4a599506acbe526e6195b0d22dab13fd2a5b2d40fa971407b2df256cf10f";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cppcheck/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "e27208fe1531fb7c0452af810b32ecf8e1ef661030a61145f54240337a65c8e2";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-cpplint/default.nix b/distros/iron/ament-cpplint/default.nix
index 4075f64c06..1cbebf3bb3 100644
--- a/distros/iron/ament-cpplint/default.nix
+++ b/distros/iron/ament-cpplint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-cpplint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cpplint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "d9a48663ee24bb7c5d32d021f7990cf82b0d4276d70b6b1b88e0815d2eb4efe3";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_cpplint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "b08c20c41e96af8eaafe3cce95ffb94bc34488df46f488625feae3ec284d71db";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-flake8/default.nix b/distros/iron/ament-flake8/default.nix
index e1220f31e3..125353aba5 100644
--- a/distros/iron/ament-flake8/default.nix
+++ b/distros/iron/ament-flake8/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-lint, python3Packages }:
 buildRosPackage {
   pname = "ros-iron-ament-flake8";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_flake8/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "5d9a205b100ecb43ea1c716783ca4e902a048e0179ff0383b25e05bf4b57a306";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_flake8/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "a14af59be3111bbc66efb20267b34c11f4a34c4d590631c8a4a5e4fa2fad6b16";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-lint-auto/default.nix b/distros/iron/ament-lint-auto/default.nix
index 740b01fbbc..f5f2bd069b 100644
--- a/distros/iron/ament-lint-auto/default.nix
+++ b/distros/iron/ament-lint-auto/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-test }:
 buildRosPackage {
   pname = "ros-iron-ament-lint-auto";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_auto/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "18037a69bcab1e97eed8abfdcf12027a1b1fac8c4db6cfe93426524c2b46153f";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_auto/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "d5aa8ede1c866b7d4670484cb820d3cb7875138332ff2de2dfa75a1108badbd6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-lint-cmake/default.nix b/distros/iron/ament-lint-cmake/default.nix
index 1271bc9346..454b5502d9 100644
--- a/distros/iron/ament-lint-cmake/default.nix
+++ b/distros/iron/ament-lint-cmake/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-lint-cmake";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_cmake/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "b72ab94bf73bb78c017a66aa51495e3a245691e5b4dc10c2d019eace63df82d1";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_cmake/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "5352ae19e6448638f863d7ee312951a6dc8648a40a4e7b0486fb024e0ee5d9c1";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-lint-common/default.nix b/distros/iron/ament-lint-common/default.nix
index 1c1d4e1eac..e110674853 100644
--- a/distros/iron/ament-lint-common/default.nix
+++ b/distros/iron/ament-lint-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-copyright, ament-cmake-core, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-export-dependencies, ament-cmake-flake8, ament-cmake-lint-cmake, ament-cmake-pep257, ament-cmake-uncrustify, ament-cmake-xmllint }:
 buildRosPackage {
   pname = "ros-iron-ament-lint-common";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_common/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "53e54f0ccdfb546546155aa093a776a7a05f2c2b43941db8e6a23d55c812ae76";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint_common/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "e2178f1752693a4605ab1ff2c6099a857c07f2eb8073e4115f07aa4c6cc2bb97";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ament-lint/default.nix b/distros/iron/ament-lint/default.nix
index 67de6cb19d..0e489dc93e 100644
--- a/distros/iron/ament-lint/default.nix
+++ b/distros/iron/ament-lint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl,  }:
 buildRosPackage {
   pname = "ros-iron-ament-lint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "c179f120fdffee8be8032f670c91dc0026fdf227107c0bf19c7789c0bf5a0bc4";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_lint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "060df712efb5301170c3ca005872423636d0ab2dd948abf2a4362f8404a14f82";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-mypy/default.nix b/distros/iron/ament-mypy/default.nix
index f98f4c7593..de44db334f 100644
--- a/distros/iron/ament-mypy/default.nix
+++ b/distros/iron/ament-mypy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-mypy";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_mypy/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "d2a7184a99fa73c8e09c9388141ef8aacc35bbeb964e7395a0c4a0a54b91f29d";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_mypy/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "992f5f96c279cc99c6bdf80d3897158c172b0bba43d2e0beb41b816fa0e1577d";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-pclint/default.nix b/distros/iron/ament-pclint/default.nix
index 7740a09683..cd7347b04a 100644
--- a/distros/iron/ament-pclint/default.nix
+++ b/distros/iron/ament-pclint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-pclint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pclint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "ba3e7d23ecfaac74abde6b5833475c6da7952dd832293f85d05999d66fb5e8f4";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pclint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "3f6f8e450e61beef10c343e7ebb8e3c8174d04464e4865815ff162d7c11ded06";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-pep257/default.nix b/distros/iron/ament-pep257/default.nix
index 3f0ce69ab9..dc7de9f761 100644
--- a/distros/iron/ament-pep257/default.nix
+++ b/distros/iron/ament-pep257/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-lint, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-pep257";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pep257/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "fe0d4e24870bf1b52d3db198d466bd63322c9aebc5eee24fd9b40a3bbd1e420d";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pep257/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "315b281b600aeb38abf9721c029a1ac241c53a94e19e45a76e146726755741d6";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-pycodestyle/default.nix b/distros/iron/ament-pycodestyle/default.nix
index 8670364738..75b913d365 100644
--- a/distros/iron/ament-pycodestyle/default.nix
+++ b/distros/iron/ament-pycodestyle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, python3Packages }:
 buildRosPackage {
   pname = "ros-iron-ament-pycodestyle";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pycodestyle/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "5de9c802f9d9679e7d5bfe300e0f578dc03a312ac8d698aeacea4998322bd5f9";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pycodestyle/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "02af425dbc6727a57714da406e18e02431693c3bd86b549000ed16f073922c0e";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-pyflakes/default.nix b/distros/iron/ament-pyflakes/default.nix
index 62e6b8521d..ba13e82c27 100644
--- a/distros/iron/ament-pyflakes/default.nix
+++ b/distros/iron/ament-pyflakes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-pycodestyle, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-pyflakes";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pyflakes/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "140ade88e8eec980bcd8db8bb0cbb3ac101f72f89398b6a8f21fc6f218f41a2e";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_pyflakes/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "7a5dbd6c1088afdd56d9a0d6b8a76cd412a82be8078ab64db58fd40e66e3ab35";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-uncrustify/default.nix b/distros/iron/ament-uncrustify/default.nix
index 805d18ed7c..d3036abd45 100644
--- a/distros/iron/ament-uncrustify/default.nix
+++ b/distros/iron/ament-uncrustify/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-pycodestyle, pythonPackages, uncrustify-vendor }:
 buildRosPackage {
   pname = "ros-iron-ament-uncrustify";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_uncrustify/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "e2b658711efb1bf80a7568a516b81f682d234c8f6052c801a9c54aa1af5503a1";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_uncrustify/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "ab93b4ab42db68992dee2250b6523b57df25026ddf216772b516b405ce9bd0f5";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ament-xmllint/default.nix b/distros/iron/ament-xmllint/default.nix
index 4173f2b8c2..1b910b456d 100644
--- a/distros/iron/ament-xmllint/default.nix
+++ b/distros/iron/ament-xmllint/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-lint, ament-pep257, libxml2, pythonPackages }:
 buildRosPackage {
   pname = "ros-iron-ament-xmllint";
-  version = "0.14.1-r2";
+  version = "0.14.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_xmllint/0.14.1-2.tar.gz";
-    name = "0.14.1-2.tar.gz";
-    sha256 = "e7c2956b587b6891a650681321918b0f4bd6330041c2122c690d9268794087b5";
+    url = "https://github.com/ros2-gbp/ament_lint-release/archive/release/iron/ament_xmllint/0.14.2-1.tar.gz";
+    name = "0.14.2-1.tar.gz";
+    sha256 = "865311296b69b9ea7c1c3e1d8a341cacde03d7e41859c5e234340ae9cbed9a16";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/aruco-opencv/default.nix b/distros/iron/aruco-opencv/default.nix
index b47d1266a0..a579d1f0b3 100644
--- a/distros/iron/aruco-opencv/default.nix
+++ b/distros/iron/aruco-opencv/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python39Packages, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-iron-aruco-opencv";
   version = "5.0.0-r1";
@@ -16,7 +16,7 @@ buildRosPackage {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-copyright ament-cmake-cpplint ament-cmake-lint-cmake ament-cmake-uncrustify ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python39Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python3Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/behaviortree-cpp/default.nix b/distros/iron/behaviortree-cpp/default.nix
index 97524e38ce..723656c702 100644
--- a/distros/iron/behaviortree-cpp/default.nix
+++ b/distros/iron/behaviortree-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, cppzmq, rclcpp, ros-environment, sqlite }:
 buildRosPackage {
   pname = "ros-iron-behaviortree-cpp";
-  version = "4.3.6-r1";
+  version = "4.3.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/iron/behaviortree_cpp/4.3.6-1.tar.gz";
-    name = "4.3.6-1.tar.gz";
-    sha256 = "f65c0d93208af72dd0d1269c9b857dc9227ad494f995211143c6050888954baf";
+    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/iron/behaviortree_cpp/4.3.7-1.tar.gz";
+    name = "4.3.7-1.tar.gz";
+    sha256 = "e635c9e9ed77bdf2e19b82b79fd36453b547500a9695c1301bc3d46e15ec67e9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/bicycle-steering-controller/default.nix b/distros/iron/bicycle-steering-controller/default.nix
index c33c264619..46418b04b6 100644
--- a/distros/iron/bicycle-steering-controller/default.nix
+++ b/distros/iron/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-iron-bicycle-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/bicycle_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "e1015df20165fde8ae11fbd0327021b32390c2c11e919e8be7f9995b898b843c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/bicycle_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "a86a6c5889031cf6ecf74bffb4e8c2fbfcf6dcce674576b12cbf5b54757f76ae";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/chomp-motion-planner/default.nix b/distros/iron/chomp-motion-planner/default.nix
index b18d22c3c0..90ddf1a3cf 100644
--- a/distros/iron/chomp-motion-planner/default.nix
+++ b/distros/iron/chomp-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, rclcpp, rsl, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-chomp-motion-planner";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/chomp_motion_planner/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "898b6d3c447651ea16a3c3b5cfc87336afb1fee56d2f190751127df0110fff06";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/chomp_motion_planner/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "95368b34648f4e428a3540816f12479eb660e2e5a3bc016736dbfe67e396fc60";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/classic-bags/default.nix b/distros/iron/classic-bags/default.nix
new file mode 100644
index 0000000000..7fef181285
--- /dev/null
+++ b/distros/iron/classic-bags/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, builtin-interfaces, rclcpp, rclpy, rosbag2-cpp, rosbag2-py, rosbag2-storage, rosidl-runtime-py, std-msgs }:
+buildRosPackage {
+  pname = "ros-iron-classic-bags";
+  version = "0.1.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/classic_bags-release/archive/release/iron/classic_bags/0.1.0-1.tar.gz";
+    name = "0.1.0-1.tar.gz";
+    sha256 = "fd591a3684873b9e114740277c0fa9be7c0e3896cb7142485add56c46fa780c4";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-cmake-pytest std-msgs ];
+  propagatedBuildInputs = [ builtin-interfaces rclcpp rclpy rosbag2-cpp rosbag2-py rosbag2-storage rosidl-runtime-py ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = ''A ROS 2 interface in the style of ROS 1 for reading and writing bag files'';
+    license = with lib.licenses; [ "BSD-3-clause" ];
+  };
+}
diff --git a/distros/iron/costmap-queue/default.nix b/distros/iron/costmap-queue/default.nix
index 6b32921b1c..6789f61bf0 100644
--- a/distros/iron/costmap-queue/default.nix
+++ b/distros/iron/costmap-queue/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, nav2-common, nav2-costmap-2d, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-costmap-queue";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/costmap_queue/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "c4c4413831414bb1b613bed512ca90ebe0cdad829f322c3e0443ddfbcf8d00c4";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/costmap_queue/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "c42dc99163d9ec869bc82b82a32df3afd38afdaeca0405b6297b1474dab93086";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/depthai-bridge/default.nix b/distros/iron/depthai-bridge/default.nix
index af610bda06..5067703aa1 100644
--- a/distros/iron/depthai-bridge/default.nix
+++ b/distros/iron/depthai-bridge/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, boost, camera-info-manager, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, sensor-msgs, std-msgs, stereo-msgs, vision-msgs, xacro }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, boost, camera-info-manager, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, sensor-msgs, std-msgs, stereo-msgs, tf2-ros, vision-msgs, xacro }:
 buildRosPackage {
   pname = "ros-iron-depthai-bridge";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_bridge/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "bdde2a256bef68e1eba669ac544a6baf0f58036857414921f86fae94ccaa1021";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_bridge/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "b859f6b0a1da005e3e3ec43c6d9c6c4929d575606b46cfc3644bd72a25722833";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ boost camera-info-manager cv-bridge depthai depthai-ros-msgs image-transport opencv rclcpp robot-state-publisher ros-environment sensor-msgs std-msgs stereo-msgs vision-msgs xacro ];
+  propagatedBuildInputs = [ boost camera-info-manager cv-bridge depthai depthai-ros-msgs image-transport opencv rclcpp robot-state-publisher ros-environment sensor-msgs std-msgs stereo-msgs tf2-ros vision-msgs xacro ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/depthai-descriptions/default.nix b/distros/iron/depthai-descriptions/default.nix
index c867c14399..b32d422db7 100644
--- a/distros/iron/depthai-descriptions/default.nix
+++ b/distros/iron/depthai-descriptions/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, robot-state-publisher, xacro }:
 buildRosPackage {
   pname = "ros-iron-depthai-descriptions";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_descriptions/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "19388b5e5e8586c05c83084b1d6dae9177545a339f4faafcffb2558295c28460";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_descriptions/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "88df473aa7ab1ce097ff5a02a4dba03c660493dbe86a3aa257b3b36f328e9ef3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/depthai-examples/default.nix b/distros/iron/depthai-examples/default.nix
index 1b291b83ed..e2a8710c5a 100644
--- a/distros/iron/depthai-examples/default.nix
+++ b/distros/iron/depthai-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, camera-info-manager, cv-bridge, depth-image-proc, depthai, depthai-bridge, depthai-descriptions, depthai-ros-msgs, foxglove-msgs, image-transport, opencv, rclcpp, robot-state-publisher, ros-environment, rviz-imu-plugin, sensor-msgs, std-msgs, stereo-msgs, vision-msgs, xacro }:
 buildRosPackage {
   pname = "ros-iron-depthai-examples";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_examples/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "293c96ee36750585f42b0e9876996a453fc8ae79320c4eeeeb7b8eb413629c7d";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_examples/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "52a44bfd929b92976910f1928400852484eec23d36e50eae850c801abd07f222";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/depthai-filters/default.nix b/distros/iron/depthai-filters/default.nix
index f69de21417..73c33e22ba 100644
--- a/distros/iron/depthai-filters/default.nix
+++ b/distros/iron/depthai-filters/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake-auto, cv-bridge, image-transport, message-filters, opencv, rclcpp, rclcpp-components, sensor-msgs, vision-msgs, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake-auto, cv-bridge, depthai-ros-msgs, image-transport, message-filters, opencv, rclcpp, rclcpp-components, sensor-msgs, vision-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-depthai-filters";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_filters/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "90c4cde1e3da5c1d517775d50cbef5293afff2ec833c9868015b509e28ffcbd3";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_filters/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "81c833e22b10f0487664c85531b8bc8a5b8932d7057c1dda4cb907ffa5abc86b";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake-auto ];
-  propagatedBuildInputs = [ cv-bridge image-transport message-filters opencv rclcpp rclcpp-components sensor-msgs vision-msgs visualization-msgs ];
+  propagatedBuildInputs = [ cv-bridge depthai-ros-msgs image-transport message-filters opencv rclcpp rclcpp-components sensor-msgs vision-msgs visualization-msgs ];
   nativeBuildInputs = [ ament-cmake-auto ];
 
   meta = {
diff --git a/distros/iron/depthai-ros-driver/default.nix b/distros/iron/depthai-ros-driver/default.nix
index 8cb9e7da04..e556da06d6 100644
--- a/distros/iron/depthai-ros-driver/default.nix
+++ b/distros/iron/depthai-ros-driver/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, camera-calibration, cv-bridge, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-ros-msgs, diagnostic-msgs, image-pipeline, image-transport, image-transport-plugins, pluginlib, rclcpp, rclcpp-components, sensor-msgs, std-msgs, std-srvs, vision-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, camera-calibration, cv-bridge, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-ros-msgs, diagnostic-msgs, diagnostic-updater, image-pipeline, image-transport, image-transport-plugins, pluginlib, rclcpp, rclcpp-components, sensor-msgs, std-msgs, std-srvs, vision-msgs }:
 buildRosPackage {
   pname = "ros-iron-depthai-ros-driver";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_ros_driver/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "d48a4955446c8a2dd6fe8c2df82496bb37cbfa8fe39cf46817d39ef49033fc33";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_ros_driver/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "89fef21a334eaa5c30059119a5b93dc2bf440001992b02d24171e676053f5ef3";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ament-cmake-auto camera-calibration cv-bridge depthai depthai-bridge depthai-descriptions depthai-examples depthai-ros-msgs diagnostic-msgs image-pipeline image-transport image-transport-plugins pluginlib rclcpp rclcpp-components sensor-msgs std-msgs std-srvs vision-msgs ];
+  propagatedBuildInputs = [ ament-cmake-auto camera-calibration cv-bridge depthai depthai-bridge depthai-descriptions depthai-examples depthai-ros-msgs diagnostic-msgs diagnostic-updater image-pipeline image-transport image-transport-plugins pluginlib rclcpp rclcpp-components sensor-msgs std-msgs std-srvs vision-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/depthai-ros-msgs/default.nix b/distros/iron/depthai-ros-msgs/default.nix
index 8c0a44b9cc..a665634368 100644
--- a/distros/iron/depthai-ros-msgs/default.nix
+++ b/distros/iron/depthai-ros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geometry-msgs, rclcpp, rosidl-default-generators, sensor-msgs, std-msgs, vision-msgs }:
 buildRosPackage {
   pname = "ros-iron-depthai-ros-msgs";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_ros_msgs/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "a609a9413a164aba2add59abebd86142c507afdccb6347569421a1c66150f6a0";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai_ros_msgs/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "cbf675882cbbf884581ee32641a1a1d2773531fe12a7bdc9b77d5a85a51dba17";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/depthai-ros/default.nix b/distros/iron/depthai-ros/default.nix
index 7062c9d359..2c061e6cad 100644
--- a/distros/iron/depthai-ros/default.nix
+++ b/distros/iron/depthai-ros/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-ros-driver, depthai-ros-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-filters, depthai-ros-driver, depthai-ros-msgs }:
 buildRosPackage {
   pname = "ros-iron-depthai-ros";
-  version = "2.7.5-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai-ros/2.7.5-1.tar.gz";
-    name = "2.7.5-1.tar.gz";
-    sha256 = "090d45debfa8e67ca31b749a5a8bc216b0e8d58a55ffe7fe04993847ef507088";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/iron/depthai-ros/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "ce5366559fd73cbced8121220f0b9577e69fb4bcab1e9835290522b7d50b41bf";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ depthai depthai-bridge depthai-descriptions depthai-examples depthai-ros-driver depthai-ros-msgs ];
+  propagatedBuildInputs = [ depthai depthai-bridge depthai-descriptions depthai-examples depthai-filters depthai-ros-driver depthai-ros-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/diff-drive-controller/default.nix b/distros/iron/diff-drive-controller/default.nix
index 38100ec6d3..ad39e90f7a 100644
--- a/distros/iron/diff-drive-controller/default.nix
+++ b/distros/iron/diff-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-iron-diff-drive-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/diff_drive_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "71aa81259d7fbaa5ca1c8f39f954e98d09b8465782948e22223ad442ecf402c3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/diff_drive_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "552ac274873d705995ce2256b693b78f9e26ad11ee10ae2514dbdbefe87f5a13";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/dwb-core/default.nix b/distros/iron/dwb-core/default.nix
index fa880eccea..0ca21cc461 100644
--- a/distros/iron/dwb-core/default.nix
+++ b/distros/iron/dwb-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, dwb-msgs, geometry-msgs, nav-2d-msgs, nav-2d-utils, nav-msgs, nav2-common, nav2-core, nav2-costmap-2d, nav2-util, pluginlib, rclcpp, sensor-msgs, std-msgs, tf2-ros, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-dwb-core";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_core/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "904bb2ee45b387bae807ffa125a477604d1f11a4356258484dc5e387f1ee19a1";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_core/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "8cd1de3144c11bab0f2dde3db1a9b9d84482d6e8ceb0ef832c940e4e3e997fe8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/dwb-critics/default.nix b/distros/iron/dwb-critics/default.nix
index bb3c4c0499..58c66e7620 100644
--- a/distros/iron/dwb-critics/default.nix
+++ b/distros/iron/dwb-critics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, costmap-queue, dwb-core, geometry-msgs, nav-2d-msgs, nav-2d-utils, nav2-common, nav2-costmap-2d, nav2-util, pluginlib, rclcpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-dwb-critics";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_critics/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "05097b233ae7127b7daffd7ffbcdefecf25d113418ead00eee52ec0333cbbe34";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_critics/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "60d756ef000032a214e17fc463ab008c48f76181b6cdd61fa0c471010a230ff3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/dwb-msgs/default.nix b/distros/iron/dwb-msgs/default.nix
index 74654ca70e..1402546763 100644
--- a/distros/iron/dwb-msgs/default.nix
+++ b/distros/iron/dwb-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geometry-msgs, nav-2d-msgs, nav-msgs, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-dwb-msgs";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_msgs/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "53f60bfaea5ab021e63790480fcb571fdd5eef15ba841336d6d986b39fddc093";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_msgs/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "6cd8c10a4b4dddaf49d3624bded1bde0d87f85ba46b22a27cabd1d37ab64e8aa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/dwb-plugins/default.nix b/distros/iron/dwb-plugins/default.nix
index 2a930b1277..29c9238508 100644
--- a/distros/iron/dwb-plugins/default.nix
+++ b/distros/iron/dwb-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, dwb-core, nav-2d-msgs, nav-2d-utils, nav2-common, nav2-util, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-dwb-plugins";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_plugins/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "62980b6788a21ac090130f781fabb6fc262de0c0abd786ca5218906b6dfe4687";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/dwb_plugins/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "64e48c5236ae28ceb306c8463b4b93d0d2cf2891a0a7f4167caa2484ec1e300b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ecal/default.nix b/distros/iron/ecal/default.nix
index 4cd7d939ec..356892b80f 100644
--- a/distros/iron/ecal/default.nix
+++ b/distros/iron/ecal/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, protobuf }:
 buildRosPackage {
   pname = "ros-iron-ecal";
-  version = "5.12.0-r1";
+  version = "5.12.0-r3";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ecal-release/archive/release/iron/ecal/5.12.0-1.tar.gz";
-    name = "5.12.0-1.tar.gz";
-    sha256 = "504c795b3ca05f7bcff30dddadc502db1cdf55867ca249cb56d1fca1ad9c8fcc";
+    url = "https://github.com/ros2-gbp/ecal-release/archive/release/iron/ecal/5.12.0-3.tar.gz";
+    name = "5.12.0-3.tar.gz";
+    sha256 = "b1db4d416cdbb1d895eb8e0fd9a9d8f09842780bb7bd3892a5aa80294708384e";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/effort-controllers/default.nix b/distros/iron/effort-controllers/default.nix
index 01bbad2ad9..fa575da885 100644
--- a/distros/iron/effort-controllers/default.nix
+++ b/distros/iron/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-iron-effort-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/effort_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "c1fc34c340f504fb1157ab4f77ec47e269d5067a778eac1d0a50e5ea67f76c85";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/effort_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "b76e7aa1da089578d1d6fa2c732de1202ff3aa040a8c72e5dfcf4addcef193ef";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/examples-tf2-py/default.nix b/distros/iron/examples-tf2-py/default.nix
index 158be3f39e..7cdcc233fb 100644
--- a/distros/iron/examples-tf2-py/default.nix
+++ b/distros/iron/examples-tf2-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, geometry-msgs, launch-ros, pythonPackages, rclpy, sensor-msgs, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-iron-examples-tf2-py";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/examples_tf2_py/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "a9d25d130d1724296117fdf7d302520c3ba12ca2a2ecdd8b8c5c712cb4450f42";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/examples_tf2_py/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "5505737bca78dbb04c8a99ef2d67fce49576b4312c7a2ba245ae2e06b65792e8";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/force-torque-sensor-broadcaster/default.nix b/distros/iron/force-torque-sensor-broadcaster/default.nix
index 219d1c0f97..fbe5811235 100644
--- a/distros/iron/force-torque-sensor-broadcaster/default.nix
+++ b/distros/iron/force-torque-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-iron-force-torque-sensor-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/force_torque_sensor_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "c5bc4c01c083207d30ffd46e0ac988389d172ed7e8cf5670250368ff2acc8c0b";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/force_torque_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "1d016ecf17482c2896ceca5183944fc8348f884fe9476d80300617ed307bf61f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/forward-command-controller/default.nix b/distros/iron/forward-command-controller/default.nix
index 979ef63412..1f204d0374 100644
--- a/distros/iron/forward-command-controller/default.nix
+++ b/distros/iron/forward-command-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-forward-command-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/forward_command_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "f8595168c822c1e523fb05188d00029dfdb775e6499e4b4488913051e0f72257";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/forward_command_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "ab2038610dc55434773a8fceac73c3999574a7680cd1034f234ff471e1a5acb9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/foxglove-bridge/default.nix b/distros/iron/foxglove-bridge/default.nix
index adc3232fea..274de4ad72 100644
--- a/distros/iron/foxglove-bridge/default.nix
+++ b/distros/iron/foxglove-bridge/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, asio, nlohmann_json, openssl, rclcpp, rclcpp-components, resource-retriever, ros-environment, rosgraph-msgs, std-msgs, std-srvs, websocketpp, zlib }:
 buildRosPackage {
   pname = "ros-iron-foxglove-bridge";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/iron/foxglove_bridge/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "7cf3986fb4e7a54279db8e0f4c88f922429a9de980688fd04228ff354ec2f771";
+    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/iron/foxglove_bridge/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "2fed4ecbbf77b3ff902922a9ae059f182f919b4ad2e65f8d358f93a55dc167a8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/generated.nix b/distros/iron/generated.nix
index 35ed053a06..4e32100619 100644
--- a/distros/iron/generated.nix
+++ b/distros/iron/generated.nix
@@ -232,6 +232,8 @@ self: super: {
 
  class-loader = self.callPackage ./class-loader {};
 
+ classic-bags = self.callPackage ./classic-bags {};
+
  color-names = self.callPackage ./color-names {};
 
  color-util = self.callPackage ./color-util {};
@@ -898,12 +900,26 @@ self: super: {
 
  mola-common = self.callPackage ./mola-common {};
 
+ mola-demos = self.callPackage ./mola-demos {};
+
+ mola-imu-preintegration = self.callPackage ./mola-imu-preintegration {};
+
  mola-input-euroc-dataset = self.callPackage ./mola-input-euroc-dataset {};
 
  mola-input-kitti-dataset = self.callPackage ./mola-input-kitti-dataset {};
 
+ mola-input-rawlog = self.callPackage ./mola-input-rawlog {};
+
+ mola-input-ros2 = self.callPackage ./mola-input-ros2 {};
+
  mola-kernel = self.callPackage ./mola-kernel {};
 
+ mola-launcher = self.callPackage ./mola-launcher {};
+
+ mola-test-datasets = self.callPackage ./mola-test-datasets {};
+
+ mola-viz = self.callPackage ./mola-viz {};
+
  mola-yaml = self.callPackage ./mola-yaml {};
 
  mouse-teleop = self.callPackage ./mouse-teleop {};
@@ -1000,6 +1016,8 @@ self: super: {
 
  mp2p-icp = self.callPackage ./mp2p-icp {};
 
+ mqtt-client = self.callPackage ./mqtt-client {};
+
  mqtt-client-interfaces = self.callPackage ./mqtt-client-interfaces {};
 
  mrpt2 = self.callPackage ./mrpt2 {};
@@ -1148,6 +1166,8 @@ self: super: {
 
  ouster-msgs = self.callPackage ./ouster-msgs {};
 
+ ouster-ros = self.callPackage ./ouster-ros {};
+
  ouxt-common = self.callPackage ./ouxt-common {};
 
  ouxt-lint-common = self.callPackage ./ouxt-lint-common {};
@@ -1314,6 +1334,8 @@ self: super: {
 
  random-numbers = self.callPackage ./random-numbers {};
 
+ range-sensor-broadcaster = self.callPackage ./range-sensor-broadcaster {};
+
  rc-common-msgs = self.callPackage ./rc-common-msgs {};
 
  rc-dynamics-api = self.callPackage ./rc-dynamics-api {};
@@ -1960,6 +1982,8 @@ self: super: {
 
  stubborn-buddies-msgs = self.callPackage ./stubborn-buddies-msgs {};
 
+ swri-cli-tools = self.callPackage ./swri-cli-tools {};
+
  swri-console = self.callPackage ./swri-console {};
 
  swri-console-util = self.callPackage ./swri-console-util {};
diff --git a/distros/iron/geometry2/default.nix b/distros/iron/geometry2/default.nix
index f751cbb3ed..3628d7b26b 100644
--- a/distros/iron/geometry2/default.nix
+++ b/distros/iron/geometry2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, tf2, tf2-bullet, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl, tf2-msgs, tf2-py, tf2-ros, tf2-sensor-msgs, tf2-tools }:
 buildRosPackage {
   pname = "ros-iron-geometry2";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/geometry2/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "b5dcf0aa23315a10632c7ffdcf93140fcd86061ee82189028e036ca517b53978";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/geometry2/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "3d74475a9f71b363fa386ca8944395238f9ee4047066816133d379ed5f2ba9a5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/gps-msgs/default.nix b/distros/iron/gps-msgs/default.nix
index c252d1c373..4b64f086ef 100644
--- a/distros/iron/gps-msgs/default.nix
+++ b/distros/iron/gps-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-gps-msgs";
-  version = "2.0.2-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_msgs/2.0.2-1.tar.gz";
-    name = "2.0.2-1.tar.gz";
-    sha256 = "f59e0d1b6e8238e9bd45160312663a5334db79da1c4ea9b4274d96a6a12f326b";
+    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_msgs/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "a11f0963ccb666eecc4abfe4c960cac6b525081680304557d40bd00610c7cf6a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/gps-tools/default.nix b/distros/iron/gps-tools/default.nix
index 5bfb75f92e..b0c34e7ca5 100644
--- a/distros/iron/gps-tools/default.nix
+++ b/distros/iron/gps-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, gps-msgs, nav-msgs, rclcpp, rclcpp-components, rclpy, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-gps-tools";
-  version = "2.0.2-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_tools/2.0.2-1.tar.gz";
-    name = "2.0.2-1.tar.gz";
-    sha256 = "c837f605ccf287af58f56a53018a6ddc156e016427e5b92e32f355000acf093a";
+    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_tools/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "c912c9ceec1d623af6e322ed982f345c1c7c946914efb598e790e231bf03dab4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/gps-umd/default.nix b/distros/iron/gps-umd/default.nix
index e76fad7f70..7e0e1225ee 100644
--- a/distros/iron/gps-umd/default.nix
+++ b/distros/iron/gps-umd/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, gps-msgs, gps-tools, gpsd-client }:
 buildRosPackage {
   pname = "ros-iron-gps-umd";
-  version = "2.0.2-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_umd/2.0.2-1.tar.gz";
-    name = "2.0.2-1.tar.gz";
-    sha256 = "464d4fe5ef19d530e1f77bde0fd1d8fc1caeca0837cbd258f7f6309240805d64";
+    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gps_umd/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "5d60244beeaaf519a15cc973a93eca4d0118b5e66f37220da7ee56f0f5c60e70";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/gpsd-client/default.nix b/distros/iron/gpsd-client/default.nix
index fc3084e0d1..04246e0482 100644
--- a/distros/iron/gpsd-client/default.nix
+++ b/distros/iron/gpsd-client/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, gps-msgs, gpsd, pkg-config, rclcpp, rclcpp-components, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-gpsd-client";
-  version = "2.0.2-r1";
+  version = "2.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gpsd_client/2.0.2-1.tar.gz";
-    name = "2.0.2-1.tar.gz";
-    sha256 = "3c0aefa30110d2e99721dd75bfc6ecd6df033a7c8944512177130f5ebe70d990";
+    url = "https://github.com/ros2-gbp/gps_umd-release/archive/release/iron/gpsd_client/2.0.3-1.tar.gz";
+    name = "2.0.3-1.tar.gz";
+    sha256 = "070f2dc56f569de54a1dd570df5121471fe7ba493d2390409bbde6af0db4f65c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/gripper-controllers/default.nix b/distros/iron/gripper-controllers/default.nix
index fdb5dab11d..62af0f9638 100644
--- a/distros/iron/gripper-controllers/default.nix
+++ b/distros/iron/gripper-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-iron-gripper-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/gripper_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "f16c05ce572018a7b3657e65999550471853b815a06d3133796909abd2dd0d11";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/gripper_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "c357ebd2622055b420c81bf39c6cc098848c1c4680a53802233f35ae9430ec56";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/imu-sensor-broadcaster/default.nix b/distros/iron/imu-sensor-broadcaster/default.nix
index ff0d7c30a5..9f1dd736d6 100644
--- a/distros/iron/imu-sensor-broadcaster/default.nix
+++ b/distros/iron/imu-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-imu-sensor-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/imu_sensor_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "7590a1380d9da303b9636273b7374067527c8a059ff501aa83b7943d5e908358";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/imu_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "fb2d90f5d8dc27dd3009fe6806802c944af8bf5c5154ec2411996d81584aa513";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/joint-state-broadcaster/default.nix b/distros/iron/joint-state-broadcaster/default.nix
index f7cefd6a45..69eaecc8b1 100644
--- a/distros/iron/joint-state-broadcaster/default.nix
+++ b/distros/iron/joint-state-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-joint-state-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/joint_state_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "149c50c81ad09c45fbc513ed888a4eb55f4336c27c320c5a942eb1feb3f5856a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/joint_state_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "197af1c5655ceb58c3ec35eab437041f690376760ab227f0b5924d9146db0e1d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/joint-trajectory-controller/default.nix b/distros/iron/joint-trajectory-controller/default.nix
index 53f169e317..cc3e708eba 100644
--- a/distros/iron/joint-trajectory-controller/default.nix
+++ b/distros/iron/joint-trajectory-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, angles, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, rsl, tl-expected, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-joint-trajectory-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/joint_trajectory_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "862ff29c65f18adee342a9c68edd4bc0ccedc7eb8e277a391c3e88b9ae2e405a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/joint_trajectory_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "35ff6e330e4218abd04dd663d1f9439e10e758f205f97797464269185f34a86c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/libmavconn/default.nix b/distros/iron/libmavconn/default.nix
index b2f95f79df..2c73f306ec 100644
--- a/distros/iron/libmavconn/default.nix
+++ b/distros/iron/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, asio, console-bridge, mavlink, python3Packages }:
 buildRosPackage {
   pname = "ros-iron-libmavconn";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/libmavconn/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "48449dcb6ff98f53cbceffa5f61e9ced95635a86ff9e256a3c1f0dcdd6f2a252";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/libmavconn/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "add2723b2caf4a97892883b933927b114717a62aecc23102328850d97f1831ce";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mavlink/default.nix b/distros/iron/mavlink/default.nix
index d8a358639f..1634623693 100644
--- a/distros/iron/mavlink/default.nix
+++ b/distros/iron/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cmake, python3, python3Packages, ros-environment }:
 buildRosPackage {
   pname = "ros-iron-mavlink";
-  version = "2023.6.6-r1";
+  version = "2023.9.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/iron/mavlink/2023.6.6-1.tar.gz";
-    name = "2023.6.6-1.tar.gz";
-    sha256 = "5089e51b67888899d670ec5a134c3995e047a1247bdfb2f1d92706a45e71d128";
+    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/iron/mavlink/2023.9.9-1.tar.gz";
+    name = "2023.9.9-1.tar.gz";
+    sha256 = "472042a1559633a1379ea0380c8c6dac30d203dc4f6a56ffdbb28ef52e3a6767";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/mavros-extras/default.nix b/distros/iron/mavros-extras/default.nix
index 563d221843..4437a38bde 100644
--- a/distros/iron/mavros-extras/default.nix
+++ b/distros/iron/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros, mavros-msgs, message-filters, nav-msgs, pluginlib, rclcpp, rclcpp-components, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs, urdf, visualization-msgs, yaml-cpp, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-mavros-extras";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros_extras/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "13c366b463f6124b7fad8de464d6bf320a857b3c722064b0a9c50045a33b4da6";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros_extras/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "2bcf0b4a8c522fc7b942d89b697dbfb9e9cafcc5f0b775dbd038daf4189ab47f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mavros-msgs/default.nix b/distros/iron/mavros-msgs/default.nix
index 809a4a4091..db73b5dd70 100644
--- a/distros/iron/mavros-msgs/default.nix
+++ b/distros/iron/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geographic-msgs, geometry-msgs, rcl-interfaces, rosidl-default-generators, rosidl-default-runtime, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-mavros-msgs";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros_msgs/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "e137edbbec01fee8e313f7bd9f69131e0c044ac1aa803ae8bac6fc475002b595";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "f1df87fd22a9962a167eac2fbd8c8e58711d26be597212a45c7acf462fe6244c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mavros/default.nix b/distros/iron/mavros/default.nix
index dfbd35677b..34abd7af1f 100644
--- a/distros/iron/mavros/default.nix
+++ b/distros/iron/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, console-bridge, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-filters, nav-msgs, pluginlib, python3Packages, rclcpp, rclcpp-components, rclpy, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-mavros";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "200c4008a24b32f21c1139be922f960ed04596c90f77111402b428e44b3a616a";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/iron/mavros/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "9d09198e15049d1aec52f432afec39e9a3530eeb146f88f999dd9d4512c0514d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mcap-vendor/default.nix b/distros/iron/mcap-vendor/default.nix
index 0557043ceb..251eb2d4d9 100644
--- a/distros/iron/mcap-vendor/default.nix
+++ b/distros/iron/mcap-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, git, zstd-vendor }:
 buildRosPackage {
   pname = "ros-iron-mcap-vendor";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/mcap_vendor/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "126b51b296e3a11654a53477963bb171925fc8c87f989e9b2c96e28d2d74a465";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/mcap_vendor/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "d7ce28c56e41e7883c702ae3ae3d8b4625d014916f942bbe59d1209377d9dac4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mola-common/default.nix b/distros/iron/mola-common/default.nix
index f3bf7b2d77..d6af1200c2 100644
--- a/distros/iron/mola-common/default.nix
+++ b/distros/iron/mola-common/default.nix
@@ -2,20 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
 buildRosPackage {
   pname = "ros-iron-mola-common";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_common/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "f93da2a8b68465ecddf852891f96565971f724a874caf6207e2434aef5da3267";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_common/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "3080251bf238faa1ff55447f749f04600f1aec7d105bfd9f6b9a9f144c9cb934";
   };
 
-  buildType = "cmake";
-  buildInputs = [ cmake ];
-  nativeBuildInputs = [ cmake ];
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
 
   meta = {
     description = ''Common CMake scripts to all MOLA modules'';
diff --git a/distros/iron/mola-demos/default.nix b/distros/iron/mola-demos/default.nix
new file mode 100644
index 0000000000..050ad67b4c
--- /dev/null
+++ b/distros/iron/mola-demos/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-iron-mola-demos";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_demos/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "f59e2d3947e15c2e06ed1405f7598be5f8c649863fc7abd1b3ad51b264274eb4";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Demo and example launch files for MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/iron/mola-imu-preintegration/default.nix b/distros/iron/mola-imu-preintegration/default.nix
new file mode 100644
index 0000000000..d760a7a71b
--- /dev/null
+++ b/distros/iron/mola-imu-preintegration/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
+buildRosPackage {
+  pname = "ros-iron-mola-imu-preintegration";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_imu_preintegration/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "cff59fbcf73ee6fabd8ec431abc2cd197f0a3765a4767d07c4b0eb1709438cd5";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-common mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Integrator of IMU angular velocity readings'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/iron/mola-input-euroc-dataset/default.nix b/distros/iron/mola-input-euroc-dataset/default.nix
index bd1b24dbb9..6850298478 100644
--- a/distros/iron/mola-input-euroc-dataset/default.nix
+++ b/distros/iron/mola-input-euroc-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-iron-mola-input-euroc-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_euroc_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "fd20de10f7d43c58ef8c0489d21720ce8d43db36eb2f3e820e0d914a4e0f72d7";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_euroc_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "4b53745bf09c561d8428fc8ce2fc12226599943beb7bf92a9972963020286288";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/mola-input-kitti-dataset/default.nix b/distros/iron/mola-input-kitti-dataset/default.nix
index f89ac37f52..aedd083d56 100644
--- a/distros/iron/mola-input-kitti-dataset/default.nix
+++ b/distros/iron/mola-input-kitti-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-iron-mola-input-kitti-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_kitti_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "fa4aa64b8d33dc80590cf071dfa51fb8eacac506f53f1adfd9026e32288d1711";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_kitti_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "a21bceb6d11b63787b47bb0d2907db2ae9c3210d6079d5a7008a90a5c416dd80";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Offline RawDataSource from Kitti odometry/SLAM datasets'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/iron/mola-input-rawlog/default.nix b/distros/iron/mola-input-rawlog/default.nix
new file mode 100644
index 0000000000..b7f2b58647
--- /dev/null
+++ b/distros/iron/mola-input-rawlog/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-iron-mola-input-rawlog";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_rawlog/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "19c897172e2206e88ec11def0ff343c702748bbde9ed57e5f1223df6f6493908";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Offline RawDataSource from MRPT rawlog datasets'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/iron/mola-input-ros2/default.nix b/distros/iron/mola-input-ros2/default.nix
new file mode 100644
index 0000000000..772914637c
--- /dev/null
+++ b/distros/iron/mola-input-ros2/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, geometry-msgs, mola-common, mola-kernel, mrpt2, nav-msgs, rclcpp, ros-environment, sensor-msgs, tf2, tf2-geometry-msgs }:
+buildRosPackage {
+  pname = "ros-iron-mola-input-ros2";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_input_ros2/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "8f6ba0007e217f4d9fb707897a5836114f62d1a44145bbddc95328ad7157c821";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ ament-lint-auto ament-lint-common geometry-msgs mola-common mola-kernel mrpt2 nav-msgs rclcpp sensor-msgs tf2 tf2-geometry-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''RawDataSource acting as a bridge: ROS2 -> MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/iron/mola-kernel/default.nix b/distros/iron/mola-kernel/default.nix
index 5ea74a38ee..6c2917a770 100644
--- a/distros/iron/mola-kernel/default.nix
+++ b/distros/iron/mola-kernel/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-yaml, mrpt2 }:
 buildRosPackage {
   pname = "ros-iron-mola-kernel";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_kernel/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "c90bfad41604c995f2b7cb3eb9dd696517f351830c2b828ef05b7e60b69855e2";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_kernel/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "8d61d802133d9ba8d3b5a33751e5a8e0877e19eabffa5ad66b253594af8b0216";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Fundamental C++ virtual interfaces and data types for the rest of MOLA modules'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/iron/mola-launcher/default.nix b/distros/iron/mola-launcher/default.nix
new file mode 100644
index 0000000000..a3c7fc7428
--- /dev/null
+++ b/distros/iron/mola-launcher/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-iron-mola-launcher";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_launcher/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "5efdf5664504d96b92b4aaa96ccb801cf5387ce9f92742094da0a63fee49cfd5";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Launcher app for MOLA systems'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/iron/mola-test-datasets/default.nix b/distros/iron/mola-test-datasets/default.nix
new file mode 100644
index 0000000000..ef0ec96783
--- /dev/null
+++ b/distros/iron/mola-test-datasets/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-iron-mola-test-datasets";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_test_datasets/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "1780ee6a2985ac8f10ab9fe7681b9ed5364c6d82cffc4f09001927ca9de9da06";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Small SLAM dataset extracts used for demos or unit tests in the rest of MOLA packages'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/iron/mola-viz/default.nix b/distros/iron/mola-viz/default.nix
new file mode 100644
index 0000000000..950a6ad485
--- /dev/null
+++ b/distros/iron/mola-viz/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-iron-mola-viz";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_viz/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "3a461b3dee7c4340745d7baea9f85b065e565d6469bb9632e008d5c94c97cf8b";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''GUI for MOLA'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/iron/mola-yaml/default.nix b/distros/iron/mola-yaml/default.nix
index c5b6f9b60f..5645d74e54 100644
--- a/distros/iron/mola-yaml/default.nix
+++ b/distros/iron/mola-yaml/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-iron-mola-yaml";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_yaml/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "21db2592475ca3297460e66e1476584dd83c2faafccf2c7d720a0797370cfd32";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mola_yaml/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "6f443d3e8b602002ca7cbdc70c609787442f835f2dd32b57a2285389c359ce09";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/moveit-chomp-optimizer-adapter/default.nix b/distros/iron/moveit-chomp-optimizer-adapter/default.nix
index 15765be300..e6ceb5e10f 100644
--- a/distros/iron/moveit-chomp-optimizer-adapter/default.nix
+++ b/distros/iron/moveit-chomp-optimizer-adapter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib, rsl }:
 buildRosPackage {
   pname = "ros-iron-moveit-chomp-optimizer-adapter";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_chomp_optimizer_adapter/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "71ff40d0fa84d748dffffc0381c894bc55c69dd980675ed62c1060e6aded950f";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_chomp_optimizer_adapter/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "867f8d2c64369948c53e5c581ddcc08a38b4898b658470467a449b7ac5ba395b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-common/default.nix b/distros/iron/moveit-common/default.nix
index a91ecb5b3c..46df6fab23 100644
--- a/distros/iron/moveit-common/default.nix
+++ b/distros/iron/moveit-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, backward-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-common";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_common/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "c560175d00cb5c1cbb09fdd42dfd2341e306a1d5ae11a7a0c4d906c5bb6e87a4";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_common/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "e0adfdfcc1695d2cb460cd9f54e2e59ad1c580224a6078230f1bfafcfb1cec8a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-configs-utils/default.nix b/distros/iron/moveit-configs-utils/default.nix
index b811431a33..08f59d6d68 100644
--- a/distros/iron/moveit-configs-utils/default.nix
+++ b/distros/iron/moveit-configs-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-index-python, ament-lint-auto, ament-lint-common, launch, launch-param-builder, launch-ros, srdfdom }:
 buildRosPackage {
   pname = "ros-iron-moveit-configs-utils";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_configs_utils/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "cde620774bbf5fc94e531fd6946fe089d97cdf4aa47d4ec0a96b60539175e3cd";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_configs_utils/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "f29546aab2598d0f51b1732b8f2e994dddd6d3bb8992069b7afdb2a33d0eaecc";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/moveit-core/default.nix b/distros/iron/moveit-core/default.nix
index f021ec5bb1..3789d9cd27 100644
--- a/distros/iron/moveit-core/default.nix
+++ b/distros/iron/moveit-core/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, generate-parameter-library, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-google-benchmark, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, generate-parameter-library, geometric-shapes, geometry-msgs, google-benchmark-vendor, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-core";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_core/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "a7fc40388a46101bd18d523378c3747edf994de08b673c4b615cbf6b9007567c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_core/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "f007e69ac0e630f437d4c510cf008ce4d86c976c74372c04f4b7251f6dfc1836";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake pkg-config ];
-  checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor ];
-  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl generate-parameter-library geometric-shapes geometry-msgs kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-kdl trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
+  checkInputs = [ ament-cmake-gmock ament-cmake-google-benchmark ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor ];
+  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl generate-parameter-library geometric-shapes geometry-msgs google-benchmark-vendor kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-kdl trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module pkg-config ];
 
   meta = {
diff --git a/distros/iron/moveit-hybrid-planning/default.nix b/distros/iron/moveit-hybrid-planning/default.nix
index 9bdfc03a32..0a8f6e5e2b 100644
--- a/distros/iron/moveit-hybrid-planning/default.nix
+++ b/distros/iron/moveit-hybrid-planning/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, moveit-common, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-panda-moveit-config, moveit-ros-planning, moveit-ros-planning-interface, pluginlib, position-controllers, rclcpp, rclcpp-action, rclcpp-components, robot-state-publisher, ros-testing, rviz2, std-msgs, std-srvs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-hybrid-planning";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_hybrid_planning/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "d3e87c5a1362c4e33e4b73e9673e930b1eab0ba89fa8516e047dcd0c33f5cea0";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_hybrid_planning/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "c27635bf988766f53b3b303b17fcf80fe2875835c362f1f8fd9bd97d0d7a20b1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-kinematics/default.nix b/distros/iron/moveit-kinematics/default.nix
index 0e0fcba514..dfae34b18a 100644
--- a/distros/iron/moveit-kinematics/default.nix
+++ b/distros/iron/moveit-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, class-loader, eigen, generate-parameter-library, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-fanuc-description, moveit-resources-fanuc-moveit-config, moveit-resources-panda-description, moveit-resources-panda-moveit-config, moveit-ros-planning, orocos-kdl-vendor, pluginlib, python3Packages, ros-testing, rsl, tf2, tf2-kdl, urdfdom }:
 buildRosPackage {
   pname = "ros-iron-moveit-kinematics";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_kinematics/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "7e3c440d5dfc0bb72a25814efd961345f89cfa70ef1387bafb260d5dd7cf8b94";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_kinematics/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "aeff6c5fdb2001e83666b1f8cb74d505438080f773bdcaefe47ffeb0b5dd92a2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-msgs/default.nix b/distros/iron/moveit-msgs/default.nix
index a7b5f303d2..5d90b1ed08 100644
--- a/distros/iron/moveit-msgs/default.nix
+++ b/distros/iron/moveit-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-cmake, geometry-msgs, object-recognition-msgs, octomap-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, shape-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-msgs";
-  version = "2.2.2-r1";
+  version = "2.3.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit_msgs-release/archive/release/iron/moveit_msgs/2.2.2-1.tar.gz";
-    name = "2.2.2-1.tar.gz";
-    sha256 = "af2762e07c3e178c8e78b616eda117a73202d88751144fd6c6cd53c5fb8f89fc";
+    url = "https://github.com/ros2-gbp/moveit_msgs-release/archive/release/iron/moveit_msgs/2.3.0-1.tar.gz";
+    name = "2.3.0-1.tar.gz";
+    sha256 = "fcb03c694e8d3c5c8659abf78d26db244d4b8a0dd8e50cd8cd747d0748284b36";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-planners-chomp/default.nix b/distros/iron/moveit-planners-chomp/default.nix
index c556697223..b7ecf33513 100644
--- a/distros/iron/moveit-planners-chomp/default.nix
+++ b/distros/iron/moveit-planners-chomp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-moveit-planners-chomp";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_chomp/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "343b27f43e484f7b107dce9de17764050ccf6bfca8031ce9147987e567387389";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_chomp/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "b4d3149c0851d9744ee0399e1b87c50161fce473bfa760c8f047df692d9b8bb5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-planners-ompl/default.nix b/distros/iron/moveit-planners-ompl/default.nix
index 29f21ae275..a5bcc68911 100644
--- a/distros/iron/moveit-planners-ompl/default.nix
+++ b/distros/iron/moveit-planners-ompl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, llvmPackages, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, moveit-ros-planning, ompl, pluginlib, rclcpp, tf2-eigen, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-planners-ompl";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_ompl/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "6bb0775f64c45b469c68f5b02edbd3c0a96cc714fc938f52953ec3b6cc02bd7d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_ompl/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "afb542c8e818c50a9d741fa864f0b545b696429772d7644d7f8ab9d16b59e3be";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-planners-stomp/default.nix b/distros/iron/moveit-planners-stomp/default.nix
index e557c33c87..eb22ee69ce 100644
--- a/distros/iron/moveit-planners-stomp/default.nix
+++ b/distros/iron/moveit-planners-stomp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, generate-parameter-library, moveit-common, moveit-core, std-msgs, stomp, tf2-eigen, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-planners-stomp";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_stomp/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "7ce53a4b667a278fe23a7e5c0dc6a3ae856d74095aca311e862b8f7b4091c76c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners_stomp/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "11ad83ec3c5e8ec22b2267c340ac83274d5296d35189e3b6786153a44c06f49b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-planners/default.nix b/distros/iron/moveit-planners/default.nix
index 0a2b891075..f7e7684cb2 100644
--- a/distros/iron/moveit-planners/default.nix
+++ b/distros/iron/moveit-planners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-planners-ompl, moveit-planners-stomp, pilz-industrial-motion-planner }:
 buildRosPackage {
   pname = "ros-iron-moveit-planners";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "47185fab07523748f9d480f86e5594cf1318a8d1044d65553590a12cd4506819";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_planners/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "aef84ca8d407aee221d004b727e2b068d99e27bb306388855652c34ce3f2a65a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-plugins/default.nix b/distros/iron/moveit-plugins/default.nix
index 9b80fce7ed..ee81cba711 100644
--- a/distros/iron/moveit-plugins/default.nix
+++ b/distros/iron/moveit-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-simple-controller-manager }:
 buildRosPackage {
   pname = "ros-iron-moveit-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "0a2ed4ba372291a9762ddc2a04dc122fa1f3ecd78b7bb7344da3846ea8db625f";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_plugins/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "b7529afea917736f59a6852ab282650911a004ef0ebf3740afdc35d56a372e2b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-py/default.nix b/distros/iron/moveit-py/default.nix
index 22b6748d98..6cbdf4d1d9 100644
--- a/distros/iron/moveit-py/default.nix
+++ b/distros/iron/moveit-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-index-python, geometry-msgs, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, octomap-msgs, pybind11-vendor, pythonPackages, rclcpp, rclpy }:
 buildRosPackage {
   pname = "ros-iron-moveit-py";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_py/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "e49888251642e1f0049e58cf78e627b443294efea15034b94d1caa9e18dc40d2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_py/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "a800e40d43becaae04aaf18beeccb559036a90a4f5d10af1298122dfbe5803f0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix b/distros/iron/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
index 2fcbd8e2b4..44867d7e7e 100644
--- a/distros/iron/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
+++ b/distros/iron/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, generate-parameter-library, moveit-core, pluginlib, rclcpp, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl }:
 buildRosPackage {
   pname = "ros-iron-moveit-resources-prbt-ikfast-manipulator-plugin";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_ikfast_manipulator_plugin/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "8dfd400c12efc2031d5b9d74fab03771463444249e8402fc2cdfe181860a57a8";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_ikfast_manipulator_plugin/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "bb4988ca5839bfbfffb15d19fc75f80b8adebec5cc2b9fe7a97a6b91cc905d14";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-resources-prbt-moveit-config/default.nix b/distros/iron/moveit-resources-prbt-moveit-config/default.nix
index 8a1c131194..235296bb75 100644
--- a/distros/iron/moveit-resources-prbt-moveit-config/default.nix
+++ b/distros/iron/moveit-resources-prbt-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-support, moveit-ros-move-group, robot-state-publisher, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-iron-moveit-resources-prbt-moveit-config";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_moveit_config/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "6b7e8dbe052795a0066ba06ab989bc173e623c0dc470de4514579f7b02d421c5";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_moveit_config/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "3c630044488b158ecaaf4a97c46fc25392af8b3c5240826ff42349f1c3ed5706";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-resources-prbt-pg70-support/default.nix b/distros/iron/moveit-resources-prbt-pg70-support/default.nix
index 79ee24bf87..9e21564159 100644
--- a/distros/iron/moveit-resources-prbt-pg70-support/default.nix
+++ b/distros/iron/moveit-resources-prbt-pg70-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-moveit-config, moveit-resources-prbt-support, xacro }:
 buildRosPackage {
   pname = "ros-iron-moveit-resources-prbt-pg70-support";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_pg70_support/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "c933da4a5c6e8d9dd844fc866752372159e042f95fa60c187a91839acc573cc9";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_pg70_support/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "7844bce76953c880076dccab93acf9a0237b120ce7525e406abde6e624123210";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-resources-prbt-support/default.nix b/distros/iron/moveit-resources-prbt-support/default.nix
index 2980333407..795814b0b7 100644
--- a/distros/iron/moveit-resources-prbt-support/default.nix
+++ b/distros/iron/moveit-resources-prbt-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, xacro }:
 buildRosPackage {
   pname = "ros-iron-moveit-resources-prbt-support";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_support/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "d34fa6eb818e6a28a96d96f3b97f884962b83b55c8d964151293e94f86cc2480";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_resources_prbt_support/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "08aa27dd5b249b55adef3663620d86de282c82c8b0b872896e2fdf2eaf8f838e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-benchmarks/default.nix b/distros/iron/moveit-ros-benchmarks/default.nix
index be1d0ff791..0630ca7a52 100644
--- a/distros/iron/moveit-ros-benchmarks/default.nix
+++ b/distros/iron/moveit-ros-benchmarks/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, boost, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-ros-planning, moveit-ros-warehouse, pluginlib, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-benchmarks";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_benchmarks/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "db397f6242fdee54eea3a4458c591174cfc44edcf823a614b29b836205884c55";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_benchmarks/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "db5e59f9ad0bf535e8f4aa6dc6881f87c7dc33b19030cc5591575828b248b373";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-control-interface/default.nix b/distros/iron/moveit-ros-control-interface/default.nix
index ce9bbaee70..7d9873a337 100644
--- a/distros/iron/moveit-ros-control-interface/default.nix
+++ b/distros/iron/moveit-ros-control-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager-msgs, moveit-common, moveit-core, moveit-simple-controller-manager, pluginlib, rclcpp-action, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-control-interface";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_control_interface/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "b09d5fab9f0e450497b8a1e8f2e9599541c31ce8aa981d6fc6186048df19c7ad";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_control_interface/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "4e104f08aa69856b71112cac1fb841dee7e2b6d127a0cbabb868ee929235d246";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-move-group/default.nix b/distros/iron/moveit-ros-move-group/default.nix
index 20c956073e..4a507f2835 100644
--- a/distros/iron/moveit-ros-move-group/default.nix
+++ b/distros/iron/moveit-ros-move-group/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, fmt, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-move-group";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_move_group/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "47d144fab25c308b7ac75c6de359f5ec9ffc1931bfe400688991785bd9af8e44";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_move_group/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "513adf7eb02cb415fca729ed17657a544d982454498949cfca975662481675f0";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common moveit-resources-fanuc-moveit-config ];
-  propagatedBuildInputs = [ moveit-common moveit-core moveit-kinematics moveit-ros-occupancy-map-monitor moveit-ros-planning pluginlib rclcpp rclcpp-action std-srvs tf2 tf2-geometry-msgs tf2-ros ];
+  propagatedBuildInputs = [ fmt moveit-common moveit-core moveit-kinematics moveit-ros-occupancy-map-monitor moveit-ros-planning pluginlib rclcpp rclcpp-action std-srvs tf2 tf2-geometry-msgs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/moveit-ros-occupancy-map-monitor/default.nix b/distros/iron/moveit-ros-occupancy-map-monitor/default.nix
index f2d29973b3..d778e90fae 100644
--- a/distros/iron/moveit-ros-occupancy-map-monitor/default.nix
+++ b/distros/iron/moveit-ros-occupancy-map-monitor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometric-shapes, moveit-common, moveit-core, moveit-msgs, octomap, pluginlib, rclcpp, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-occupancy-map-monitor";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_occupancy_map_monitor/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "0afbe661cfce1cd5ea3f1a8cef93dea1eea389da5c0143b8e857bd6b9374bb9a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_occupancy_map_monitor/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "088a627470ab4ac569133eb26740c2d0b7255a9af96a3e4875db8b5e67e34b14";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-perception/default.nix b/distros/iron/moveit-ros-perception/default.nix
index 35366065ed..5df2079489 100644
--- a/distros/iron/moveit-ros-perception/default.nix
+++ b/distros/iron/moveit-ros-perception/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, moveit-ros-planning, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-perception";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_perception/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "489f26db2b2294f69ad8b438916e780deed0ff98feae419001dca219fc7bfd33";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_perception/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "d32968eb612aa5833d5ac16e4c604a272d9c8629cc1f4c564d6a0a95f9e7bddd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-planning-interface/default.nix b/distros/iron/moveit-ros-planning-interface/default.nix
index 98ced5e18d..1f668e9171 100644
--- a/distros/iron/moveit-ros-planning-interface/default.nix
+++ b/distros/iron/moveit-ros-planning-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, eigen, eigen3-cmake-module, geometry-msgs, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-ros-move-group, moveit-ros-planning, moveit-ros-warehouse, moveit-simple-controller-manager, python3, rclcpp, rclcpp-action, rclpy, ros-testing, rviz2, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-planning-interface";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_planning_interface/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "02b68ab63db4a150dd33ad2591b168ddd22c09915649a4ae824fb0d63ca299b8";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_planning_interface/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "3f75f2cfe61da6322e184dc964cefab44dfb00d0ff3bab9ec2071003bc286042";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-planning/default.nix b/distros/iron/moveit-ros-planning/default.nix
index 9ab11834d6..e9bbd0c089 100644
--- a/distros/iron/moveit-ros-planning/default.nix
+++ b/distros/iron/moveit-ros-planning/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, generate-parameter-library, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, ros-testing, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, fmt, generate-parameter-library, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, ros-testing, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-planning";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_planning/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "80f4a386a761e48f2d9e093aee8f1ced5e5d616c70eff15884ad119790d4186f";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_planning/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "48134c109fe6c3f8ffc0fbb709a8da99be3e53c7d0e5800305c938e98b3c0287";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ros-testing ];
-  propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module generate-parameter-library message-filters moveit-common moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
+  propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module fmt generate-parameter-library message-filters moveit-common moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
 
   meta = {
diff --git a/distros/iron/moveit-ros-robot-interaction/default.nix b/distros/iron/moveit-ros-robot-interaction/default.nix
index fd0cfed5b0..24b21b273e 100644
--- a/distros/iron/moveit-ros-robot-interaction/default.nix
+++ b/distros/iron/moveit-ros-robot-interaction/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, interactive-markers, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-robot-interaction";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_robot_interaction/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "83e6921c01a46f81100f9b43030d251c89bc7be51732eda1f197919f8d5b4ffa";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_robot_interaction/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "9d7bfd8d16dea0e20ac781a0a27bcd08f06b73e150df42762b2abe45efec34d2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-visualization/default.nix b/distros/iron/moveit-ros-visualization/default.nix
index 8ef559786b..112719d6bc 100644
--- a/distros/iron/moveit-ros-visualization/default.nix
+++ b/distros/iron/moveit-ros-visualization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, eigen, geometric-shapes, interactive-markers, moveit-common, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-warehouse, object-recognition-msgs, pkg-config, pluginlib, qt5, rclcpp, rclpy, rviz2, tf2-eigen }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-visualization";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_visualization/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "c5fcdfbcf589fe8b42b3326c2aa3dbb97337b2c8afae6f62b159e84163ddc19a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_visualization/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "baffa91c5ad00c4d295d096b6d581b8612616f1637fe4180bdce68634c6b45ab";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-ros-warehouse/default.nix b/distros/iron/moveit-ros-warehouse/default.nix
index 9a519c1714..5cbbc63bfc 100644
--- a/distros/iron/moveit-ros-warehouse/default.nix
+++ b/distros/iron/moveit-ros-warehouse/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, fmt, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros-warehouse";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_warehouse/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "1330def4ddf25b4b13026f5b872628aa24b0e57330b4047f01fab7ab174bc262";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros_warehouse/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "80f09ad84822f7595f8c1f7a952db3ea5c261a064d8c1aec66b437cbd64ad906";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ moveit-common moveit-core moveit-ros-planning rclcpp tf2-eigen tf2-ros warehouse-ros ];
+  propagatedBuildInputs = [ fmt moveit-common moveit-core moveit-ros-planning rclcpp tf2-eigen tf2-ros warehouse-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/moveit-ros/default.nix b/distros/iron/moveit-ros/default.nix
index c052a3edc3..036087ce49 100644
--- a/distros/iron/moveit-ros/default.nix
+++ b/distros/iron/moveit-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-ros-benchmarks, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-visualization, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-iron-moveit-ros";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "8a7fdcf777fa9789a1a03af59a35ef25066ca28ee4bdd984f9bb8dbf6f4d344e";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_ros/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "1436a4d93d1abbcd7d2ea249eebf3a09d059599f5e5dd00a804981df31c96fd2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-runtime/default.nix b/distros/iron/moveit-runtime/default.nix
index dc56fa192c..17470de624 100644
--- a/distros/iron/moveit-runtime/default.nix
+++ b/distros/iron/moveit-runtime/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros-move-group, moveit-ros-perception, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-iron-moveit-runtime";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_runtime/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "96e3e55f6eeec519d69adb1ca9a8bf818d6ccee30b2e9c4fbb5fb9e1747b2fa3";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_runtime/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "fad90f93fbe81e0fec8a11703a1017f6d6cf671e06c77b356ec34e4954a76d8b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-servo/default.nix b/distros/iron/moveit-servo/default.nix
index a37ce0d4d5..d71a0b0056 100644
--- a/distros/iron/moveit-servo/default.nix
+++ b/distros/iron/moveit-servo/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, controller-manager, generate-parameter-library, geometry-msgs, gripper-controllers, joint-state-broadcaster, joint-trajectory-controller, joy, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, pluginlib, realtime-tools, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, controller-manager, generate-parameter-library, geometry-msgs, gripper-controllers, joint-state-broadcaster, joint-trajectory-controller, joy, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, pluginlib, realtime-tools, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-moveit-servo";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_servo/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "bd47aff01fc8b34df43950b3f4715edf56de0164c7611933ef89551905dcefbf";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_servo/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "eaf2839c1cd100e88a40c85ead22dafcb3eeab5d56d7b06f8bd61934a2b85c59";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ros-testing ];
-  propagatedBuildInputs = [ control-msgs control-toolbox controller-manager generate-parameter-library geometry-msgs gripper-controllers joint-state-broadcaster joint-trajectory-controller joy launch-param-builder moveit-common moveit-configs-utils moveit-core moveit-msgs moveit-ros-planning-interface pluginlib realtime-tools robot-state-publisher sensor-msgs std-msgs std-srvs tf2-eigen tf2-ros trajectory-msgs ];
+  propagatedBuildInputs = [ control-msgs controller-manager generate-parameter-library geometry-msgs gripper-controllers joint-state-broadcaster joint-trajectory-controller joy launch-param-builder moveit-common moveit-configs-utils moveit-core moveit-msgs moveit-ros-planning-interface pluginlib realtime-tools robot-state-publisher sensor-msgs std-msgs std-srvs tf2-eigen tf2-ros trajectory-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/moveit-setup-app-plugins/default.nix b/distros/iron/moveit-setup-app-plugins/default.nix
index 4897f0c44b..5c15884799 100644
--- a/distros/iron/moveit-setup-app-plugins/default.nix
+++ b/distros/iron/moveit-setup-app-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-app-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_app_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "a4fe80816258fc979acc0647e10c9630763b6c2bcccb35def21f1edd1c24e253";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_app_plugins/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "c5d1197c77e572550cf2db6e2785c4a05352bd291a225ff78d48b807a38f6ee5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-setup-assistant/default.nix b/distros/iron/moveit-setup-assistant/default.nix
index 08d3774a36..d990b3cdb2 100644
--- a/distros/iron/moveit-setup-assistant/default.nix
+++ b/distros/iron/moveit-setup-assistant/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-resources-panda-moveit-config, moveit-setup-app-plugins, moveit-setup-controllers, moveit-setup-core-plugins, moveit-setup-framework, moveit-setup-srdf-plugins, pluginlib, qt5, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-assistant";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_assistant/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "f779386976889e2ae85b0e230a666414ec3b356600c28aadb3ea5786ebb74496";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_assistant/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "9e286cc9460787885ecd4279891e9e4a95dc88ced0a1a9b0b3cafef00a92b5b8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-setup-controllers/default.nix b/distros/iron/moveit-setup-controllers/default.nix
index 37f99f6f16..92c6ffab59 100644
--- a/distros/iron/moveit-setup-controllers/default.nix
+++ b/distros/iron/moveit-setup-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-controllers";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_controllers/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "be5c4fff472aba156efaa5e64248d80060aac85e4352a8c6e1b39e54a300a69b";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_controllers/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "99086890dc41cccfe1255124dc79c3ae5a002ae0858d2cb6fc60082ea425aee3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-setup-core-plugins/default.nix b/distros/iron/moveit-setup-core-plugins/default.nix
index f74e157881..f43b9494c7 100644
--- a/distros/iron/moveit-setup-core-plugins/default.nix
+++ b/distros/iron/moveit-setup-core-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-core-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_core_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "e23db905e1f9003d015ae8f223c5925e0dee41e398aab7348e4c752eabec799c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_core_plugins/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "239bffd1cc33dfa783b2b23f832dd8b164ffb3d2dec4728cf9661e11450c22da";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-setup-framework/default.nix b/distros/iron/moveit-setup-framework/default.nix
index 470996342f..1bfe82f39a 100644
--- a/distros/iron/moveit-setup-framework/default.nix
+++ b/distros/iron/moveit-setup-framework/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-common, moveit-core, moveit-ros-planning, moveit-ros-visualization, pluginlib, rclcpp, rviz-common, rviz-rendering, srdfdom, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, fmt, moveit-common, moveit-core, moveit-ros-planning, moveit-ros-visualization, pluginlib, rclcpp, rviz-common, rviz-rendering, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-framework";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_framework/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "3c07c9580454efc4da14b46d1e5626038bddf095ee38c8ab95bae8dc71bee80d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_framework/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "0b37470cec56e98fe4aaeb8e37f1cf56d8fe32fd0e83045aac084770c3f8589b";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-clang-format ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ ament-index-cpp moveit-common moveit-core moveit-ros-planning moveit-ros-visualization pluginlib rclcpp rviz-common rviz-rendering srdfdom urdf ];
+  propagatedBuildInputs = [ ament-index-cpp fmt moveit-common moveit-core moveit-ros-planning moveit-ros-visualization pluginlib rclcpp rviz-common rviz-rendering srdfdom urdf ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/moveit-setup-srdf-plugins/default.nix b/distros/iron/moveit-setup-srdf-plugins/default.nix
index 59b7290dcb..f5fc4605ea 100644
--- a/distros/iron/moveit-setup-srdf-plugins/default.nix
+++ b/distros/iron/moveit-setup-srdf-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-lint-auto, moveit-resources-fanuc-description, moveit-setup-framework, pluginlib }:
 buildRosPackage {
   pname = "ros-iron-moveit-setup-srdf-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_srdf_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "362a33f2d42a3bf27b0ecc58f44e01cb893090a044881d2ffb2cf05e3651d1f8";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_setup_srdf_plugins/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "c9eb2967540a9d30febd7089db593b58632cef54dfe63e5726de974c02d7c6d3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit-simple-controller-manager/default.nix b/distros/iron/moveit-simple-controller-manager/default.nix
index 490db4e885..237c3d29fa 100644
--- a/distros/iron/moveit-simple-controller-manager/default.nix
+++ b/distros/iron/moveit-simple-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, control-msgs, moveit-common, moveit-core, pluginlib, rclcpp, rclcpp-action }:
 buildRosPackage {
   pname = "ros-iron-moveit-simple-controller-manager";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_simple_controller_manager/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "35fec67252b6c8d8769ab7492573e639f75e8110934461d2713abf7dd8cd95c5";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit_simple_controller_manager/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "1b5e4370a50fdda39c353562f83671467e9796e21c5a8f32e5a505a002e9357e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/moveit/default.nix b/distros/iron/moveit/default.nix
index cfb60757e7..065f30ab29 100644
--- a/distros/iron/moveit/default.nix
+++ b/distros/iron/moveit/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros, moveit-setup-assistant }:
 buildRosPackage {
   pname = "ros-iron-moveit";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "36b0745141e9e358b8a5abac2a1a527b367306721afa105e710eae9dd0e14a3c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/moveit/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "0c2d108e605149250221f53749cf6065666dfa4719221e9b54b62a8593b80860";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/mp2p-icp/default.nix b/distros/iron/mp2p-icp/default.nix
index 1d10377455..e1d35492e3 100644
--- a/distros/iron/mp2p-icp/default.nix
+++ b/distros/iron/mp2p-icp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-iron-mp2p-icp";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mp2p_icp/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "71437c9667c9be83a2a102f439223fe8033edbd335d79568484792ad0d87f1d8";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/iron/mp2p_icp/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "1ddc9e253f1c6732081f359c372ab34228073c9ed1d63f6b0021caea51e296d1";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/mqtt-client/default.nix b/distros/iron/mqtt-client/default.nix
new file mode 100644
index 0000000000..ca9ff96917
--- /dev/null
+++ b/distros/iron/mqtt-client/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, mqtt-client-interfaces, paho-mqtt-c, paho-mqtt-cpp, rclcpp, rcpputils, ros-environment, std-msgs }:
+buildRosPackage {
+  pname = "ros-iron-mqtt-client";
+  version = "2.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ika-rwth-aachen/mqtt_client-release/archive/release/iron/mqtt_client/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "572ed4627fe043992097f9c0c9a7b322609dc3198828cb1921be27334a8d8dda";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ mqtt-client-interfaces paho-mqtt-c paho-mqtt-cpp rclcpp rcpputils ros-environment std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol.'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/iron/mrpt2/default.nix b/distros/iron/mrpt2/default.nix
index 9d37e701bc..e5c7bb2a64 100644
--- a/distros/iron/mrpt2/default.nix
+++ b/distros/iron/mrpt2/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK32, xorg, zlib }:
 buildRosPackage {
   pname = "ros-iron-mrpt2";
   version = "2.10.0-r1";
@@ -14,7 +14,7 @@ buildRosPackage {
   };
 
   buildType = "cmake";
-  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK zlib ];
+  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK32 zlib ];
   propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv rclcpp rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/iron/mvsim/default.nix b/distros/iron/mvsim/default.nix
index 410d85ae6f..d995c76875 100644
--- a/distros/iron/mvsim/default.nix
+++ b/distros/iron/mvsim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, boost, cmake, cppzmq, mrpt2, nav-msgs, protobuf, python3, python3Packages, pythonPackages, ros-environment, ros2launch, sensor-msgs, tf2, tf2-geometry-msgs, unzip, visualization-msgs, wget }:
 buildRosPackage {
   pname = "ros-iron-mvsim";
-  version = "0.8.0-r1";
+  version = "0.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/iron/mvsim/0.8.0-1.tar.gz";
-    name = "0.8.0-1.tar.gz";
-    sha256 = "925d86747246f69457e0497471274fa9ba1ae7d2a7d31347b5d36538f961996a";
+    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/iron/mvsim/0.8.1-1.tar.gz";
+    name = "0.8.1-1.tar.gz";
+    sha256 = "c680e35f2acd7e66a130e0b36b0bf5e810bb831089b4a258cdec584695d238c1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav-2d-msgs/default.nix b/distros/iron/nav-2d-msgs/default.nix
index 07b659b1de..9da7b5f314 100644
--- a/distros/iron/nav-2d-msgs/default.nix
+++ b/distros/iron/nav-2d-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav-2d-msgs";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav_2d_msgs/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "a25abba3e769df4e82dd25d3d4a8746bcb1c75a472fe5affbcd208d1274e2789";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav_2d_msgs/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "dbff43021eefed9bac6a2b04bb501bc7d6787b0c07f2ac9b97c0e67bd9007d06";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav-2d-utils/default.nix b/distros/iron/nav-2d-utils/default.nix
index 5ab853098e..697f5989e5 100644
--- a/distros/iron/nav-2d-utils/default.nix
+++ b/distros/iron/nav-2d-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, nav-2d-msgs, nav-msgs, nav2-common, nav2-msgs, nav2-util, std-msgs, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav-2d-utils";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav_2d_utils/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "d9c31cb7e13ab25861fdbcbfdb2d818e052ca9b53fa3b92e46635fa8d5b6ddf1";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav_2d_utils/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "6b713b37844de3d0bc2986fb9e69858a949f5439316253b8e2617bec6296089c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-amcl/default.nix b/distros/iron/nav2-amcl/default.nix
index 46de07f818..47ec07fe89 100644
--- a/distros/iron/nav2-amcl/default.nix
+++ b/distros/iron/nav2-amcl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, launch-ros, launch-testing, message-filters, nav-msgs, nav2-common, nav2-msgs, nav2-util, pluginlib, rclcpp, sensor-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-amcl";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_amcl/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "00918cc3af6c9facf33add665e12ac4ab3e10194f760ac422856ca4761ad66f8";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_amcl/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "115ae95c752c3337441802933aa498e13221bfc50d342d493e1eba6007ce714a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-behavior-tree/default.nix b/distros/iron/nav2-behavior-tree/default.nix
index 05428afe19..40ee28d3ed 100644
--- a/distros/iron/nav2-behavior-tree/default.nix
+++ b/distros/iron/nav2-behavior-tree/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, behaviortree-cpp-v3, builtin-interfaces, geometry-msgs, lifecycle-msgs, nav-msgs, nav2-common, nav2-msgs, nav2-util, rclcpp, rclcpp-action, rclcpp-lifecycle, sensor-msgs, std-msgs, std-srvs, test-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-behavior-tree";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_behavior_tree/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "d615c37facd1758012d1f0d8635284dd0d732e1b9ba4a8ca7392719ab0bc50fc";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_behavior_tree/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "658e38d7d43f8e17f6759ec4f2ef31b94eb251d30a3726e4b8ab4da630797c6a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-behaviors/default.nix b/distros/iron/nav2-behaviors/default.nix
index ec12b797a0..2c932c2fee 100644
--- a/distros/iron/nav2-behaviors/default.nix
+++ b/distros/iron/nav2-behaviors/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, nav-msgs, nav2-behavior-tree, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-behaviors";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_behaviors/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "1be74fbb0630c71dbbf7d70bd1f710cbb6eca037a69d70494cb49846bbed7ddf";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_behaviors/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "a6182493a4443d1513b07c91fc244e0b5ace226ab0ebe7190afe88f2b3cb7a22";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-bringup/default.nix b/distros/iron/nav2-bringup/default.nix
index 704e6a5d9b..d4fb4e0685 100644
--- a/distros/iron/nav2-bringup/default.nix
+++ b/distros/iron/nav2-bringup/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, launch, launch-ros, launch-testing, nav2-common, navigation2, slam-toolbox, turtlebot3-gazebo }:
 buildRosPackage {
   pname = "ros-iron-nav2-bringup";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_bringup/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "9f4476b1be269caf56ff78673a62ede11fbeb9e9a9292601c7471e360f2f2aca";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_bringup/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "275ad933213bd38b37d4752e725cbbc73209f446606992f84b22bb2a43e6762c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-bt-navigator/default.nix b/distros/iron/nav2-bt-navigator/default.nix
index c6dc284d76..fc4189f631 100644
--- a/distros/iron/nav2-bt-navigator/default.nix
+++ b/distros/iron/nav2-bt-navigator/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, behaviortree-cpp-v3, geometry-msgs, nav-msgs, nav2-behavior-tree, nav2-common, nav2-core, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, std-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-bt-navigator";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_bt_navigator/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "daef8c59c393b968497b183afb67855ab885921882c2d99f0aae95a79233b7f5";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_bt_navigator/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "fd1cb121f0a4258966547b6298f3d7738300c257b4ea7ef41ff07ee456c355a9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-collision-monitor/default.nix b/distros/iron/nav2-collision-monitor/default.nix
index 6ffdafd302..399ffa6e14 100644
--- a/distros/iron/nav2-collision-monitor/default.nix
+++ b/distros/iron/nav2-collision-monitor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, nav2-common, nav2-costmap-2d, nav2-msgs, nav2-util, rclcpp, rclcpp-components, sensor-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-collision-monitor";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_collision_monitor/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "c973395d3ce953fda85491647a292117f98fd30d7155b1990265d50d552bf40c";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_collision_monitor/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "bcabcc759c69a450a6c2306917aa006d61041bce5bdedf02aa0362053be50fa5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-common/default.nix b/distros/iron/nav2-common/default.nix
index d4fefdfe68..5bd0ddab39 100644
--- a/distros/iron/nav2-common/default.nix
+++ b/distros/iron/nav2-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-python, launch, launch-ros, osrf-pycommon, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-iron-nav2-common";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_common/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "190b103ebe93d2e4ed0b2cc7a3d7df01cf24e3daf28012559d88cd6c670b2d21";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_common/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "87008918ddef7596df86af7025beba37eec0da3cdd7543a105aaeb1c08348ab8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-constrained-smoother/default.nix b/distros/iron/nav2-constrained-smoother/default.nix
index cd7d6df51c..b18b769d01 100644
--- a/distros/iron/nav2-constrained-smoother/default.nix
+++ b/distros/iron/nav2-constrained-smoother/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, angles, ceres-solver, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-nav2-constrained-smoother";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_constrained_smoother/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "fec6b701812c9b3b68f0ab36c343c8304803f918c616c46bf531842f9b73dbc1";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_constrained_smoother/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "b614d7267bd294e27d3c571a211e4e3158bd08ec210f7f7c27d086691c4e8972";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-controller/default.nix b/distros/iron/nav2-controller/default.nix
index 4f8a821918..dc2891883e 100644
--- a/distros/iron/nav2-controller/default.nix
+++ b/distros/iron/nav2-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, angles, nav-2d-msgs, nav-2d-utils, nav2-common, nav2-core, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-controller";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_controller/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "a3c7ef34b374c56fa963c59509479b5457b2f6a87c8d2d1da52d8b0a4436af65";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_controller/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "0cd84c748b1af52cde7ba3be17fca3107ab3a54cb562d0c09be2794f06a40f73";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-core/default.nix b/distros/iron/nav2-core/default.nix
index 07192413e7..de2f2498c8 100644
--- a/distros/iron/nav2-core/default.nix
+++ b/distros/iron/nav2-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, geometry-msgs, launch, launch-testing, nav-msgs, nav2-behavior-tree, nav2-common, nav2-costmap-2d, nav2-util, pluginlib, rclcpp, rclcpp-lifecycle, std-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-core";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_core/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "249e1c3e392bb04b9e4b500c579296c62b3ceadef0bc87f7c9aa9d0dce287f6e";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_core/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "ac1fc95d9b16d5b0a8639de1eefbbea3e8c853269206398dba9fa679b410ba4d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-costmap-2d/default.nix b/distros/iron/nav2-costmap-2d/default.nix
index 6d59944946..accfb73637 100644
--- a/distros/iron/nav2-costmap-2d/default.nix
+++ b/distros/iron/nav2-costmap-2d/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, geometry-msgs, laser-geometry, launch, launch-testing, map-msgs, message-filters, nav-msgs, nav2-common, nav2-lifecycle-manager, nav2-map-server, nav2-msgs, nav2-util, nav2-voxel-grid, pluginlib, rclcpp, rclcpp-lifecycle, sensor-msgs, std-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-costmap-2d";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_costmap_2d/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "23589cdac2161c85ee067dce64cf4002c2a955eb86f22b027f808725082993d4";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_costmap_2d/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "60cdeef30d63a3e14e351d06359483020763d1c1e8f38efe3aaf4bea1673efa8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-dwb-controller/default.nix b/distros/iron/nav2-dwb-controller/default.nix
index 1513d78301..d6dc5325f7 100644
--- a/distros/iron/nav2-dwb-controller/default.nix
+++ b/distros/iron/nav2-dwb-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, costmap-queue, dwb-core, dwb-critics, dwb-msgs, dwb-plugins, nav-2d-msgs, nav-2d-utils }:
 buildRosPackage {
   pname = "ros-iron-nav2-dwb-controller";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_dwb_controller/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "6d7aac05341052695e868e0959f8d0771b41b9fd0df15bd81aa9fa6e2bc5bb26";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_dwb_controller/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "59fc0d7e4446e3ff516c9572b1b3b6b71086762e5bffbf6941b10cf4fcd39778";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-lifecycle-manager/default.nix b/distros/iron/nav2-lifecycle-manager/default.nix
index 792f9adf79..203a71f957 100644
--- a/distros/iron/nav2-lifecycle-manager/default.nix
+++ b/distros/iron/nav2-lifecycle-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, bondcpp, diagnostic-updater, geometry-msgs, lifecycle-msgs, nav2-common, nav2-msgs, nav2-util, rclcpp-action, rclcpp-lifecycle, std-msgs, std-srvs, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-lifecycle-manager";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_lifecycle_manager/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "0f8832c3823f02b3a2234981ced3f8ba811f7eb8515e70f83345660ea550f1d3";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_lifecycle_manager/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "b3001729a8cebec2db6dacbe6e2c86655cd2c22289b1cf6b82291ef62bb0def9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-map-server/default.nix b/distros/iron/nav2-map-server/default.nix
index 40b2341d92..d3d6383c4b 100644
--- a/distros/iron/nav2-map-server/default.nix
+++ b/distros/iron/nav2-map-server/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, graphicsmagick, launch, launch-ros, launch-testing, nav-msgs, nav2-common, nav2-msgs, nav2-util, rclcpp, rclcpp-lifecycle, std-msgs, tf2, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-nav2-map-server";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_map_server/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "74cc996b89f3cf25d4313cc728110bcb22c4c68f82092a80932d7cb8a76a94fd";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_map_server/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "2e5ebc32883ac5f610a7f5951315628a965811acfda206cf708fe86244156952";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-mppi-controller/default.nix b/distros/iron/nav2-mppi-controller/default.nix
index 233d34394d..5c97989dbb 100644
--- a/distros/iron/nav2-mppi-controller/default.nix
+++ b/distros/iron/nav2-mppi-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, gbenchmark, geometry-msgs, llvmPackages, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, visualization-msgs, xsimd, xtensor }:
 buildRosPackage {
   pname = "ros-iron-nav2-mppi-controller";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_mppi_controller/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "a913a626213164c5a366fa5f759501c08b9319346f6e6f7e0cb38b76a8a8ff29";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_mppi_controller/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "4f366f372ed3e41776a436fbb9a68a058cb0589423950c0d10b9c4c01aef7c34";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-msgs/default.nix b/distros/iron/nav2-msgs/default.nix
index 84a2de85c9..34446e7665 100644
--- a/distros/iron/nav2-msgs/default.nix
+++ b/distros/iron/nav2-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, builtin-interfaces, geometry-msgs, nav-msgs, nav2-common, rclcpp, rosidl-default-generators, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-msgs";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_msgs/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "84e56fdd926920ecae0584c29a7abc16bd2520415599ecf326558422c7451d95";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_msgs/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "f59da0dcbce617155238888a4a07c59c5049aec14b395a591104c53d4be1deab";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-navfn-planner/default.nix b/distros/iron/nav2-navfn-planner/default.nix
index 0829d4730f..8428bfb119 100644
--- a/distros/iron/nav2-navfn-planner/default.nix
+++ b/distros/iron/nav2-navfn-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, nav-msgs, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2-ros, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-navfn-planner";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_navfn_planner/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "32217bac520439f0c1600038761fb3b510207810480e8f3f8963265ba8349592";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_navfn_planner/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "f9fab6b99cfa0e78deec594ca3683a26b0cef1d649f882f1fe5e39d9cc55d315";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-planner/default.nix b/distros/iron/nav2-planner/default.nix
index 62fa44d0b8..d12a5a0dce 100644
--- a/distros/iron/nav2-planner/default.nix
+++ b/distros/iron/nav2-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, nav-msgs, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2-ros, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-planner";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_planner/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "dcc344dab6fa980f88eb906845a112737947c2dda9195e1506888f8d927f43e5";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_planner/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "02aa0a5dee2d9a9d444ee7eff8e4d22ea23ebc2452cc10ccea6b10704b9a1320";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-regulated-pure-pursuit-controller/default.nix b/distros/iron/nav2-regulated-pure-pursuit-controller/default.nix
index 2ee1777fc3..c67ac673ac 100644
--- a/distros/iron/nav2-regulated-pure-pursuit-controller/default.nix
+++ b/distros/iron/nav2-regulated-pure-pursuit-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-regulated-pure-pursuit-controller";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_regulated_pure_pursuit_controller/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "c84b78992603a0116444bff20819f6cbfe630bb3a9aa5bf9784f3e1c2b1485ef";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_regulated_pure_pursuit_controller/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "6fa0cbe9f22be88f9dd03eae131f4c1a8c5e34f4b96235f6f0fec6cbd6e26e24";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-rotation-shim-controller/default.nix b/distros/iron/nav2-rotation-shim-controller/default.nix
index c4a1bd6ceb..5488a62d58 100644
--- a/distros/iron/nav2-rotation-shim-controller/default.nix
+++ b/distros/iron/nav2-rotation-shim-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, angles, geometry-msgs, nav2-common, nav2-controller, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-regulated-pure-pursuit-controller, nav2-util, pluginlib, rclcpp, tf2 }:
 buildRosPackage {
   pname = "ros-iron-nav2-rotation-shim-controller";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_rotation_shim_controller/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "e30070a8977297c4bb8a51734dda498eb0495ee9a1796cbc9947f91350afdf83";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_rotation_shim_controller/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "4a957b2bfbb33c554cf2eab17eecc96339a5e79ba6cf4916cc7a13a6ec440b06";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-rviz-plugins/default.nix b/distros/iron/nav2-rviz-plugins/default.nix
index 421defc3fe..cde76c243c 100644
--- a/distros/iron/nav2-rviz-plugins/default.nix
+++ b/distros/iron/nav2-rviz-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, nav-msgs, nav2-lifecycle-manager, nav2-msgs, nav2-util, pluginlib, qt5, rclcpp, rclcpp-lifecycle, resource-retriever, rviz-common, rviz-default-plugins, rviz-ogre-vendor, rviz-rendering, std-msgs, tf2-geometry-msgs, visualization-msgs, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-nav2-rviz-plugins";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_rviz_plugins/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "e10cf4e8881c4083a8a798c19e1939b4bf1e120664ac0352d2356231f04fdd6f";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_rviz_plugins/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "a90356a6d4a4e6582ecfe6519ba2b9013dcb639594df0cd6d744450bf2f27898";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-simple-commander/default.nix b/distros/iron/nav2-simple-commander/default.nix
index d80a279e18..8787e90cf6 100644
--- a/distros/iron/nav2-simple-commander/default.nix
+++ b/distros/iron/nav2-simple-commander/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-copyright, ament-flake8, ament-pep257, geometry-msgs, lifecycle-msgs, nav2-msgs, pythonPackages, rclpy }:
 buildRosPackage {
   pname = "ros-iron-nav2-simple-commander";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_simple_commander/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "eaffbb3534c9f33ec9b3e45e4efbd133eda0f6ec2ff0a1e41461e7743ea0870d";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_simple_commander/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "04f98d087a83b71cc3db2eb5c8a8e6484481e87155ff3d2bd29b8ba925508fb7";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/nav2-smac-planner/default.nix b/distros/iron/nav2-smac-planner/default.nix
index 46bfb34969..3d9026b91d 100644
--- a/distros/iron/nav2-smac-planner/default.nix
+++ b/distros/iron/nav2-smac-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, angles, builtin-interfaces, eigen, eigen3-cmake-module, geometry-msgs, nav-msgs, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, nlohmann_json, ompl, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2-ros, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-smac-planner";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_smac_planner/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "78013dea740b972dbbd73b6748263c5f883a64aeb29e34738502fab7bee4a072";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_smac_planner/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "e8ae2a46ea030e0322196c03543afd38c92c7e5ebe65b2d333c26dcb06681819";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-smoother/default.nix b/distros/iron/nav2-smoother/default.nix
index efb338e91c..325d368553 100644
--- a/distros/iron/nav2-smoother/default.nix
+++ b/distros/iron/nav2-smoother/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, angles, nav-2d-msgs, nav-2d-utils, nav2-common, nav2-core, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-components, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-smoother";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_smoother/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "8805d3576257e1a1214ce40311efd0fd20d337bfe60548ba4180f93046d5bfa9";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_smoother/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "c5a1184361047ede5f77200cdbd0a2381a543bd7054e25e0c7bc23bee424adbb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-system-tests/default.nix b/distros/iron/nav2-system-tests/default.nix
index 9ea97a841c..e1055a76bb 100644
--- a/distros/iron/nav2-system-tests/default.nix
+++ b/distros/iron/nav2-system-tests/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, gazebo-ros-pkgs, geometry-msgs, launch, launch-ros, launch-testing, lcov, nav-msgs, nav2-amcl, nav2-behavior-tree, nav2-bringup, nav2-common, nav2-lifecycle-manager, nav2-map-server, nav2-msgs, nav2-navfn-planner, nav2-planner, nav2-util, navigation2, python3Packages, rclcpp, rclpy, robot-state-publisher, std-msgs, tf2-geometry-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-nav2-system-tests";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_system_tests/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "330439b89b6ed8acce9a19c98c0e6fc4094f5148652eba7adcf7302d558b43cf";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_system_tests/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "229c46665a8446f12b0666fb7f09359d72688f260b1eb4ca94e33a33ac7da05a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-theta-star-planner/default.nix b/distros/iron/nav2-theta-star-planner/default.nix
index cd5880f242..33b6c992de 100644
--- a/distros/iron/nav2-theta-star-planner/default.nix
+++ b/distros/iron/nav2-theta-star-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, nav2-common, nav2-core, nav2-costmap-2d, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-theta-star-planner";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_theta_star_planner/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "d61151b7e7f1b357ee059977d5501195f33b178b4195bfd0a12b03d40151e01a";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_theta_star_planner/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "c387e6a976bfa153a7c6c9ecf54c4f19718ef0a8eb3808d917926f2dc19b8977";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-util/default.nix b/distros/iron/nav2-util/default.nix
index 46df9573f5..f9f9215713 100644
--- a/distros/iron/nav2-util/default.nix
+++ b/distros/iron/nav2-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, bond, bondcpp, boost, geometry-msgs, launch, launch-testing-ament-cmake, launch-testing-ros, lifecycle-msgs, nav-msgs, nav2-common, nav2-msgs, rclcpp, rclcpp-action, rclcpp-lifecycle, std-srvs, test-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-util";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_util/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "267cf9734abe2721c67f63a03437b166076d78e763aa022ad5a6d266c01444d6";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_util/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "9151042e7573691c50867ef09c5dc470461d7282c52f1ab85c2616efaf99a613";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-velocity-smoother/default.nix b/distros/iron/nav2-velocity-smoother/default.nix
index 6a6f3b1b76..957dd0430c 100644
--- a/distros/iron/nav2-velocity-smoother/default.nix
+++ b/distros/iron/nav2-velocity-smoother/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, geometry-msgs, nav2-common, nav2-util, rclcpp, rclcpp-components }:
 buildRosPackage {
   pname = "ros-iron-nav2-velocity-smoother";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_velocity_smoother/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "038a443fe7062155f6fbd61a2c37f9cf6a9ef5b11a884af8b4253560d9d56717";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_velocity_smoother/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "a42ea651875eee7f5d23f3994643402eab85163f4505d87f043970c730fc36cf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-voxel-grid/default.nix b/distros/iron/nav2-voxel-grid/default.nix
index 6c5f2cc780..eee9e1547b 100644
--- a/distros/iron/nav2-voxel-grid/default.nix
+++ b/distros/iron/nav2-voxel-grid/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, nav2-common, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-nav2-voxel-grid";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_voxel_grid/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "7f462c428216122b22df60cb28adf5f2221779bfb59e755cb1705831546051bf";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_voxel_grid/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "7b31db3e73ed0e5cff31cc270117c62b1eb9b1d4134fda5ae1d849c755864a81";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/nav2-waypoint-follower/default.nix b/distros/iron/nav2-waypoint-follower/default.nix
index ceadd10694..51566819f0 100644
--- a/distros/iron/nav2-waypoint-follower/default.nix
+++ b/distros/iron/nav2-waypoint-follower/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, nav-msgs, nav2-common, nav2-core, nav2-msgs, nav2-util, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-nav2-waypoint-follower";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_waypoint_follower/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "55a2907b0783c3eadc4864567f63e614f3588594583b60eaf8eb4e6d09b56c9c";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/nav2_waypoint_follower/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "6954ccb9cf7a68c0cba57a449c559a47b650beb06cbd0b922a8d84491cdb0033";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/navigation2/default.nix b/distros/iron/navigation2/default.nix
index 9f7694a47c..a67271faa6 100644
--- a/distros/iron/navigation2/default.nix
+++ b/distros/iron/navigation2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, nav2-amcl, nav2-behavior-tree, nav2-behaviors, nav2-bt-navigator, nav2-collision-monitor, nav2-constrained-smoother, nav2-controller, nav2-core, nav2-costmap-2d, nav2-dwb-controller, nav2-lifecycle-manager, nav2-map-server, nav2-mppi-controller, nav2-msgs, nav2-navfn-planner, nav2-planner, nav2-regulated-pure-pursuit-controller, nav2-rotation-shim-controller, nav2-rviz-plugins, nav2-simple-commander, nav2-smac-planner, nav2-smoother, nav2-theta-star-planner, nav2-util, nav2-velocity-smoother, nav2-voxel-grid, nav2-waypoint-follower }:
 buildRosPackage {
   pname = "ros-iron-navigation2";
-  version = "1.2.2-r1";
+  version = "1.2.2-r2";
 
   src = fetchurl {
-    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/navigation2/1.2.2-1.tar.gz";
-    name = "1.2.2-1.tar.gz";
-    sha256 = "e01343fd78ecaa08a341a5f03020e3992c229b565fb87e75ab1dc828c1656055";
+    url = "https://github.com/SteveMacenski/navigation2-release/archive/release/iron/navigation2/1.2.2-2.tar.gz";
+    name = "1.2.2-2.tar.gz";
+    sha256 = "b446406ffb6b2577aec7d6f538ab84f6ac8aa3a2de89ab43f844f770ceb830df";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ouster-ros/default.nix b/distros/iron/ouster-ros/default.nix
new file mode 100644
index 0000000000..ddd6948788
--- /dev/null
+++ b/distros/iron/ouster-ros/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, curl, eigen, geometry-msgs, gtest, jsoncpp, launch, launch-ros, libtins, ouster-msgs, pcl, pcl-conversions, pcl-ros, rclcpp, rclcpp-components, rclcpp-lifecycle, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, spdlog, std-msgs, std-srvs, tf2-eigen, tf2-ros }:
+buildRosPackage {
+  pname = "ros-iron-ouster-ros";
+  version = "0.10.4-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ouster-ros-release/archive/release/iron/ouster_ros/0.10.4-1.tar.gz";
+    name = "0.10.4-1.tar.gz";
+    sha256 = "0e8186623ac77f8f175c96f2ed4eb4d08abd4f52684a73eabe6f44a26cc578ec";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake eigen pcl rosidl-default-generators tf2-eigen ];
+  checkInputs = [ gtest ];
+  propagatedBuildInputs = [ curl geometry-msgs jsoncpp launch launch-ros libtins ouster-msgs pcl-conversions pcl-ros rclcpp rclcpp-components rclcpp-lifecycle rosidl-default-runtime sensor-msgs spdlog std-msgs std-srvs tf2-ros ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = ''Ouster ROS2 driver'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/iron/pilz-industrial-motion-planner-testutils/default.nix b/distros/iron/pilz-industrial-motion-planner-testutils/default.nix
index 1c09d2ebdf..038fb01846 100644
--- a/distros/iron/pilz-industrial-motion-planner-testutils/default.nix
+++ b/distros/iron/pilz-industrial-motion-planner-testutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen3-cmake-module, moveit-common, moveit-core, moveit-msgs, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-iron-pilz-industrial-motion-planner-testutils";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/pilz_industrial_motion_planner_testutils/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "a4751ab011cf37ff8680b4c45935b1ef0368a91b06e9bf5a68b55da11da15fa4";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/pilz_industrial_motion_planner_testutils/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "a6706bea12c6a8ffef5950d2b658982f4cd2943f20a42db8e0cbbd7ee7e2d77f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/pilz-industrial-motion-planner/default.nix b/distros/iron/pilz-industrial-motion-planner/default.nix
index 0d5320f3dc..817278cf76 100644
--- a/distros/iron/pilz-industrial-motion-planner/default.nix
+++ b/distros/iron/pilz-industrial-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, boost, eigen3-cmake-module, generate-parameter-library, geometry-msgs, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-prbt-moveit-config, moveit-resources-prbt-pg70-support, moveit-resources-prbt-support, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, orocos-kdl-vendor, pilz-industrial-motion-planner-testutils, pluginlib, rclcpp, ros-testing, tf2, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-pilz-industrial-motion-planner";
-  version = "2.7.4-r1";
+  version = "2.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/pilz_industrial_motion_planner/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "75f13310ceb300ae001dcafa7ae60b634465fa0223e5637e0aac1d325c5373c3";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/iron/pilz_industrial_motion_planner/2.8.0-1.tar.gz";
+    name = "2.8.0-1.tar.gz";
+    sha256 = "02a92a832f43277ae582bf003d2a493a830e85e6ab6ebefe4abbb5cfcc3b6907";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/position-controllers/default.nix b/distros/iron/position-controllers/default.nix
index 02a3c41512..0e1e3ebec7 100644
--- a/distros/iron/position-controllers/default.nix
+++ b/distros/iron/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-iron-position-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/position_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "71206febc8136d1b88c776bb3e8898d56818f86f8b6cdc68b2dcb5f21a7657a9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/position_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "01eb84ccc967e7ddc6d478540d352b95a4917c622e31c1d97feaf0c6df89a929";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/range-sensor-broadcaster/default.nix b/distros/iron/range-sensor-broadcaster/default.nix
new file mode 100644
index 0000000000..a7b339454c
--- /dev/null
+++ b/distros/iron/range-sensor-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-iron-range-sensor-broadcaster";
+  version = "3.15.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/range_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "042169dff77c7c1a27360e83b5e533120955cd1aec54dbfe06828ac5d932a898";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager hardware-interface ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Controller to publish readings of Range sensors.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/iron/rcl-action/default.nix b/distros/iron/rcl-action/default.nix
index cff359acc6..2746fe1e07 100644
--- a/distros/iron/rcl-action/default.nix
+++ b/distros/iron/rcl-action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, osrf-testing-tools-cpp, rcl, rcutils, rmw, rmw-implementation-cmake, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rcl-action";
-  version = "6.0.2-r1";
+  version = "6.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_action/6.0.2-1.tar.gz";
-    name = "6.0.2-1.tar.gz";
-    sha256 = "8e342979dd1f4ab58bf2d1f01f334533e732c313594a462727e609a6e6d2b109";
+    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_action/6.0.3-1.tar.gz";
+    name = "6.0.3-1.tar.gz";
+    sha256 = "a2e4b4a68161292ab74b8746b85444cb4675cb05e007304f5e26cd26043503f1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rcl-lifecycle/default.nix b/distros/iron/rcl-lifecycle/default.nix
index d1ae1d2bae..952fe1c303 100644
--- a/distros/iron/rcl-lifecycle/default.nix
+++ b/distros/iron/rcl-lifecycle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, lifecycle-msgs, osrf-testing-tools-cpp, rcl, rcutils, rmw, rosidl-runtime-c, tracetools }:
 buildRosPackage {
   pname = "ros-iron-rcl-lifecycle";
-  version = "6.0.2-r1";
+  version = "6.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_lifecycle/6.0.2-1.tar.gz";
-    name = "6.0.2-1.tar.gz";
-    sha256 = "86c3e25b58aff542abaa61f966e21b7571fd5120268574ddd2affb8ff9466345";
+    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_lifecycle/6.0.3-1.tar.gz";
+    name = "6.0.3-1.tar.gz";
+    sha256 = "fee37dadbfb4fda033142bd2580467a5e34492cdb87d6bc17fb6ef31849e1c6c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rcl-yaml-param-parser/default.nix b/distros/iron/rcl-yaml-param-parser/default.nix
index 5634ae2302..0ed28691cc 100644
--- a/distros/iron/rcl-yaml-param-parser/default.nix
+++ b/distros/iron/rcl-yaml-param-parser/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, libyaml, libyaml-vendor, mimick-vendor, osrf-testing-tools-cpp, performance-test-fixture, rcpputils, rcutils, rmw }:
 buildRosPackage {
   pname = "ros-iron-rcl-yaml-param-parser";
-  version = "6.0.2-r1";
+  version = "6.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_yaml_param_parser/6.0.2-1.tar.gz";
-    name = "6.0.2-1.tar.gz";
-    sha256 = "d60e6b11d2cbd245122eeba7795753c036d12eaaaebe1d9d9ca2abe15337f2f5";
+    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl_yaml_param_parser/6.0.3-1.tar.gz";
+    name = "6.0.3-1.tar.gz";
+    sha256 = "b3483b539a64ab2f650c4be230081ef1302bac35b81d766d07a3352dc0b01e35";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rcl/default.nix b/distros/iron/rcl/default.nix
index 47483720cd..22662422c5 100644
--- a/distros/iron/rcl/default.nix
+++ b/distros/iron/rcl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, launch, launch-testing, launch-testing-ament-cmake, libyaml, libyaml-vendor, mimick-vendor, osrf-testing-tools-cpp, rcl-interfaces, rcl-logging-interface, rcl-logging-spdlog, rcl-yaml-param-parser, rcpputils, rcutils, rmw, rmw-implementation, rmw-implementation-cmake, rosidl-runtime-c, service-msgs, test-msgs, tracetools, type-description-interfaces }:
 buildRosPackage {
   pname = "ros-iron-rcl";
-  version = "6.0.2-r1";
+  version = "6.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl/6.0.2-1.tar.gz";
-    name = "6.0.2-1.tar.gz";
-    sha256 = "eab7cbba94daee281ba79a601ee2c3c14d0ec49d861f55d0202e9d6341e44aa4";
+    url = "https://github.com/ros2-gbp/rcl-release/archive/release/iron/rcl/6.0.3-1.tar.gz";
+    name = "6.0.3-1.tar.gz";
+    sha256 = "d44fd776022482552273348cdd57e828697a04c8e75f4abbe4f4c68430d7818c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rclcpp-action/default.nix b/distros/iron/rclcpp-action/default.nix
index af6ad638de..31f08fea92 100644
--- a/distros/iron/rclcpp-action/default.nix
+++ b/distros/iron/rclcpp-action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, mimick-vendor, performance-test-fixture, rcl-action, rclcpp, rcpputils, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rclcpp-action";
-  version = "21.0.2-r1";
+  version = "21.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_action/21.0.2-1.tar.gz";
-    name = "21.0.2-1.tar.gz";
-    sha256 = "7ea0492f0c194b9be6111479e7d2e47a6adaa9b0161c07bccb5e13d9824345f0";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_action/21.0.3-1.tar.gz";
+    name = "21.0.3-1.tar.gz";
+    sha256 = "a3ba210614e40d3bac8235498d22557a6bafe7ec83fe362d22a4bc1862c6d2d5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rclcpp-components/default.nix b/distros/iron/rclcpp-components/default.nix
index 2e4176cec1..6a472d541a 100644
--- a/distros/iron/rclcpp-components/default.nix
+++ b/distros/iron/rclcpp-components/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-index-cpp, ament-lint-auto, ament-lint-common, class-loader, composition-interfaces, launch-testing, rclcpp, rcpputils, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-rclcpp-components";
-  version = "21.0.2-r1";
+  version = "21.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_components/21.0.2-1.tar.gz";
-    name = "21.0.2-1.tar.gz";
-    sha256 = "003fe7d913d58984c2d58a00f94333c3e1250ce1ee536ace8741ee2d3ee5fbb4";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_components/21.0.3-1.tar.gz";
+    name = "21.0.3-1.tar.gz";
+    sha256 = "32cafc693db18117266f9b24f86232cf272e1ad4120f6e6f248bd83ec9ecf590";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rclcpp-lifecycle/default.nix b/distros/iron/rclcpp-lifecycle/default.nix
index 22019013a8..663880117d 100644
--- a/distros/iron/rclcpp-lifecycle/default.nix
+++ b/distros/iron/rclcpp-lifecycle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, lifecycle-msgs, mimick-vendor, performance-test-fixture, rcl, rcl-interfaces, rcl-lifecycle, rclcpp, rcpputils, rcutils, rmw, rosidl-typesupport-cpp, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rclcpp-lifecycle";
-  version = "21.0.2-r1";
+  version = "21.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_lifecycle/21.0.2-1.tar.gz";
-    name = "21.0.2-1.tar.gz";
-    sha256 = "7c953be8d91ccb83750b0c316719771a0e1079a8767fba4212dc9311c02db782";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp_lifecycle/21.0.3-1.tar.gz";
+    name = "21.0.3-1.tar.gz";
+    sha256 = "11d7ee59d0855fe68fbf8ea35a3aa6cf8997b06207c149c8e814a6a7e1e6a36f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rclcpp/default.nix b/distros/iron/rclcpp/default.nix
index 455c4c4bd2..5b97a4a0d8 100644
--- a/distros/iron/rclcpp/default.nix
+++ b/distros/iron/rclcpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-index-cpp, ament-lint-auto, ament-lint-common, builtin-interfaces, libstatistics-collector, mimick-vendor, performance-test-fixture, python3, rcl, rcl-interfaces, rcl-yaml-param-parser, rcpputils, rcutils, rmw, rmw-implementation-cmake, rosgraph-msgs, rosidl-default-generators, rosidl-dynamic-typesupport, rosidl-runtime-cpp, rosidl-typesupport-c, rosidl-typesupport-cpp, statistics-msgs, test-msgs, tracetools }:
 buildRosPackage {
   pname = "ros-iron-rclcpp";
-  version = "21.0.2-r1";
+  version = "21.0.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp/21.0.2-1.tar.gz";
-    name = "21.0.2-1.tar.gz";
-    sha256 = "4f6060df3ecec418fc8bb645b05c5b66bba33f6b85ed5e3af6dda90678dae75d";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/iron/rclcpp/21.0.3-1.tar.gz";
+    name = "21.0.3-1.tar.gz";
+    sha256 = "8d554b515556a8d43321147871716a2e13f4bfd50bca33ef18873772eb7b16fa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rclpy/default.nix b/distros/iron/rclpy/default.nix
index f8f31b3545..6004b01224 100644
--- a/distros/iron/rclpy/default.nix
+++ b/distros/iron/rclpy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-index-python, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, pybind11-vendor, python-cmake-module, pythonPackages, rcl, rcl-action, rcl-interfaces, rcl-lifecycle, rcl-logging-interface, rcl-yaml-param-parser, rcpputils, rcutils, rmw, rmw-implementation, rmw-implementation-cmake, rosgraph-msgs, rosidl-generator-py, rosidl-runtime-c, rpyutils, test-msgs, unique-identifier-msgs }:
 buildRosPackage {
   pname = "ros-iron-rclpy";
-  version = "4.1.2-r1";
+  version = "4.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/iron/rclpy/4.1.2-1.tar.gz";
-    name = "4.1.2-1.tar.gz";
-    sha256 = "6a13c1b8cc5735c49fd98635fbdf51814dec9a8a31aac0f1ed105d3c1d201016";
+    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/iron/rclpy/4.1.3-1.tar.gz";
+    name = "4.1.3-1.tar.gz";
+    sha256 = "444812389be762808f7c0502f8b50dcd4a1a52ffb2492b67f70006eea1a76be2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-fleet-adapter-python/default.nix b/distros/iron/rmf-fleet-adapter-python/default.nix
index 3f8caeace5..66dec6934f 100644
--- a/distros/iron/rmf-fleet-adapter-python/default.nix
+++ b/distros/iron/rmf-fleet-adapter-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-pytest, pybind11-json-vendor, pybind11-vendor, rclpy, rmf-fleet-adapter }:
 buildRosPackage {
   pname = "ros-iron-rmf-fleet-adapter-python";
-  version = "2.2.1-r1";
+  version = "2.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_fleet_adapter_python/2.2.1-1.tar.gz";
-    name = "2.2.1-1.tar.gz";
-    sha256 = "ec344f4b4328683f9e294acf6f9e4923b25663f012e570aba2ddce01718c4e1f";
+    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_fleet_adapter_python/2.2.2-1.tar.gz";
+    name = "2.2.2-1.tar.gz";
+    sha256 = "e09f1080cb101efd5275a046d8fbeef673b44abd54676c8a17578dcc9e190a8c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-fleet-adapter/default.nix b/distros/iron/rmf-fleet-adapter/default.nix
index a390afd565..6edea0c8ea 100644
--- a/distros/iron/rmf-fleet-adapter/default.nix
+++ b/distros/iron/rmf-fleet-adapter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-catch2, ament-cmake-uncrustify, eigen, nlohmann-json-schema-validator-vendor, nlohmann_json, rclcpp, rclcpp-components, rmf-api-msgs, rmf-battery, rmf-building-map-msgs, rmf-dispenser-msgs, rmf-door-msgs, rmf-fleet-msgs, rmf-ingestor-msgs, rmf-lift-msgs, rmf-task, rmf-task-msgs, rmf-task-ros2, rmf-task-sequence, rmf-traffic, rmf-traffic-ros2, rmf-utils, rmf-websocket, std-msgs, yaml-cpp }:
 buildRosPackage {
   pname = "ros-iron-rmf-fleet-adapter";
-  version = "2.2.1-r1";
+  version = "2.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_fleet_adapter/2.2.1-1.tar.gz";
-    name = "2.2.1-1.tar.gz";
-    sha256 = "a7eb6bf605b98aaaba713843091bcef7c2f99c83e3dccc637d3d55c743b8da13";
+    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_fleet_adapter/2.2.2-1.tar.gz";
+    name = "2.2.2-1.tar.gz";
+    sha256 = "73765f4395bdb850972a4c69ad2942d36bce5af7a731ba8b02849b6765115c9e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-task-ros2/default.nix b/distros/iron/rmf-task-ros2/default.nix
index ebe707e4f3..7787819b62 100644
--- a/distros/iron/rmf-task-ros2/default.nix
+++ b/distros/iron/rmf-task-ros2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-catch2, ament-cmake-uncrustify, eigen, nlohmann-json-schema-validator-vendor, nlohmann_json, rclcpp, rmf-api-msgs, rmf-task-msgs, rmf-traffic, rmf-traffic-ros2, rmf-utils, rmf-websocket }:
 buildRosPackage {
   pname = "ros-iron-rmf-task-ros2";
-  version = "2.2.1-r1";
+  version = "2.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_task_ros2/2.2.1-1.tar.gz";
-    name = "2.2.1-1.tar.gz";
-    sha256 = "80593dbb4523fec5706f4004ab6fedb9df6ec69077272b9a0801af88e808d2ef";
+    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_task_ros2/2.2.2-1.tar.gz";
+    name = "2.2.2-1.tar.gz";
+    sha256 = "ed768edb8ef846d9a47de5c3a02f5b1fdef178cce38808de73f18df969689360";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-traffic-ros2/default.nix b/distros/iron/rmf-traffic-ros2/default.nix
index 2f8793de79..6ec8d9a5eb 100644
--- a/distros/iron/rmf-traffic-ros2/default.nix
+++ b/distros/iron/rmf-traffic-ros2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-catch2, ament-cmake-uncrustify, eigen, nlohmann_json, proj, rclcpp, rmf-building-map-msgs, rmf-fleet-msgs, rmf-site-map-msgs, rmf-traffic, rmf-traffic-msgs, rmf-utils, util-linux, yaml-cpp, zlib }:
 buildRosPackage {
   pname = "ros-iron-rmf-traffic-ros2";
-  version = "2.2.1-r1";
+  version = "2.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_traffic_ros2/2.2.1-1.tar.gz";
-    name = "2.2.1-1.tar.gz";
-    sha256 = "ba7996db7bf60b46a4d1a838f181384143ad6fc5ce6ac3d90ddacaab997c191c";
+    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_traffic_ros2/2.2.2-1.tar.gz";
+    name = "2.2.2-1.tar.gz";
+    sha256 = "8a5608df41cfa1df1899f4d0abdfb256c48bf091c3ebbefa96b080a5728b694b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-building-systems/default.nix b/distros/iron/rmf-visualization-building-systems/default.nix
index d9a3bc5332..2a51ed02e8 100644
--- a/distros/iron/rmf-visualization-building-systems/default.nix
+++ b/distros/iron/rmf-visualization-building-systems/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, geometry-msgs, pythonPackages, rmf-building-map-msgs, rmf-door-msgs, rmf-lift-msgs, rmf-visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-building-systems";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_building_systems/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "0443ab3049b7cd8d8b989ce405ded59a0c7b2b8326bf9483ad02698e152a4e6c";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_building_systems/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "88985f2bf86d80acf8285f9ab94e3883331c84cee5df044ffba075e993468441";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rmf-visualization-fleet-states/default.nix b/distros/iron/rmf-visualization-fleet-states/default.nix
index 4e9501c838..af6bcdcc80 100644
--- a/distros/iron/rmf-visualization-fleet-states/default.nix
+++ b/distros/iron/rmf-visualization-fleet-states/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, rclcpp, rclcpp-components, rmf-fleet-msgs, rmf-utils, rmf-visualization-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-fleet-states";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_fleet_states/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "8d65161257cea0bf0d065663429d9110011455e04be862779fd726446826a487";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_fleet_states/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "831a7445c95cf1e316cc675525516292b6c5c043d2775bbe0654be40cbac65c0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-floorplans/default.nix b/distros/iron/rmf-visualization-floorplans/default.nix
index add9d1fc3d..d129e5ce6a 100644
--- a/distros/iron/rmf-visualization-floorplans/default.nix
+++ b/distros/iron/rmf-visualization-floorplans/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometry-msgs, nav-msgs, opencv, rclcpp, rclcpp-components, rmf-building-map-msgs, rmf-utils, rmf-visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-floorplans";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_floorplans/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "fb123e3132d33517c0c16a5d67c7e9840450b25420c5f2a889add1abe385c82e";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_floorplans/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "9b9fb09375f71c7672c507f5950ddc7c6c20a64c97ccabf67f5284269a4da980";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-navgraphs/default.nix b/distros/iron/rmf-visualization-navgraphs/default.nix
index 11eac222a6..d7abfaa6b5 100644
--- a/distros/iron/rmf-visualization-navgraphs/default.nix
+++ b/distros/iron/rmf-visualization-navgraphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geometry-msgs, rclcpp, rclcpp-components, rmf-building-map-msgs, rmf-fleet-msgs, rmf-traffic, rmf-traffic-ros2, rmf-utils, rmf-visualization-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-navgraphs";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_navgraphs/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "c04769b81bb02bc94ee04211eaf43483564d12e0ae27a8369d4b9f22b9315cf7";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_navgraphs/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "7c3f3d299080b843c5cc85c63e10272f58d2c2ddde2948cd3465b42d946c648f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-obstacles/default.nix b/distros/iron/rmf-visualization-obstacles/default.nix
index 4a0016cbfa..b5c63eff90 100644
--- a/distros/iron/rmf-visualization-obstacles/default.nix
+++ b/distros/iron/rmf-visualization-obstacles/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-uncrustify, geometry-msgs, rclcpp, rclcpp-components, rmf-obstacle-msgs, rmf-utils, rmf-visualization-msgs, vision-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-obstacles";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_obstacles/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "df6ed48d43478016306ca310ab820812fc412a01b05796906dcdd1bda4b59288";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_obstacles/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "dd666f677b7c29ca538bb02f0bb5e7a15f1802ae67e50fde5dd77aa2dc6d3acf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-rviz2-plugins/default.nix b/distros/iron/rmf-visualization-rviz2-plugins/default.nix
index 29d12dc29d..9fa64fea04 100644
--- a/distros/iron/rmf-visualization-rviz2-plugins/default.nix
+++ b/distros/iron/rmf-visualization-rviz2-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-uncrustify, eigen, pluginlib, qt5, rclcpp, resource-retriever, rmf-door-msgs, rmf-lift-msgs, rmf-traffic-ros2, rmf-utils, rmf-visualization-msgs, rviz-common, rviz-default-plugins, rviz-rendering }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-rviz2-plugins";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_rviz2_plugins/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "4c4628df27f28e834b0fe69fd308f621c3b4380c03fbabd986657567018792fb";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_rviz2_plugins/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "7b03ebdfcf8d8355e7b7601eb5df777b461ee6f8926c41c2ef4abc540378d496";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization-schedule/default.nix b/distros/iron/rmf-visualization-schedule/default.nix
index b7e8c7beb8..2dee1f6f6d 100644
--- a/distros/iron/rmf-visualization-schedule/default.nix
+++ b/distros/iron/rmf-visualization-schedule/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-uncrustify, ament-lint-auto, ament-lint-common, boost, builtin-interfaces, eigen, geometry-msgs, openssl, rclcpp, rclcpp-components, rmf-traffic, rmf-traffic-msgs, rmf-traffic-ros2, rmf-utils, rmf-visualization-msgs, rosidl-default-generators, visualization-msgs, websocketpp }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization-schedule";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_schedule/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "1c2302504766949bd66361259c193627c79b5a1902731c56637935c7e8c801be";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization_schedule/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "6c1ff57f1c1ff74f1cc7fd48b31709c0048e9d3f1172468e1021a877a52ae3ed";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-visualization/default.nix b/distros/iron/rmf-visualization/default.nix
index ea8801e0c0..24fd46f565 100644
--- a/distros/iron/rmf-visualization/default.nix
+++ b/distros/iron/rmf-visualization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, launch-xml, rmf-visualization-building-systems, rmf-visualization-fleet-states, rmf-visualization-floorplans, rmf-visualization-navgraphs, rmf-visualization-obstacles, rmf-visualization-rviz2-plugins, rmf-visualization-schedule }:
 buildRosPackage {
   pname = "ros-iron-rmf-visualization";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "c905f4f7ed713bae8317938bb679f10b8155ad590dd6fcac11f8bd520b697a22";
+    url = "https://github.com/ros2-gbp/rmf_visualization-release/archive/release/iron/rmf_visualization/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "60af75cbc43df4f8e2c1e5159a84ccf5cea8d25e2f7e6bb7f96074eb31fe3397";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rmf-websocket/default.nix b/distros/iron/rmf-websocket/default.nix
index c9cd5a23d9..5e15ed31bf 100644
--- a/distros/iron/rmf-websocket/default.nix
+++ b/distros/iron/rmf-websocket/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-catch2, ament-cmake-uncrustify, boost, eigen, nlohmann-json-schema-validator-vendor, nlohmann_json, rclcpp, rmf-utils, websocketpp }:
 buildRosPackage {
   pname = "ros-iron-rmf-websocket";
-  version = "2.2.1-r1";
+  version = "2.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_websocket/2.2.1-1.tar.gz";
-    name = "2.2.1-1.tar.gz";
-    sha256 = "5659aa6bea4ef57132770471d70be347a0c57f20ea7e66041026363eaa964f02";
+    url = "https://github.com/ros2-gbp/rmf_ros2-release/archive/release/iron/rmf_websocket/2.2.2-1.tar.gz";
+    name = "2.2.2-1.tar.gz";
+    sha256 = "c4becd4cef5a0b9b742ba600ed316c1c7bdb4a4daff76a9cc3ab87f3793c95ca";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ros2-controllers-test-nodes/default.nix b/distros/iron/ros2-controllers-test-nodes/default.nix
index 65f90985d8..7e2ff6d115 100644
--- a/distros/iron/ros2-controllers-test-nodes/default.nix
+++ b/distros/iron/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, pythonPackages, rclpy, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2-controllers-test-nodes";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ros2_controllers_test_nodes/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "d9ffc0f98ac8335e9bb282686e5362c4e27052de74fa041057f5a5233347a23c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ros2_controllers_test_nodes/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "849f66f57f2374df0c609a4ed983983c70ab0f9c95854099b020fcabc080b536";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2-controllers/default.nix b/distros/iron/ros2-controllers/default.nix
index 820901f293..384c968af9 100644
--- a/distros/iron/ros2-controllers/default.nix
+++ b/distros/iron/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, position-controllers, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, position-controllers, range-sensor-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
 buildRosPackage {
   pname = "ros-iron-ros2-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ros2_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "58caba6a465ab4d261e96a6ddfe0b308a97f33276b8fc8ecb017717c6cfabb61";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/ros2_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "2231c2faab2be690980e7a4d9c281a407a64a182c1f18554b3423c4a89274b09";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller position-controllers steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller position-controllers range-sensor-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/ros2action/default.nix b/distros/iron/ros2action/default.nix
index 0dfe7d689e..7b9e63eb86 100644
--- a/distros/iron/ros2action/default.nix
+++ b/distros/iron/ros2action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rclpy, ros2cli, rosidl-runtime-py, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2action";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2action/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "2ed8f0297931b0167e5eaf0edf6c5951b878acd8dc6499ff972dacc911384e5d";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2action/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "30d0e155ea4b0551a2a03cd346bc6f026a16470de7998df6d1464d236ed70acf";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2bag/default.nix b/distros/iron/ros2bag/default.nix
index 9082615af1..7a35d86c21 100644
--- a/distros/iron/ros2bag/default.nix
+++ b/distros/iron/ros2bag/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, launch-testing, launch-testing-ros, pythonPackages, rclpy, ros2cli, rosbag2-py, rosbag2-storage-default-plugins, rosbag2-test-common }:
 buildRosPackage {
   pname = "ros-iron-ros2bag";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/ros2bag/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "e22ffc00fccc9ddad37275c414f329d5af7fa53f3b5afea09a98404512d1bfe6";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/ros2bag/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "e954f678a96d4d4cb250aa258fb09d91d46e328efaf4bf3f8d726d0668bf286a";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2cli-test-interfaces/default.nix b/distros/iron/ros2cli-test-interfaces/default.nix
index bb0e9ccda6..86fcfb5785 100644
--- a/distros/iron/ros2cli-test-interfaces/default.nix
+++ b/distros/iron/ros2cli-test-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-iron-ros2cli-test-interfaces";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2cli_test_interfaces/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "5346997d8f749ea666bb95e3ce3b313231c42e681b8f93dec7f2711946b4adaf";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2cli_test_interfaces/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "8fdf71545dc4947700b79ee420ebf3a428cae387c960cb6f1c26f1bdafaa8c67";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ros2cli/default.nix b/distros/iron/ros2cli/default.nix
index e26d9b746b..2a54514cda 100644
--- a/distros/iron/ros2cli/default.nix
+++ b/distros/iron/ros2cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, python3Packages, pythonPackages, rclpy, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2cli";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2cli/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "3add41fd54da4ef01379f170a2a7792ed40f64c4bb0a3d4f684a0f3c10b273e2";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2cli/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "e608c25989300151f075c59f238ac291714951d55cc71082e2f92b7aa60247e9";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2component/default.nix b/distros/iron/ros2component/default.nix
index 9f9535a19f..1630726bca 100644
--- a/distros/iron/ros2component/default.nix
+++ b/distros/iron/ros2component/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, composition-interfaces, python3Packages, pythonPackages, rcl-interfaces, rclcpp-components, rclpy, ros2cli, ros2node, ros2param, ros2pkg }:
 buildRosPackage {
   pname = "ros-iron-ros2component";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2component/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "8f05c4ed53d002d223b4c961f6f3a4e95b538c044f8bd41d17eae31226b8745a";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2component/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "8500c4052da783584aed9f20690dbd26b8e8db294d2b53f70e8508b08d9f626d";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2doctor/default.nix b/distros/iron/ros2doctor/default.nix
index 262412ad3b..0498784eb4 100644
--- a/distros/iron/ros2doctor/default.nix
+++ b/distros/iron/ros2doctor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-ros, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rclpy, ros-environment, ros2cli, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2doctor";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2doctor/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "8eef31defbbcf8234b4ba072acc084742fd47e44aaaf20338902da832d33582a";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2doctor/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "95241a96dde3557de4b385c1112f4866dc391e5d7511541e3bfa478cd3a0137e";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2interface/default.nix b/distros/iron/ros2interface/default.nix
index daa7af68f5..f6320c5cd0 100644
--- a/distros/iron/ros2interface/default.nix
+++ b/distros/iron/ros2interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-testing, launch-testing-ros, python3Packages, pythonPackages, ros2cli, ros2cli-test-interfaces, rosidl-adapter, rosidl-runtime-py, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2interface";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2interface/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "c8460bf3a1fa9b02d5c2953c0e232b571519c90f921e5f1dff164bb24ea2e190";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2interface/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "51755f04d21a5f9f973a4ac283957391ad41dd802d6793a3c0ef3764e18baf96";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2lifecycle-test-fixtures/default.nix b/distros/iron/ros2lifecycle-test-fixtures/default.nix
index a3f7c31bf3..d8bb9c2d70 100644
--- a/distros/iron/ros2lifecycle-test-fixtures/default.nix
+++ b/distros/iron/ros2lifecycle-test-fixtures/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, rclcpp, rclcpp-lifecycle }:
 buildRosPackage {
   pname = "ros-iron-ros2lifecycle-test-fixtures";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2lifecycle_test_fixtures/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "76d52ad80035599ca89bce530f833e502ad3b93249d55a29054237cd461ec713";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2lifecycle_test_fixtures/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "c07cded52c1952a84d37416512c30db0c62ef0cfd0fd55220c687e5c2cbd36fa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ros2lifecycle/default.nix b/distros/iron/ros2lifecycle/default.nix
index 5e53ea063b..73d576bf8c 100644
--- a/distros/iron/ros2lifecycle/default.nix
+++ b/distros/iron/ros2lifecycle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, launch, launch-ros, launch-testing, launch-testing-ros, lifecycle-msgs, python3Packages, pythonPackages, rclpy, ros2cli, ros2lifecycle-test-fixtures, ros2node, ros2service }:
 buildRosPackage {
   pname = "ros-iron-ros2lifecycle";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2lifecycle/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "b286bd5c61abe8d29de2b1f689e309069e6f7827f2cabc2c22b17136255ff1b2";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2lifecycle/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "2b4f3daaad03d2929d806329298ec8e313d22e205fc8d293b79a869ded836878";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2multicast/default.nix b/distros/iron/ros2multicast/default.nix
index 5b51ce5b98..75dd835dbe 100644
--- a/distros/iron/ros2multicast/default.nix
+++ b/distros/iron/ros2multicast/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, python3Packages, pythonPackages, ros2cli }:
 buildRosPackage {
   pname = "ros-iron-ros2multicast";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2multicast/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "3cb410ba6882471ed413ef849923588d7241f5b8009f891f88c9429a7af37017";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2multicast/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "d39285db0ac195e104a88544d9a80d31d7a7e108b99d05799f651126452320ba";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2node/default.nix b/distros/iron/ros2node/default.nix
index b52a53a710..d53f111e61 100644
--- a/distros/iron/ros2node/default.nix
+++ b/distros/iron/ros2node/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, launch, launch-ros, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rclpy, ros2cli, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2node";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2node/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "edef4a1ed7a3f6ffed5dbe42e83bfc6823098f70b13ab0881bf524bad1bf9d03";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2node/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "9bd682f8476cf60276a1b887ff8f2162e720a021ce58bdaaa9cf74de46d563d5";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2param/default.nix b/distros/iron/ros2param/default.nix
index fdba15d8d0..3034a42049 100644
--- a/distros/iron/ros2param/default.nix
+++ b/distros/iron/ros2param/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, launch, launch-ros, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2service }:
 buildRosPackage {
   pname = "ros-iron-ros2param";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2param/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "a3a0bb97730618eb8e8aaf0e79b1e8102a3f35f225f7a4c49532492cddd8b2d4";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2param/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "1972132f2ca37a67e4475d417223cc99babcb59eac58b92fd7b8c26db8a2e86a";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2pkg/default.nix b/distros/iron/ros2pkg/default.nix
index 95360ee194..b1d1e28301 100644
--- a/distros/iron/ros2pkg/default.nix
+++ b/distros/iron/ros2pkg/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-testing, launch-testing-ros, python3Packages, pythonPackages, ros2cli }:
 buildRosPackage {
   pname = "ros-iron-ros2pkg";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2pkg/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "9278915e97b842e1815cc650106f260fd2602f78c0cb255933160d7c7181d02e";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2pkg/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "43fd89b524d9c20c9eff41e8b0239d000022736e7e81e1c8587eaa374b769a09";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2run/default.nix b/distros/iron/ros2run/default.nix
index 7c94f315d6..ea37d459fc 100644
--- a/distros/iron/ros2run/default.nix
+++ b/distros/iron/ros2run/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, python3Packages, pythonPackages, ros2cli, ros2pkg }:
 buildRosPackage {
   pname = "ros-iron-ros2run";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2run/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "9a6ac444bd123932b187b4d9d5c297ab6c33a1dc02cb30d4e8d4796e520784e1";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2run/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "7dec4ce515a575e8c28ff868ad3282dcb95941e793a12be88d017199dddb7b32";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2service/default.nix b/distros/iron/ros2service/default.nix
index fa295f16a7..5b5ef34188 100644
--- a/distros/iron/ros2service/default.nix
+++ b/distros/iron/ros2service/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, launch, launch-ros, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rclpy, ros2cli, rosidl-runtime-py, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2service";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2service/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "56bb7ff7a119ad888b3a2e1c1cc41ec51c6711431eccba532808980a5a5ecb22";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2service/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "73a005afc9db41d4fcc32e79a3ec8e671c67206e2643acac8220ff483af7a0eb";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/ros2topic/default.nix b/distros/iron/ros2topic/default.nix
index c114d6ddc0..e2f412819d 100644
--- a/distros/iron/ros2topic/default.nix
+++ b/distros/iron/ros2topic/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, geometry-msgs, launch, launch-ros, launch-testing, launch-testing-ros, python3Packages, pythonPackages, rclpy, ros2cli, rosgraph-msgs, rosidl-runtime-py, std-msgs, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-ros2topic";
-  version = "0.25.2-r1";
+  version = "0.25.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2topic/0.25.2-1.tar.gz";
-    name = "0.25.2-1.tar.gz";
-    sha256 = "bc99dc9dee2a20355e6c8c6ee5bd611517b46f06ec8016d4d277e61bd6639c56";
+    url = "https://github.com/ros2-gbp/ros2cli-release/archive/release/iron/ros2topic/0.25.3-1.tar.gz";
+    name = "0.25.3-1.tar.gz";
+    sha256 = "ed0ba7f39bf448e8e12495ecc53fec40d1e665095703113b6de5605a77b5500e";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rosbag2-compression-zstd/default.nix b/distros/iron/rosbag2-compression-zstd/default.nix
index 7b9c5f2c0f..80af8123dc 100644
--- a/distros/iron/rosbag2-compression-zstd/default.nix
+++ b/distros/iron/rosbag2-compression-zstd/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, pluginlib, rclcpp, rcpputils, rcutils, rosbag2-compression, rosbag2-test-common, zstd-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-compression-zstd";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_compression_zstd/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "970eaf0afb5837089e1a35d49b0f67c8d400ea1300da8e8035b0740937b29a82";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_compression_zstd/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "38cedc4cd116a17a7a4a13e0fc44f1a1c2693985a154938760cde56f398ad5cc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-compression/default.nix b/distros/iron/rosbag2-compression/default.nix
index 60b64b9abf..c156f5b281 100644
--- a/distros/iron/rosbag2-compression/default.nix
+++ b/distros/iron/rosbag2-compression/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, rclcpp, rcpputils, rcutils, rosbag2-cpp, rosbag2-storage, rosbag2-test-common, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-compression";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_compression/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "ecfe9643d307971722bc6c3741c9493188ccdcedf9680e6a25195be6fad0fb8d";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_compression/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "2a8027f3dc13991007154c27c0a67f32753e09197be477a87979fe103fc7fef5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-cpp/default.nix b/distros/iron/rosbag2-cpp/default.nix
index 4eb32d8438..c73618e27c 100644
--- a/distros/iron/rosbag2-cpp/default.nix
+++ b/distros/iron/rosbag2-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-index-cpp, ament-lint-auto, ament-lint-common, pluginlib, rclcpp, rcpputils, rcutils, rmw, rmw-implementation, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, rosbag2-test-msgdefs, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-cpp, rosidl-typesupport-introspection-cpp, shared-queues-vendor, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-cpp";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_cpp/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "7468ecb824d1e7b7d497eb2057de2a3ddede09cd153b5750d61abe708f6de543";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_cpp/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "58e3abf19be1802a00a7e54eef8673a71d877358af5435f994f499364ba1baa7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-examples-cpp/default.nix b/distros/iron/rosbag2-examples-cpp/default.nix
index 17c9535eb7..ae7a699424 100644
--- a/distros/iron/rosbag2-examples-cpp/default.nix
+++ b/distros/iron/rosbag2-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, example-interfaces, rclcpp, rosbag2-cpp }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-examples-cpp";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_examples_cpp/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "659ed5255276647cbf55c855eda95ff81e188ccd898e11f289f3f9615072b4a8";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_examples_cpp/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "fb34ca6ec80aefd43ff617bb75e92464215ee43faf442ab18265c44c1bd18b45";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-examples-py/default.nix b/distros/iron/rosbag2-examples-py/default.nix
index f9ea055ae1..792dc2801d 100644
--- a/distros/iron/rosbag2-examples-py/default.nix
+++ b/distros/iron/rosbag2-examples-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, example-interfaces, pythonPackages, rclpy, rosbag2-py, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-examples-py";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_examples_py/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "313be733e4dc4bb03e5e96ac8e3be0d03dde12ea8dff80e0b154784648d65665";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_examples_py/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "51f158856d5363406efbf1b4cfde250ff6c280310bfbaab8bf57c0456e70b43c";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rosbag2-interfaces/default.nix b/distros/iron/rosbag2-interfaces/default.nix
index 66c2282742..fab75d66f1 100644
--- a/distros/iron/rosbag2-interfaces/default.nix
+++ b/distros/iron/rosbag2-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-interfaces";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_interfaces/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "f931b785e143a23f97651b9e3a0afc11066b3eb916fc34fafb78e2d991645e8d";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_interfaces/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "31a371e49818715e39a9e2730d0b4aff7743357ddb5cdc0079b3dec38da45f90";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-performance-benchmarking-msgs/default.nix b/distros/iron/rosbag2-performance-benchmarking-msgs/default.nix
index ad976d034e..c48abb656c 100644
--- a/distros/iron/rosbag2-performance-benchmarking-msgs/default.nix
+++ b/distros/iron/rosbag2-performance-benchmarking-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, rosidl-cmake, rosidl-default-generators, rosidl-default-runtime, rosidl-typesupport-cpp }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-performance-benchmarking-msgs";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_performance_benchmarking_msgs/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "2ea26ec98f0091b6eda8579b22b056f944fd162ae7658632e20ab83c94b8f412";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_performance_benchmarking_msgs/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "88d38e92af1bfc65108aaf1660139e0added8ad19590958e89463c6a1d0b553e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-performance-benchmarking/default.nix b/distros/iron/rosbag2-performance-benchmarking/default.nix
index 9ae22015ae..38acfa4e74 100644
--- a/distros/iron/rosbag2-performance-benchmarking/default.nix
+++ b/distros/iron/rosbag2-performance-benchmarking/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, launch-ros, rclcpp, rmw, ros-testing, ros2bag, ros2launch, rosbag2-compression, rosbag2-cpp, rosbag2-performance-benchmarking-msgs, rosbag2-py, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, sensor-msgs, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-performance-benchmarking";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_performance_benchmarking/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "6a5d2539fb83005ce403fa70369543e1baa1d2100f33a5ce2147364802cffad8";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_performance_benchmarking/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "9ca8aa7efb552c251d64d8ec5747bc8a078ba88d87b112c3b4b8b445ce6250e6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-py/default.nix b/distros/iron/rosbag2-py/default.nix
index 6eba84f3e4..830f1f9254 100644
--- a/distros/iron/rosbag2-py/default.nix
+++ b/distros/iron/rosbag2-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, ament-lint-auto, ament-lint-common, pybind11-vendor, python-cmake-module, pythonPackages, rcl-interfaces, rclpy, rosbag2-compression, rosbag2-cpp, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, rosbag2-transport, rosidl-runtime-py, rpyutils, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-py";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_py/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "5ad7d5a704ba6961a89a7a7ccf12d03cc3428d506efc89682250bfeb4267e7f0";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_py/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "959678402ef75a4e953a250c8a90ab62e51cae3efa0de9d1b2410778ebea79f0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-storage-default-plugins/default.nix b/distros/iron/rosbag2-storage-default-plugins/default.nix
index 1b41f2fb7c..5fb991d050 100644
--- a/distros/iron/rosbag2-storage-default-plugins/default.nix
+++ b/distros/iron/rosbag2-storage-default-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosbag2-storage-mcap, rosbag2-storage-sqlite3 }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-storage-default-plugins";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_default_plugins/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "8bf031a88a2dd828d1babec70cea619f2bedc9764a84d5c10b0c7bc59378da9d";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_default_plugins/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "12c20427a7bd456ba03a33efcdeb7a1cc8c5648f6ad057e31162c2f1365601fd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-storage-mcap/default.nix b/distros/iron/rosbag2-storage-mcap/default.nix
index 1e26761817..93b90c39b3 100644
--- a/distros/iron/rosbag2-storage-mcap/default.nix
+++ b/distros/iron/rosbag2-storage-mcap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-clang-format, ament-cmake-gmock, ament-cmake-python, ament-index-cpp, ament-lint-auto, ament-lint-common, mcap-vendor, pluginlib, rcpputils, rcutils, rosbag2-storage, rosbag2-test-common, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-storage-mcap";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_mcap/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "89b5cf46fbe7448d0ec67cd6dcd69af5bf169660335a48891f8d51955146c262";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_mcap/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "374efecd544ff45db1cbc3ed8c126d67ed5106c96508b8971c34f6b7c9e0b72f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-storage-sqlite3/default.nix b/distros/iron/rosbag2-storage-sqlite3/default.nix
index 7a41869c37..cbaf4eb39b 100644
--- a/distros/iron/rosbag2-storage-sqlite3/default.nix
+++ b/distros/iron/rosbag2-storage-sqlite3/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-python, ament-lint-auto, ament-lint-common, pluginlib, rcpputils, rcutils, rosbag2-storage, rosbag2-test-common, sqlite3-vendor, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-storage-sqlite3";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_sqlite3/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "a6589b8f5f39db97fba855bfad7e6e8cf17dc74567230631bf79941e02dc8586";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage_sqlite3/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "7e610a1678c44a2bd0a13bb96bfc642d769013e0a1825a64f63593cf7c1f16cf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-storage/default.nix b/distros/iron/rosbag2-storage/default.nix
index 1b43e8b80a..e0505df799 100644
--- a/distros/iron/rosbag2-storage/default.nix
+++ b/distros/iron/rosbag2-storage/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, pluginlib, rcpputils, rcutils, rosbag2-test-common, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-storage";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "52cd599c40fa36658e5e99c8bf78e5c9e143e7cdf9ca52860985038ec6071a41";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_storage/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "90b72cdf7162f8657d110c3399d822364c6d5f4a2f63f43d11bf824448856e8b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-test-common/default.nix b/distros/iron/rosbag2-test-common/default.nix
index 52eccc8730..5ef09a8790 100644
--- a/distros/iron/rosbag2-test-common/default.nix
+++ b/distros/iron/rosbag2-test-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, python-cmake-module, rclcpp, rcutils }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-test-common";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_test_common/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "1b3ed5bab53f68fac5969e31637e81ad67f7cd54d166c328e5ece3b80ccc8371";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_test_common/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "9016fa184c76271ee8e35abb24a3b22eb267b465fe2f7976366ec643cd56bf68";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-test-msgdefs/default.nix b/distros/iron/rosbag2-test-msgdefs/default.nix
index 9c079ad661..40be26b1a1 100644
--- a/distros/iron/rosbag2-test-msgdefs/default.nix
+++ b/distros/iron/rosbag2-test-msgdefs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, rosidl-default-generators }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-test-msgdefs";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_test_msgdefs/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "2c89d0e3570550b7b4f0a77b91f15c1f37752c82e637ebec826a0731400a8039";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_test_msgdefs/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "5244c76db4404082f98801eedcd4c385f7a0c26c4d8efa08cd750f7f6d8cb9d5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-tests/default.nix b/distros/iron/rosbag2-tests/default.nix
index e6f8c0dd62..d5b154b6d7 100644
--- a/distros/iron/rosbag2-tests/default.nix
+++ b/distros/iron/rosbag2-tests/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-index-cpp, ament-lint-auto, ament-lint-common, rclcpp, rcpputils, ros2bag, rosbag2-compression, rosbag2-compression-zstd, rosbag2-cpp, rosbag2-interfaces, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, std-msgs, test-msgs }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-tests";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_tests/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "87c22d3b137d49ca628be3ede1b0ee191997b8dd06ac76f147b33ea45fb25b9b";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_tests/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "ecdb9ba9c693f19b1a5e240c802597a5150f4d3a24820f696c7b9965eda868f1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2-transport/default.nix b/distros/iron/rosbag2-transport/default.nix
index 7b5cf73e3c..18fa9ed94c 100644
--- a/distros/iron/rosbag2-transport/default.nix
+++ b/distros/iron/rosbag2-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gmock, ament-cmake-ros, ament-index-cpp, ament-lint-auto, ament-lint-common, keyboard-handler, rclcpp, rmw, rmw-implementation-cmake, rosbag2-compression, rosbag2-compression-zstd, rosbag2-cpp, rosbag2-interfaces, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, shared-queues-vendor, test-msgs, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2-transport";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_transport/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "2ec261e64b434d467c88aa275a5bf6515c65803a00ffc8cf392b6869f79637ca";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2_transport/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "d1219661ac8b15fffa618a813b73dc3f03fc26def2ac83014182b9269f64a3cd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosbag2/default.nix b/distros/iron/rosbag2/default.nix
index 975e4d2e14..cb6d62e4bc 100644
--- a/distros/iron/rosbag2/default.nix
+++ b/distros/iron/rosbag2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ros2bag, rosbag2-compression, rosbag2-compression-zstd, rosbag2-cpp, rosbag2-py, rosbag2-storage, rosbag2-storage-default-plugins, rosbag2-test-common, rosbag2-tests, rosbag2-transport, shared-queues-vendor }:
 buildRosPackage {
   pname = "ros-iron-rosbag2";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "01d9103f4698ec9b4fd5bfdb3bf9cc1d579bde4e626e108ce2ad80e2878ca043";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/rosbag2/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "2bf301e88fc78614bd332c36ec84baf4bc9d9bc20b38e0ac30097cb343126d4a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rosidl-dynamic-typesupport/default.nix b/distros/iron/rosidl-dynamic-typesupport/default.nix
index f8eb18c6a9..069248e2cf 100644
--- a/distros/iron/rosidl-dynamic-typesupport/default.nix
+++ b/distros/iron/rosidl-dynamic-typesupport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-ros, rcutils, rosidl-runtime-c }:
 buildRosPackage {
   pname = "ros-iron-rosidl-dynamic-typesupport";
-  version = "0.0.3-r2";
+  version = "0.0.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl_dynamic_typesupport-release/archive/release/iron/rosidl_dynamic_typesupport/0.0.3-2.tar.gz";
-    name = "0.0.3-2.tar.gz";
-    sha256 = "96b13500a676ec036564bc6ad65f89881ac96ca04f9c1cc2fcb0a3909d5f1583";
+    url = "https://github.com/ros2-gbp/rosidl_dynamic_typesupport-release/archive/release/iron/rosidl_dynamic_typesupport/0.0.4-1.tar.gz";
+    name = "0.0.4-1.tar.gz";
+    sha256 = "720020584762a48310e863ca7bc0556e1024519f30b8345a6dd54e5201c85755";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rqt-bag-plugins/default.nix b/distros/iron/rqt-bag-plugins/default.nix
index a03c174fea..53eef3bba8 100644
--- a/distros/iron/rqt-bag-plugins/default.nix
+++ b/distros/iron/rqt-bag-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, geometry-msgs, python3Packages, rclpy, rosbag2, rqt-bag, rqt-gui, rqt-gui-py, rqt-plot, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-iron-rqt-bag-plugins";
-  version = "1.3.3-r1";
+  version = "1.3.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_bag-release/archive/release/iron/rqt_bag_plugins/1.3.3-1.tar.gz";
-    name = "1.3.3-1.tar.gz";
-    sha256 = "32b444dabda2fb9602bd0707a72c896879f5d03b57e1e490a33d502cafbad76e";
+    url = "https://github.com/ros2-gbp/rqt_bag-release/archive/release/iron/rqt_bag_plugins/1.3.4-1.tar.gz";
+    name = "1.3.4-1.tar.gz";
+    sha256 = "8cd2fa80f3acd4f33e764f3b6da4b339538197b99aebf136a2cae62dcac3817d";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rqt-bag/default.nix b/distros/iron/rqt-bag/default.nix
index c5349e4912..b0a533f226 100644
--- a/distros/iron/rqt-bag/default.nix
+++ b/distros/iron/rqt-bag/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, python-qt-binding, rclpy, rosbag2-py, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-iron-rqt-bag";
-  version = "1.3.3-r1";
+  version = "1.3.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_bag-release/archive/release/iron/rqt_bag/1.3.3-1.tar.gz";
-    name = "1.3.3-1.tar.gz";
-    sha256 = "334edf6a10831a0cd658aa6ed10b831068b783d7de81b8f87e6c6cd90e2e9e13";
+    url = "https://github.com/ros2-gbp/rqt_bag-release/archive/release/iron/rqt_bag/1.3.4-1.tar.gz";
+    name = "1.3.4-1.tar.gz";
+    sha256 = "c98ae3c87a49f7041dbdc2a0d8c83ae3cbe20fcd9731d4f2d634b8101823e82f";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rqt-joint-trajectory-controller/default.nix b/distros/iron/rqt-joint-trajectory-controller/default.nix
index e936c81dbc..23baa64796 100644
--- a/distros/iron/rqt-joint-trajectory-controller/default.nix
+++ b/distros/iron/rqt-joint-trajectory-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-iron-rqt-joint-trajectory-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/rqt_joint_trajectory_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "3ddbfcd667b1e4a81bc56cc6d76f2bb96dcc5c2d810db82090c006f3f0fdb156";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/rqt_joint_trajectory_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "6a9126722f1bcc7af124946a8fb32054605e63804478d3c2cf56b137cfc71b32";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/rviz-assimp-vendor/default.nix b/distros/iron/rviz-assimp-vendor/default.nix
index 1f96159c41..fbe89af788 100644
--- a/distros/iron/rviz-assimp-vendor/default.nix
+++ b/distros/iron/rviz-assimp-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-lint-auto, assimp }:
 buildRosPackage {
   pname = "ros-iron-rviz-assimp-vendor";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_assimp_vendor/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "2910e3d7f6311e1c84893a7a3fb04f219f8abcedeed10cdc07ce35303f790df9";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_assimp_vendor/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "fad21e3e0fc8a78eb5d8b58a5dc3f6e867c25d20a0ad7af5715ad7d1d99f595e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-common/default.nix b/distros/iron/rviz-common/default.nix
index 4608c4b916..38737c1656 100644
--- a/distros/iron/rviz-common/default.nix
+++ b/distros/iron/rviz-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, geometry-msgs, message-filters, pluginlib, qt5, rclcpp, resource-retriever, rviz-ogre-vendor, rviz-rendering, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, tinyxml2-vendor, urdf, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-iron-rviz-common";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_common/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "d31839b47067d5a8f7627be071c06b1c8698d107899529a656745c9b32264955";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_common/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "356e9f1960e552f307d33d127ebc7345b52d9329ac97fdc062f02d81cb4ec25d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-default-plugins/default.nix b/distros/iron/rviz-default-plugins/default.nix
index f817bbb41d..a7a25d1573 100644
--- a/distros/iron/rviz-default-plugins/default.nix
+++ b/distros/iron/rviz-default-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros, ament-cmake-uncrustify, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, geometry-msgs, ignition-math6-vendor, image-transport, interactive-markers, laser-geometry, map-msgs, nav-msgs, pluginlib, qt5, rclcpp, resource-retriever, rviz-common, rviz-ogre-vendor, rviz-rendering, rviz-rendering-tests, rviz-visual-testing-framework, tf2, tf2-geometry-msgs, tf2-ros, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-rviz-default-plugins";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_default_plugins/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "8668ea02ba38ec897f9464ee0eb7cdbb025640561bc5e3d348f08acb3b3587a3";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_default_plugins/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "0b63a2697d195c386d600d0b1e7600def8ae770930e88e5a146301bcce783468";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-ogre-vendor/default.nix b/distros/iron/rviz-ogre-vendor/default.nix
index ccce11277c..8e0bdd52b4 100644
--- a/distros/iron/rviz-ogre-vendor/default.nix
+++ b/distros/iron/rviz-ogre-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-xmllint, ament-lint-auto, freetype, git, libGL, libGLU, pkg-config, xorg }:
 buildRosPackage {
   pname = "ros-iron-rviz-ogre-vendor";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_ogre_vendor/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "77f4c57d549600809a70976229abc564435456c8a245f607cc94f269e018f546";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_ogre_vendor/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "fcf6511768fc700e05ce35e3d8cde3b46d4ec3742c1be2785c787975c0578bc3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-rendering-tests/default.nix b/distros/iron/rviz-rendering-tests/default.nix
index 9bfcc29a1a..6970da059b 100644
--- a/distros/iron/rviz-rendering-tests/default.nix
+++ b/distros/iron/rviz-rendering-tests/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, qt5, resource-retriever, rviz-rendering }:
 buildRosPackage {
   pname = "ros-iron-rviz-rendering-tests";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_rendering_tests/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "4589a9b0a4fd66f3c664d52be7fb38aeb2b594aa66a0cd96c0eb30e3057a9463";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_rendering_tests/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "e5454e4d8ca46fa315ba03f4a2f13955dc7707b45ad7ee716710c991d2dd0180";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-rendering/default.nix b/distros/iron/rviz-rendering/default.nix
index 71d4412143..3ee4248cc0 100644
--- a/distros/iron/rviz-rendering/default.nix
+++ b/distros/iron/rviz-rendering/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, eigen, eigen3-cmake-module, qt5, resource-retriever, rviz-assimp-vendor, rviz-ogre-vendor }:
 buildRosPackage {
   pname = "ros-iron-rviz-rendering";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_rendering/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "f5db31520913fbe53c33bc400f8d85e50138f2a97e9a944aa02013dc90f30189";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_rendering/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "1b4568d64b4622113b006101e9161e5162ddc5f036bf96c6651af91cb7bfbf10";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz-visual-testing-framework/default.nix b/distros/iron/rviz-visual-testing-framework/default.nix
index 29cbb6c03c..08142bb136 100644
--- a/distros/iron/rviz-visual-testing-framework/default.nix
+++ b/distros/iron/rviz-visual-testing-framework/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, geometry-msgs, qt5, rclcpp, rcutils, rviz-common, rviz-ogre-vendor, rviz-rendering, std-msgs, tf2, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-rviz-visual-testing-framework";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_visual_testing_framework/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "0c82569cc61f3aedee116e2c0365165f5c38b1718eff2279b86fc4a9621c1c6f";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz_visual_testing_framework/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "474a59e4093843ff4d25309117cf4becad8ce30bc3e699f92b49c26139ecd536";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/rviz2/default.nix b/distros/iron/rviz2/default.nix
index 362616f8cb..45eec84b64 100644
--- a/distros/iron/rviz2/default.nix
+++ b/distros/iron/rviz2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-pytest, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, geometry-msgs, python3, python3Packages, qt5, rclcpp, rviz-common, rviz-default-plugins, rviz-ogre-vendor, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-rviz2";
-  version = "12.4.3-r1";
+  version = "12.4.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz2/12.4.3-1.tar.gz";
-    name = "12.4.3-1.tar.gz";
-    sha256 = "0ef4e282f43c58a22ec19b199d6b7d8d75e5a4776d76ac9b1ed33ae975b638b9";
+    url = "https://github.com/ros2-gbp/rviz-release/archive/release/iron/rviz2/12.4.4-1.tar.gz";
+    name = "12.4.4-1.tar.gz";
+    sha256 = "940af7bff059faa0995f70a14cba23c581444f7d8fd2f1f8031aa7b3d35d5e8e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/shared-queues-vendor/default.nix b/distros/iron/shared-queues-vendor/default.nix
index d115854d99..6367a7005b 100644
--- a/distros/iron/shared-queues-vendor/default.nix
+++ b/distros/iron/shared-queues-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-iron-shared-queues-vendor";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/shared_queues_vendor/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "6d7208ede980113d6599f9b1c962d0c2b718e6542d96da3a93992d78bf97e737";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/shared_queues_vendor/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "54ed9b3ed8f351f454ad27fdb0fc92f58735e8e4b7305743fe82dc6f246ffa59";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/sqlite3-vendor/default.nix b/distros/iron/sqlite3-vendor/default.nix
index 53dab467d7..a3fd67627f 100644
--- a/distros/iron/sqlite3-vendor/default.nix
+++ b/distros/iron/sqlite3-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, sqlite }:
 buildRosPackage {
   pname = "ros-iron-sqlite3-vendor";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/sqlite3_vendor/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "a4c44d0c49d2199051d2ebc7af06cc9182efdfc944924acb900c2771156a0695";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/sqlite3_vendor/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "156a1ccd7b7f74b947052d8caf2bffdf9803a36914a1ea432a83865218d9803a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/steering-controllers-library/default.nix b/distros/iron/steering-controllers-library/default.nix
index c610f26452..b6ef87754b 100644
--- a/distros/iron/steering-controllers-library/default.nix
+++ b/distros/iron/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ackermann-msgs, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-iron-steering-controllers-library";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/steering_controllers_library/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "23de13b0e557fc500d9fcb54ea4056da69192778ac84b5c6d93e178d941ca46e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/steering_controllers_library/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "b04c8592ee7c916f5f2242832fa7e48e019836433b56f8ef3ecda5396a080ecc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-cli-tools/default.nix b/distros/iron/swri-cli-tools/default.nix
new file mode 100644
index 0000000000..b8e992456a
--- /dev/null
+++ b/distros/iron/swri-cli-tools/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, marti-introspection-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli }:
+buildRosPackage {
+  pname = "ros-iron-swri-cli-tools";
+  version = "3.6.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_cli_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "bb675d6414ae08b890dbc007b484b2a32d595432b7d3343b2e4c43beff2a3477";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ];
+  propagatedBuildInputs = [ marti-introspection-msgs python3Packages.natsort rcl-interfaces rclpy ros2cli ];
+
+  meta = {
+    description = ''Command line tools for introspecting ROS systems'';
+    license = with lib.licenses; [ bsd3 ];
+  };
+}
diff --git a/distros/iron/swri-console-util/default.nix b/distros/iron/swri-console-util/default.nix
index b460536dfd..17fcbc563c 100644
--- a/distros/iron/swri-console-util/default.nix
+++ b/distros/iron/swri-console-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-swri-console-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_console_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "e3ac1afb3b3ff7115873805112a632e59dafdaf781bb3fcd53f097731a9e374a";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_console_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "c4db5c0bb2ec09dc4f82e33c272cf601b6404948349716820040dbb659ecfc07";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-dbw-interface/default.nix b/distros/iron/swri-dbw-interface/default.nix
index 129bdfed01..7f237d7ead 100644
--- a/distros/iron/swri-dbw-interface/default.nix
+++ b/distros/iron/swri-dbw-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-iron-swri-dbw-interface";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_dbw_interface/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "b5901875c2ac349189e857b128214e2b4c2d421afa74f17ae659d3da8706ef50";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_dbw_interface/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "827938859d87d44c578eeadce8635d4a9f5a9f98d8d63ed50db3854ca6696490";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-geometry-util/default.nix b/distros/iron/swri-geometry-util/default.nix
index b880eb2d75..50bccaa7c9 100644
--- a/distros/iron/swri-geometry-util/default.nix
+++ b/distros/iron/swri-geometry-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, cv-bridge, eigen, geos, pkg-config, rclcpp, tf2 }:
 buildRosPackage {
   pname = "ros-iron-swri-geometry-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_geometry_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "6d2692722bcc2008ab83cef847060ec8dac33b9dce4e245445e804e082a71fbd";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_geometry_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "9d276576d76c55ba40d0c957a4acf6e1921ebf6620c26f4fe0ccd4b0cbad7d41";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-image-util/default.nix b/distros/iron/swri-image-util/default.nix
index 7474dab4d8..08ee5a7a69 100644
--- a/distros/iron/swri-image-util/default.nix
+++ b/distros/iron/swri-image-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, camera-calibration-parsers, cv-bridge, eigen, geometry-msgs, image-geometry, image-transport, message-filters, nav-msgs, pkg-config, rclcpp, rclcpp-components, rclpy, std-msgs, swri-geometry-util, swri-math-util, swri-opencv-util, swri-roscpp, tf2 }:
 buildRosPackage {
   pname = "ros-iron-swri-image-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_image_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "c8344fb841d1f6e666f35dc395ba2c4898a846ba14434a19af67c9c66fa4ca05";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_image_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "2a84baae02d05b6d84d3f8387ff185c095000a6d011bfc13180357d8634030fb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-math-util/default.nix b/distros/iron/swri-math-util/default.nix
index fcd79735d8..09d3f77cb5 100644
--- a/distros/iron/swri-math-util/default.nix
+++ b/distros/iron/swri-math-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-swri-math-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_math_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "ec1f33bdff583785f0290aacf52835658e7fe2d3faa87d2177b7ae0e90146403";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_math_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "9f9f2a80a012fb64fcb61a16efe678917816c86c870d53717688ee5203ef3d99";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-opencv-util/default.nix b/distros/iron/swri-opencv-util/default.nix
index 30042fa296..5fd29bb26d 100644
--- a/distros/iron/swri-opencv-util/default.nix
+++ b/distros/iron/swri-opencv-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, cv-bridge, swri-math-util }:
 buildRosPackage {
   pname = "ros-iron-swri-opencv-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_opencv_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "3df32c10847d62f751ddf321e15ce7efb424bf74fc12389e08f06902d5ec62b8";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_opencv_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "09aae6b9f4d7ff9fb7190b1fa4d027809fa39d9729dca3f75d95b46fa839db7d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-prefix-tools/default.nix b/distros/iron/swri-prefix-tools/default.nix
index 336ac43069..69e0cbf845 100644
--- a/distros/iron/swri-prefix-tools/default.nix
+++ b/distros/iron/swri-prefix-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, python3Packages }:
 buildRosPackage {
   pname = "ros-iron-swri-prefix-tools";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_prefix_tools/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "8e5152ef6e521db75c1c8db02527a7e096a552b2064f61725be4183a248112b4";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_prefix_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "2329d5e81fb45c1c3cd275cf17fd0260ecf070ebbfb581c88f53a8546bb314d8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-roscpp/default.nix b/distros/iron/swri-roscpp/default.nix
index 85d9c98d19..e2f5e79011 100644
--- a/distros/iron/swri-roscpp/default.nix
+++ b/distros/iron/swri-roscpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, diagnostic-updater, gtest, marti-common-msgs, nav-msgs, rclcpp, ros-environment, rosidl-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-iron-swri-roscpp";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_roscpp/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "aef1e55fef44196fe4bd827d964da67a08d8ea0c54ce01367597bd407aed5de4";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_roscpp/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "25d9f8bf4f03f5dc3a80b66b5d520d46d8ed2417a1361b216fc3d97f54f89cfe";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-route-util/default.nix b/distros/iron/swri-route-util/default.nix
index 917a9c852c..0193b6c2bb 100644
--- a/distros/iron/swri-route-util/default.nix
+++ b/distros/iron/swri-route-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, marti-common-msgs, marti-nav-msgs, rclcpp, swri-geometry-util, swri-math-util, swri-roscpp, swri-transform-util, tf2-geometry-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-iron-swri-route-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_route_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "1a0fb2a7bfc458a40f0cda384d96aa6e9e4cfe0e146057be118c198997939dc7";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_route_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "e82f07dcc5a18b5ea5cdc0ca15900d7391b66b18b7c3d43d10e3469b275170cb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-serial-util/default.nix b/distros/iron/swri-serial-util/default.nix
index c085c6d37e..1a7e78d8ac 100644
--- a/distros/iron/swri-serial-util/default.nix
+++ b/distros/iron/swri-serial-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost }:
 buildRosPackage {
   pname = "ros-iron-swri-serial-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_serial_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "98ca0362247cdcd4b122508621d654354288aed7335809db5d8f6f942a33f0bd";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_serial_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "a22ee1c48bddc28c6b54e682dc40d6ad64c3843c81a8634411eeab9edf26864f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-system-util/default.nix b/distros/iron/swri-system-util/default.nix
index d560551653..33d73f0c1a 100644
--- a/distros/iron/swri-system-util/default.nix
+++ b/distros/iron/swri-system-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-iron-swri-system-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_system_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "64051bcaa23d89493291d002166d9aee236a7276bdc7eca5d63eb7409d0628ec";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_system_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "eb3979c006d895471887289808a18bb1bfab1399561f16ee8f8c39e6c45f25c1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/swri-transform-util/default.nix b/distros/iron/swri-transform-util/default.nix
index 5f789fe9df..2da8f54d35 100644
--- a/distros/iron/swri-transform-util/default.nix
+++ b/distros/iron/swri-transform-util/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, boost, cv-bridge, diagnostic-msgs, diagnostic-updater, geographic-msgs, geometry-msgs, geos, gps-msgs, launch-xml, marti-nav-msgs, pkg-config, proj, python3Packages, rcl-interfaces, rclcpp, rclcpp-components, rclpy, sensor-msgs, swri-math-util, swri-roscpp, tf2, tf2-geometry-msgs, tf2-py, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, boost, cv-bridge, diagnostic-msgs, diagnostic-updater, geographic-msgs, geometry-msgs, geos, gps-msgs, marti-nav-msgs, pkg-config, proj, python3Packages, rcl-interfaces, rclcpp, rclcpp-components, rclpy, sensor-msgs, swri-math-util, swri-roscpp, tf2, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-iron-swri-transform-util";
-  version = "3.5.4-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_transform_util/3.5.4-1.tar.gz";
-    name = "3.5.4-1.tar.gz";
-    sha256 = "64689c83a75fc01325d82133323fdc20f3b90c6a50072a3e4859d00b6a66784b";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/iron/swri_transform_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "d064c6db5d44565df356fa1c16d3c036d4ee651ec91217519ca8edd7454a5fc8";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python pkg-config ];
-  propagatedBuildInputs = [ boost cv-bridge diagnostic-msgs diagnostic-updater geographic-msgs geometry-msgs geos gps-msgs launch-xml marti-nav-msgs proj python3Packages.numpy rcl-interfaces rclcpp rclcpp-components rclpy sensor-msgs swri-math-util swri-roscpp tf2 tf2-geometry-msgs tf2-py tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ boost cv-bridge diagnostic-msgs diagnostic-updater geographic-msgs geometry-msgs geos gps-msgs marti-nav-msgs proj python3Packages.numpy rcl-interfaces rclcpp rclcpp-components rclpy sensor-msgs swri-math-util swri-roscpp tf2 tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python pkg-config ];
 
   meta = {
diff --git a/distros/iron/tf2-bullet/default.nix b/distros/iron/tf2-bullet/default.nix
index b9013859d9..b1c4dc5d00 100644
--- a/distros/iron/tf2-bullet/default.nix
+++ b/distros/iron/tf2-bullet/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, bullet, geometry-msgs, tf2, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-tf2-bullet";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_bullet/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "95659588fd2ba31ab10bc3f96b57301f14ee1d6b38663f1e4f8234461e75e7f3";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_bullet/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "523866ade3f3e972e7c1171321c6101095dd6fcc7aaa59f2b4b3c96d2023471d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-eigen-kdl/default.nix b/distros/iron/tf2-eigen-kdl/default.nix
index 0fe22cb223..c68f6b3bc7 100644
--- a/distros/iron/tf2-eigen-kdl/default.nix
+++ b/distros/iron/tf2-eigen-kdl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, orocos-kdl-vendor, tf2 }:
 buildRosPackage {
   pname = "ros-iron-tf2-eigen-kdl";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_eigen_kdl/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "963d70fbb0524e3bf7ac48dc6525d34dd8a812a7cbf2d0dd709af9973a566be5";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_eigen_kdl/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "cb36e6ae186e66fc3266f3c739c354f123910313364cebd1fe516d9b1e214cbd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-eigen/default.nix b/distros/iron/tf2-eigen/default.nix
index 99b518ad78..aa65acec28 100644
--- a/distros/iron/tf2-eigen/default.nix
+++ b/distros/iron/tf2-eigen/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, geometry-msgs, tf2, tf2-ros }:
 buildRosPackage {
   pname = "ros-iron-tf2-eigen";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_eigen/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "81d17dc07116dc662fcf9a1acc2df37d673e78cf39f11bd3e3be92ebd6563816";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_eigen/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "36aed4a2bdfeb4efcbe3a810e2b2891c158762599a9b2a5971b84955d34a8e31";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-geometry-msgs/default.nix b/distros/iron/tf2-geometry-msgs/default.nix
index 4fab9427f7..400151ea85 100644
--- a/distros/iron/tf2-geometry-msgs/default.nix
+++ b/distros/iron/tf2-geometry-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, geometry-msgs, orocos-kdl-vendor, python-cmake-module, python3Packages, rclcpp, tf2, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-iron-tf2-geometry-msgs";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_geometry_msgs/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "71f6b24d97509db91a6b577570ebb70a1dc4bfe30ae36c119fec96d055ff84c6";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_geometry_msgs/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "61a1e3dc335644c429008d397f17cdfab91af4670c6bb26ae54f0100a17455a0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-kdl/default.nix b/distros/iron/tf2-kdl/default.nix
index 6873fa8072..80d1acb147 100644
--- a/distros/iron/tf2-kdl/default.nix
+++ b/distros/iron/tf2-kdl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, builtin-interfaces, geometry-msgs, orocos-kdl-vendor, rclcpp, tf2, tf2-msgs, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-iron-tf2-kdl";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_kdl/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "aca8b698e7334ded574eb42ce653ed6fee53105bb0a778fad46853d894318d23";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_kdl/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "31fb353fc41915a58faad553584934df76d3940e98c360da7afd6b77c467a084";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-msgs/default.nix b/distros/iron/tf2-msgs/default.nix
index 221557a4ba..39e3d41435 100644
--- a/distros/iron/tf2-msgs/default.nix
+++ b/distros/iron/tf2-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-iron-tf2-msgs";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_msgs/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "d188591b71755237272f7ea5d76fc2e2cf3955bde9271517203357772c87eba1";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_msgs/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "4216c6ac55bb032d98edbc8e96ad6929d4c13779dde27279a9507bba5aa648a2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-py/default.nix b/distros/iron/tf2-py/default.nix
index 5440a101b0..91f5e7a23a 100644
--- a/distros/iron/tf2-py/default.nix
+++ b/distros/iron/tf2-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, python-cmake-module, rclpy, rpyutils, tf2 }:
 buildRosPackage {
   pname = "ros-iron-tf2-py";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_py/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "6ba13ca0b2a4bc467c68967f6973500e41599ff75dda851e70b45024ee127bd6";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_py/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "610d75a7b851a1bc44d6b9c307d3f7c98925af77a614fca376adaeb3cb7a537b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-ros-py/default.nix b/distros/iron/tf2-ros-py/default.nix
index 100a52a5e4..6effe97b51 100644
--- a/distros/iron/tf2-ros-py/default.nix
+++ b/distros/iron/tf2-ros-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, builtin-interfaces, geometry-msgs, pythonPackages, rclpy, sensor-msgs, std-msgs, tf2-msgs, tf2-py }:
 buildRosPackage {
   pname = "ros-iron-tf2-ros-py";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_ros_py/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "cac17b483bdfa04e04d4fcca76663cec045b554a6be43174f2ec89295355ada3";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_ros_py/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "a376115ecde9f8602860b5da92918569e579c419a8fcadf2ef20f2110fce8252";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/tf2-ros/default.nix b/distros/iron/tf2-ros/default.nix
index 09d297acbd..cd27856d5f 100644
--- a/distros/iron/tf2-ros/default.nix
+++ b/distros/iron/tf2-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, message-filters, rcl-interfaces, rclcpp, rclcpp-action, rclcpp-components, rosgraph-msgs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-iron-tf2-ros";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_ros/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "59a247ebac3f45d8966f20271f388c759fc9dc35224ce536fd26330a5a6ef278";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_ros/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "7f0858d43a0f4fa2304f3b61a04b0d80e549ba3f5fd5650197ba61e5c25cc44a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-sensor-msgs/default.nix b/distros/iron/tf2-sensor-msgs/default.nix
index 8f143aa144..1896963b1f 100644
--- a/distros/iron/tf2-sensor-msgs/default.nix
+++ b/distros/iron/tf2-sensor-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometry-msgs, python-cmake-module, python3Packages, rclcpp, sensor-msgs, sensor-msgs-py, std-msgs, tf2, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-iron-tf2-sensor-msgs";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_sensor_msgs/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "aeaa3ac13e694ec04513791bf341a10443269e3404c6dc8a533abcdafca5cff5";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_sensor_msgs/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "e9b53eca661d188ee31e8f9a85f353b24e5efc91674245bc9a194e309a79f35a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tf2-tools/default.nix b/distros/iron/tf2-tools/default.nix
index c4a6a9158d..aafe1cc025 100644
--- a/distros/iron/tf2-tools/default.nix
+++ b/distros/iron/tf2-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, graphviz, python3Packages, rclpy, tf2-msgs, tf2-py, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-iron-tf2-tools";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_tools/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "ced3f6da2c2997fe16ad36789de1a32bcc939b6915939ff68e5211fa971c2c0f";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2_tools/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "9ac87478d850df80a2dddef108b2918052220f0dbd0539fcd055dade5d030c9c";
   };
 
   buildType = "ament_python";
diff --git a/distros/iron/tf2/default.nix b/distros/iron/tf2/default.nix
index f792d23629..957c935d55 100644
--- a/distros/iron/tf2/default.nix
+++ b/distros/iron/tf2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros, ament-cmake-uncrustify, ament-cmake-xmllint, builtin-interfaces, console-bridge, console-bridge-vendor, geometry-msgs, rcutils, rosidl-runtime-cpp }:
 buildRosPackage {
   pname = "ros-iron-tf2";
-  version = "0.31.4-r1";
+  version = "0.31.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2/0.31.4-1.tar.gz";
-    name = "0.31.4-1.tar.gz";
-    sha256 = "8c49bfe67294ee2fc50e351b7c89ccea56b913eae92d948e67c3796a999fe2d3";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/iron/tf2/0.31.5-1.tar.gz";
+    name = "0.31.5-1.tar.gz";
+    sha256 = "f03e1ea75af1bc695c70492ddd56db2a9760614669a03a63622309b806682183";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tinyxml2-vendor/default.nix b/distros/iron/tinyxml2-vendor/default.nix
index 2e4aa80aca..08bb739654 100644
--- a/distros/iron/tinyxml2-vendor/default.nix
+++ b/distros/iron/tinyxml2-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-iron-tinyxml2-vendor";
-  version = "0.8.2-r3";
+  version = "0.8.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/tinyxml2_vendor-release/archive/release/iron/tinyxml2_vendor/0.8.2-3.tar.gz";
-    name = "0.8.2-3.tar.gz";
-    sha256 = "ae3c4fc1e2b7bdeefcdb7ab5823731cef4883b0de6e685aea74dcedc25edf691";
+    url = "https://github.com/ros2-gbp/tinyxml2_vendor-release/archive/release/iron/tinyxml2_vendor/0.8.3-1.tar.gz";
+    name = "0.8.3-1.tar.gz";
+    sha256 = "bddfddcfbd5be57d9f6075e39908740efd34658dbeca747b212b85c1addd54d5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/topic-based-ros2-control/default.nix b/distros/iron/topic-based-ros2-control/default.nix
index 1e87245b7a..e37532611c 100644
--- a/distros/iron/topic-based-ros2-control/default.nix
+++ b/distros/iron/topic-based-ros2-control/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, hardware-interface, picknik-ament-copyright, rclcpp, ros2-control-test-assets, sensor-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, angles, hardware-interface, picknik-ament-copyright, rclcpp, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-iron-topic-based-ros2-control";
-  version = "0.1.1-r1";
+  version = "0.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/PickNikRobotics/topic_based_ros2_control-release/archive/release/iron/topic_based_ros2_control/0.1.1-1.tar.gz";
-    name = "0.1.1-1.tar.gz";
-    sha256 = "2ebf06892274ec280ec5e4e4bf751907b376774c16b87c943f47c0cccbbbe983";
+    url = "https://github.com/PickNikRobotics/topic_based_ros2_control-release/archive/release/iron/topic_based_ros2_control/0.2.0-1.tar.gz";
+    name = "0.2.0-1.tar.gz";
+    sha256 = "957ef4c6fbb5d18a103619c0ed28962539a75e98fb01982f04847a8bde57b041";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common picknik-ament-copyright ros2-control-test-assets ];
-  propagatedBuildInputs = [ hardware-interface rclcpp sensor-msgs ];
+  propagatedBuildInputs = [ angles hardware-interface rclcpp sensor-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/iron/tricycle-controller/default.nix b/distros/iron/tricycle-controller/default.nix
index 8897246ba6..9d41d24a25 100644
--- a/distros/iron/tricycle-controller/default.nix
+++ b/distros/iron/tricycle-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ackermann-msgs, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, controller-interface, controller-manager, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-iron-tricycle-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/tricycle_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "ba490de4eb53d47dcc5f70b593554e01fedf0e88ca03c59bf20adc04c350bb26";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/tricycle_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "97320077f4bcfc384d2a5e42a815718b75b5838ff4846ddc336c78c3b51c7380";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/tricycle-steering-controller/default.nix b/distros/iron/tricycle-steering-controller/default.nix
index e4189e1e0e..ed568b303b 100644
--- a/distros/iron/tricycle-steering-controller/default.nix
+++ b/distros/iron/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-iron-tricycle-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/tricycle_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "38adb840261fff4116f646f3635e7087ed292ce03f0678d3ce0cea1447a419c7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/tricycle_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "067851097012bb50cad0adb679e109a6adfa0d262aab998b549312b2d07adc03";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/ur-client-library/default.nix b/distros/iron/ur-client-library/default.nix
index 2b83472d5a..9ab1011d9c 100644
--- a/distros/iron/ur-client-library/default.nix
+++ b/distros/iron/ur-client-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cmake }:
 buildRosPackage {
   pname = "ros-iron-ur-client-library";
-  version = "1.3.2-r1";
+  version = "1.3.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/Universal_Robots_Client_Library-release/archive/release/iron/ur_client_library/1.3.2-1.tar.gz";
-    name = "1.3.2-1.tar.gz";
-    sha256 = "a6404ecb85dc1af3e61512d11c614b1d93206927e4ec938ffe48d30f4b7c3f4c";
+    url = "https://github.com/ros2-gbp/Universal_Robots_Client_Library-release/archive/release/iron/ur_client_library/1.3.3-1.tar.gz";
+    name = "1.3.3-1.tar.gz";
+    sha256 = "74b334d4cdf1bfb87b616ae6d2f1e80a544f11400d1e64a0d4eac7acfeaf7efc";
   };
 
   buildType = "cmake";
diff --git a/distros/iron/ur-description/default.nix b/distros/iron/ur-description/default.nix
index bd19057a7a..9080bf9fff 100644
--- a/distros/iron/ur-description/default.nix
+++ b/distros/iron/ur-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }:
 buildRosPackage {
   pname = "ros-iron-ur-description";
-  version = "2.1.0-r1";
+  version = "2.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/iron/ur_description/2.1.0-1.tar.gz";
-    name = "2.1.0-1.tar.gz";
-    sha256 = "be3b75b96fb2a121e0e00a21519a181279c101b453393cbb2c271394b60e2ae3";
+    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/iron/ur_description/2.1.1-1.tar.gz";
+    name = "2.1.1-1.tar.gz";
+    sha256 = "f6bdb6093dbc4e7a4e0b69d18df29c81cfdf6d5448f5b545d06f0fd990049a6e";
   };
 
   buildType = "ament_cmake";
@@ -21,6 +21,6 @@ buildRosPackage {
 
   meta = {
     description = ''URDF description for Universal Robots'';
-    license = with lib.licenses; [ bsd3 ];
+    license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ];
   };
 }
diff --git a/distros/iron/urdf-launch/default.nix b/distros/iron/urdf-launch/default.nix
index 244ab7008a..c7c5a6ba0a 100644
--- a/distros/iron/urdf-launch/default.nix
+++ b/distros/iron/urdf-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, joint-state-publisher-gui, launch-ros, robot-state-publisher, rviz-common, rviz-default-plugins, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-iron-urdf-launch";
-  version = "0.1.0-r1";
+  version = "0.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/iron/urdf_launch/0.1.0-1.tar.gz";
-    name = "0.1.0-1.tar.gz";
-    sha256 = "6425356db9bc20b4263edc196f863e748f0e9a46e4ec15d099396f89319e1f62";
+    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/iron/urdf_launch/0.1.1-1.tar.gz";
+    name = "0.1.1-1.tar.gz";
+    sha256 = "5e29534fea34b88eb73e314edbf96914afac7a6e46587e8898dc6c10d7583725";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/velocity-controllers/default.nix b/distros/iron/velocity-controllers/default.nix
index 945cb5be7b..a3af678a5f 100644
--- a/distros/iron/velocity-controllers/default.nix
+++ b/distros/iron/velocity-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-iron-velocity-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/velocity_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "24538f4788fd83f5f344e7c43d1a65a27742e2d598e890722d233b782566b891";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/iron/velocity_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "63f7935e6939155aaee7b54eab6afeae7a6d901e47295edb1ecc6fa6ba65e517";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/iron/zstd-vendor/default.nix b/distros/iron/zstd-vendor/default.nix
index a850bf5be6..a6bd497742 100644
--- a/distros/iron/zstd-vendor/default.nix
+++ b/distros/iron/zstd-vendor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, git, zstd }:
 buildRosPackage {
   pname = "ros-iron-zstd-vendor";
-  version = "0.22.2-r1";
+  version = "0.22.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/zstd_vendor/0.22.2-1.tar.gz";
-    name = "0.22.2-1.tar.gz";
-    sha256 = "a61f4136f4c24cad0c1f3ec5d8c0f97fb150e7dc51141bf77133691a2bd6e3ad";
+    url = "https://github.com/ros2-gbp/rosbag2-release/archive/release/iron/zstd_vendor/0.22.3-1.tar.gz";
+    name = "0.22.3-1.tar.gz";
+    sha256 = "f1f57194591c3ef638395fb9856a7be153e31f98ce65079282c941593856ab58";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/noetic/aruco-opencv/default.nix b/distros/noetic/aruco-opencv/default.nix
index 17ecb5b19d..8e04a4633f 100644
--- a/distros/noetic/aruco-opencv/default.nix
+++ b/distros/noetic/aruco-opencv/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, aruco-opencv-msgs, catkin, cv-bridge, dynamic-reconfigure, image-transport, nodelet, python39Packages, python3Packages, roscpp, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, aruco-opencv-msgs, catkin, cv-bridge, dynamic-reconfigure, image-transport, nodelet, python3Packages, roscpp, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-noetic-aruco-opencv";
   version = "0.3.1-r1";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "catkin";
   buildInputs = [ aruco-opencv-msgs catkin ];
-  propagatedBuildInputs = [ cv-bridge dynamic-reconfigure image-transport nodelet python39Packages.img2pdf python3Packages.numpy python3Packages.opencv4 roscpp tf2-geometry-msgs tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ cv-bridge dynamic-reconfigure image-transport nodelet python3Packages.img2pdf python3Packages.numpy python3Packages.opencv4 roscpp tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/cmvision/default.nix b/distros/noetic/cmvision/default.nix
index 4b9d6a36ac..cb261662a3 100644
--- a/distros/noetic/cmvision/default.nix
+++ b/distros/noetic/cmvision/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, cv-bridge, fltk, message-generation, message-runtime, roscpp, sensor-msgs, std-msgs, wxGTK }:
+{ lib, buildRosPackage, fetchurl, catkin, cv-bridge, fltk, message-generation, message-runtime, roscpp, sensor-msgs, std-msgs, wxGTK32 }:
 buildRosPackage {
   pname = "ros-noetic-cmvision";
   version = "0.5.0-r2";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "catkin";
   buildInputs = [ catkin message-generation ];
-  propagatedBuildInputs = [ cv-bridge fltk message-runtime roscpp sensor-msgs std-msgs wxGTK ];
+  propagatedBuildInputs = [ cv-bridge fltk message-runtime roscpp sensor-msgs std-msgs wxGTK32 ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/cpr-onav-description/default.nix b/distros/noetic/cpr-onav-description/default.nix
index 47d4726001..deeb8b5d5e 100644
--- a/distros/noetic/cpr-onav-description/default.nix
+++ b/distros/noetic/cpr-onav-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, lms1xx, realsense2-description, urdf, velodyne-description, xacro }:
 buildRosPackage {
   pname = "ros-noetic-cpr-onav-description";
-  version = "0.1.6-r1";
+  version = "0.1.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/cpr_onav_description-release/archive/release/noetic/cpr_onav_description/0.1.6-1.tar.gz";
-    name = "0.1.6-1.tar.gz";
-    sha256 = "b32d01b91837aa662bba83bb90dbdfaa96400c893359947b029673bc254f2f6c";
+    url = "https://github.com/clearpath-gbp/cpr_onav_description-release/archive/release/noetic/cpr_onav_description/0.1.7-1.tar.gz";
+    name = "0.1.7-1.tar.gz";
+    sha256 = "a0939b184eb30709cc757d36b7f332e474a5e8092bb9885fac161b00e5b411ea";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-bridge/default.nix b/distros/noetic/depthai-bridge/default.nix
index 5c480c9ddd..c618137376 100644
--- a/distros/noetic/depthai-bridge/default.nix
+++ b/distros/noetic/depthai-bridge/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, boost, camera-info-manager, catkin, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, robot-state-publisher, ros-environment, roscpp, sensor-msgs, std-msgs, stereo-msgs, tf2-ros, urdf, vision-msgs }:
+{ lib, buildRosPackage, fetchurl, boost, camera-info-manager, catkin, cv-bridge, depthai, depthai-ros-msgs, image-transport, opencv, robot-state-publisher, ros-environment, roscpp, sensor-msgs, std-msgs, stereo-msgs, tf2, tf2-geometry-msgs, tf2-ros, urdf, vision-msgs }:
 buildRosPackage {
   pname = "ros-noetic-depthai-bridge";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_bridge/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "d60e7a2df8ce7b2dd92bfe51b2b70e9310ba2b8faffb3bc090e3e5c6289e82d4";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_bridge/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "21d4ed5fb5a63734673c2ad48d28e5c7d43d22d78ed61d812ce1651dd5c77d98";
   };
 
   buildType = "catkin";
   buildInputs = [ catkin ];
-  propagatedBuildInputs = [ boost camera-info-manager cv-bridge depthai depthai-ros-msgs image-transport opencv robot-state-publisher ros-environment roscpp sensor-msgs std-msgs stereo-msgs tf2-ros urdf vision-msgs ];
+  propagatedBuildInputs = [ boost camera-info-manager cv-bridge depthai depthai-ros-msgs image-transport opencv robot-state-publisher ros-environment roscpp sensor-msgs std-msgs stereo-msgs tf2 tf2-geometry-msgs tf2-ros urdf vision-msgs ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/depthai-descriptions/default.nix b/distros/noetic/depthai-descriptions/default.nix
index 05555cfa23..fac6682d63 100644
--- a/distros/noetic/depthai-descriptions/default.nix
+++ b/distros/noetic/depthai-descriptions/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, robot-state-publisher, xacro }:
 buildRosPackage {
   pname = "ros-noetic-depthai-descriptions";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_descriptions/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "bfcc5dd47614e1538752c61fa2a79b6ed037f195a0616a61d0f73cd3ab4308af";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_descriptions/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "6dd929b12f8f6bed71e9a0a8779acff9368a533801e8c2f815b34dae9f8bcb2d";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-examples/default.nix b/distros/noetic/depthai-examples/default.nix
index 28581b8add..907b1847d7 100644
--- a/distros/noetic/depthai-examples/default.nix
+++ b/distros/noetic/depthai-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-info-manager, catkin, cv-bridge, depth-image-proc, depthai, depthai-bridge, depthai-descriptions, depthai-ros-msgs, foxglove-msgs, image-transport, message-filters, nodelet, opencv, robot-state-publisher, ros-environment, roscpp, rospy, sensor-msgs, std-msgs, stereo-msgs, vision-msgs, xacro }:
 buildRosPackage {
   pname = "ros-noetic-depthai-examples";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_examples/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "99fb188b054dca632c95471e232f6406b533db5b5adf546e8050bdbb3dc5cdd6";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_examples/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "0071d2c3b76d88e511ca1c6790f5a7fa2cdf9c17706649b11376bb1afd6ff5dc";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-filters/default.nix b/distros/noetic/depthai-filters/default.nix
index 0e7137dd3d..5a7733cdfe 100644
--- a/distros/noetic/depthai-filters/default.nix
+++ b/distros/noetic/depthai-filters/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cv-bridge, depthai-ros-msgs, dynamic-reconfigure, image-pipeline, image-transport, image-transport-plugins, message-filters, nodelet, opencv, roscpp, sensor-msgs, vision-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-depthai-filters";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_filters/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "deb0e6315bba29dd5c2a981f0e32e3ba58a2838a64e8e76ae643c9651c359817";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_filters/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "300a10359eb950699b0a8a9980c06f08b87e200324b4e98c6363f07ba3352152";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-ros-driver/default.nix b/distros/noetic/depthai-ros-driver/default.nix
index 7beb288364..64d9d75952 100644
--- a/distros/noetic/depthai-ros-driver/default.nix
+++ b/distros/noetic/depthai-ros-driver/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, camera-info-manager, catkin, cv-bridge, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-ros-msgs, diagnostic-msgs, diagnostic-updater, dynamic-reconfigure, image-pipeline, image-transport, image-transport-plugins, message-filters, nodelet, pluginlib, roscpp, rospy, sensor-msgs, std-msgs, std-srvs, vision-msgs }:
 buildRosPackage {
   pname = "ros-noetic-depthai-ros-driver";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_ros_driver/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "7d7eb95efcd00db467654964b0e9001bcc4bff8f0dfb7e553b92464dc1569a1e";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_ros_driver/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "f2645647b8e814e6abcde422a4530ecb302de29cefed8cd2c50f2c5acfd7cd9f";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-ros-msgs/default.nix b/distros/noetic/depthai-ros-msgs/default.nix
index 3239aa837c..f3d8b8645d 100644
--- a/distros/noetic/depthai-ros-msgs/default.nix
+++ b/distros/noetic/depthai-ros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs, vision-msgs }:
 buildRosPackage {
   pname = "ros-noetic-depthai-ros-msgs";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_ros_msgs/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "86dc07776901b3a93d55f43e1e40b7fa3561f24d157d480520c6a0287049601a";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai_ros_msgs/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "d1a058c8bb7c272b1e93645a8f91a16a3a91b58ab4afb49260adc013ac9f3017";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/depthai-ros/default.nix b/distros/noetic/depthai-ros/default.nix
index 0389354b7b..7b12c095dc 100644
--- a/distros/noetic/depthai-ros/default.nix
+++ b/distros/noetic/depthai-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, depthai, depthai-bridge, depthai-descriptions, depthai-examples, depthai-filters, depthai-ros-driver, depthai-ros-msgs }:
 buildRosPackage {
   pname = "ros-noetic-depthai-ros";
-  version = "2.8.0-r1";
+  version = "2.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai-ros/2.8.0-1.tar.gz";
-    name = "2.8.0-1.tar.gz";
-    sha256 = "9f69aaed5179de3af72dbb56d8edfa24385cfd7685bf08e8bfee3d949c518eaa";
+    url = "https://github.com/luxonis/depthai-ros-release/archive/release/noetic/depthai-ros/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "26e76c01a9b99cffac291197c070d9e056bee7188433f456aa271e005f7ff16d";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index 8885b3efce..35d6a2c85c 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -2722,6 +2722,8 @@ self: super: {
 
  reach = self.callPackage ./reach {};
 
+ reach-ros = self.callPackage ./reach-ros {};
+
  realsense2-camera = self.callPackage ./realsense2-camera {};
 
  realsense2-description = self.callPackage ./realsense2-description {};
diff --git a/distros/noetic/libmavconn/default.nix b/distros/noetic/libmavconn/default.nix
index 1e8de8d7f2..b1386f9379 100644
--- a/distros/noetic/libmavconn/default.nix
+++ b/distros/noetic/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, console-bridge, gtest, mavlink, rosunit }:
 buildRosPackage {
   pname = "ros-noetic-libmavconn";
-  version = "1.16.0-r1";
+  version = "1.17.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/libmavconn/1.16.0-1.tar.gz";
-    name = "1.16.0-1.tar.gz";
-    sha256 = "ca3a3f2d211848303c341ae37099ca1420bbb4348a88b43f461e329d6ce8593c";
+    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/libmavconn/1.17.0-1.tar.gz";
+    name = "1.17.0-1.tar.gz";
+    sha256 = "335eb769da1e8437cb7a4710d0e567f020db0ef61d09a43dda5a8a64cae55bfe";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/mavlink/default.nix b/distros/noetic/mavlink/default.nix
index 17c38c2c5d..2236a24f30 100644
--- a/distros/noetic/mavlink/default.nix
+++ b/distros/noetic/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-noetic-mavlink";
-  version = "2023.6.6-r1";
+  version = "2023.9.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/noetic/mavlink/2023.6.6-1.tar.gz";
-    name = "2023.6.6-1.tar.gz";
-    sha256 = "0ef7f954dcbf7b8f6939931b800cc8ab2b02440f439ecc68eb111ad82dfc7074";
+    url = "https://github.com/mavlink/mavlink-gbp-release/archive/release/noetic/mavlink/2023.9.9-1.tar.gz";
+    name = "2023.9.9-1.tar.gz";
+    sha256 = "ce7745249e8fa599d2a7ad4217ca5c15a846170bd6d53e6b112f0c10861098da";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/mavros-extras/default.nix b/distros/noetic/mavros-extras/default.nix
index 4d6ceb40a6..82b8941ac0 100644
--- a/distros/noetic/mavros-extras/default.nix
+++ b/distros/noetic/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, cmake-modules, geometry-msgs, mavros, mavros-msgs, roscpp, sensor-msgs, std-msgs, tf, tf2-eigen, urdf, visualization-msgs }:
 buildRosPackage {
   pname = "ros-noetic-mavros-extras";
-  version = "1.16.0-r1";
+  version = "1.17.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros_extras/1.16.0-1.tar.gz";
-    name = "1.16.0-1.tar.gz";
-    sha256 = "c07fd42e2875d17d24a8bbb523b695206b62070bb10cee82476604ecb9250b47";
+    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros_extras/1.17.0-1.tar.gz";
+    name = "1.17.0-1.tar.gz";
+    sha256 = "41c620ed25e59f82496fa4061c81331d1da50bd8ab651387d4e9b26a752810c8";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/mavros-msgs/default.nix b/distros/noetic/mavros-msgs/default.nix
index 810c9050e0..ed2ffa4d8a 100644
--- a/distros/noetic/mavros-msgs/default.nix
+++ b/distros/noetic/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, geographic-msgs, geometry-msgs, message-generation, message-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-noetic-mavros-msgs";
-  version = "1.16.0-r1";
+  version = "1.17.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros_msgs/1.16.0-1.tar.gz";
-    name = "1.16.0-1.tar.gz";
-    sha256 = "9511848b5458ee3a27f360dc47b667fb2f4c11a838e086d1cbd81f58baf7a97f";
+    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros_msgs/1.17.0-1.tar.gz";
+    name = "1.17.0-1.tar.gz";
+    sha256 = "bc68abe9b9da8c549789cb402c3387d531ee39e229c41660046f7b61c43448b7";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/mavros/default.nix b/distros/noetic/mavros/default.nix
index 2986b7a14f..3676d3729c 100644
--- a/distros/noetic/mavros/default.nix
+++ b/distros/noetic/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, boost, catkin, cmake-modules, diagnostic-msgs, diagnostic-updater, eigen, eigen-conversions, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-runtime, nav-msgs, pluginlib, rosconsole-bridge, roscpp, rospy, rosunit, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-noetic-mavros";
-  version = "1.16.0-r1";
+  version = "1.17.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros/1.16.0-1.tar.gz";
-    name = "1.16.0-1.tar.gz";
-    sha256 = "b046165be854708f6fe6a26c51d82bb3d4cf5a225f7c5387c94c6ec3c25f89e2";
+    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/mavros/1.17.0-1.tar.gz";
+    name = "1.17.0-1.tar.gz";
+    sha256 = "9e9ea0766bf3c3e5c3cd375b9a74e1ddddd368af89320f46e02f34390d9c34c3";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/mrpt2/default.nix b/distros/noetic/mrpt2/default.nix
index 4ac0b4ae6b..134f5ab13b 100644
--- a/distros/noetic/mrpt2/default.nix
+++ b/distros/noetic/mrpt2/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, ros-environment, rosbag-storage, roscpp, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+{ lib, buildRosPackage, fetchurl, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, ros-environment, rosbag-storage, roscpp, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK32, xorg, zlib }:
 buildRosPackage {
   pname = "ros-noetic-mrpt2";
   version = "2.10.0-r1";
@@ -14,7 +14,7 @@ buildRosPackage {
   };
 
   buildType = "cmake";
-  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK zlib ];
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK32 zlib ];
   propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv rosbag-storage roscpp sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/noetic/mvsim/default.nix b/distros/noetic/mvsim/default.nix
index 4d62d64029..0b3cd4270b 100644
--- a/distros/noetic/mvsim/default.nix
+++ b/distros/noetic/mvsim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, catkin, cmake, cppzmq, dynamic-reconfigure, gtest, mrpt2, nav-msgs, protobuf, python3, python3Packages, pythonPackages, ros-environment, roscpp, sensor-msgs, tf2, tf2-geometry-msgs, unzip, visualization-msgs, wget }:
 buildRosPackage {
   pname = "ros-noetic-mvsim";
-  version = "0.8.0-r1";
+  version = "0.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ual-arm-ros-pkg-release/mvsim-release/archive/release/noetic/mvsim/0.8.0-1.tar.gz";
-    name = "0.8.0-1.tar.gz";
-    sha256 = "485198adce8458f05ba2f2a960d613c50eda2e02f17b190d15c32361b7b1c085";
+    url = "https://github.com/ual-arm-ros-pkg-release/mvsim-release/archive/release/noetic/mvsim/0.8.1-1.tar.gz";
+    name = "0.8.1-1.tar.gz";
+    sha256 = "fcea023939c08670dcbc373c4f6f9cda2bd5f709d866ca56b6c6610eee9942b6";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/reach-ros/default.nix b/distros/noetic/reach-ros/default.nix
new file mode 100644
index 0000000000..9f724e9447
--- /dev/null
+++ b/distros/noetic/reach-ros/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, catkin, interactive-markers, joint-state-publisher, moveit-core, moveit-msgs, moveit-ros-planning-interface, reach, robot-state-publisher, ros-industrial-cmake-boilerplate, rostest, sensor-msgs, tf2-eigen, visualization-msgs, xacro }:
+buildRosPackage {
+  pname = "ros-noetic-reach-ros";
+  version = "1.1.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros-industrial-release/reach_ros-release/archive/release/noetic/reach_ros/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "cc4192fab4a70ea56d609fee8984a830632ac22833509510d15b40d666d70567";
+  };
+
+  buildType = "catkin";
+  buildInputs = [ catkin ros-industrial-cmake-boilerplate ];
+  checkInputs = [ rostest ];
+  propagatedBuildInputs = [ interactive-markers joint-state-publisher moveit-core moveit-msgs moveit-ros-planning-interface reach robot-state-publisher sensor-msgs tf2-eigen visualization-msgs xacro ];
+  nativeBuildInputs = [ catkin ];
+
+  meta = {
+    description = ''The reach_ros package'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/noetic/reach/default.nix b/distros/noetic/reach/default.nix
index 12bd547e7e..56affe1e5b 100644
--- a/distros/noetic/reach/default.nix
+++ b/distros/noetic/reach/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, boost, boost-plugin-loader, cmake, eigen, gtest, llvmPackages, pcl, ros-industrial-cmake-boilerplate, yaml-cpp }:
 buildRosPackage {
   pname = "ros-noetic-reach";
-  version = "1.5.1-r1";
+  version = "1.5.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/reach-release/archive/release/noetic/reach/1.5.1-1.tar.gz";
-    name = "1.5.1-1.tar.gz";
-    sha256 = "d964980c543134ce0e38fc522819379c539c764f60c4b8252c7a690ba8ce4265";
+    url = "https://github.com/ros2-gbp/reach-release/archive/release/noetic/reach/1.5.2-1.tar.gz";
+    name = "1.5.2-1.tar.gz";
+    sha256 = "4055142acd4239e1435e9ed32e8ce84fd49207f2167baac80b9b3d49f3b0060c";
   };
 
   buildType = "cmake";
diff --git a/distros/noetic/rosbag-snapshot-msgs/default.nix b/distros/noetic/rosbag-snapshot-msgs/default.nix
index 0e105a60bc..66613a628a 100644
--- a/distros/noetic/rosbag-snapshot-msgs/default.nix
+++ b/distros/noetic/rosbag-snapshot-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, message-generation, message-runtime, rosgraph-msgs }:
 buildRosPackage {
   pname = "ros-noetic-rosbag-snapshot-msgs";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/rosbag_snapshot-release/archive/release/noetic/rosbag_snapshot_msgs/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "753504bb1f1d792be57ea96c9b060f32508b1005d6d7f18311b93e59d8ebca1c";
+    url = "https://github.com/ros-gbp/rosbag_snapshot-release/archive/release/noetic/rosbag_snapshot_msgs/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "10e1b53de691313253fd875cab7abec62dcba970b337eec2454930c6a57a0299";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rosbag-snapshot/default.nix b/distros/noetic/rosbag-snapshot/default.nix
index f3322eb876..7c527f707f 100644
--- a/distros/noetic/rosbag-snapshot/default.nix
+++ b/distros/noetic/rosbag-snapshot/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, catkin, rosbag, rosbag-snapshot-msgs, roscpp, rosgraph-msgs, roslint, rospy, rostest, rostopic, std-msgs, std-srvs, topic-tools }:
 buildRosPackage {
   pname = "ros-noetic-rosbag-snapshot";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/rosbag_snapshot-release/archive/release/noetic/rosbag_snapshot/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "6faa6bf1c0a94506e8911affaf60852ce7a73c13d3431c94d449a1f895c04fe9";
+    url = "https://github.com/ros-gbp/rosbag_snapshot-release/archive/release/noetic/rosbag_snapshot/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "1b657fb2cd5be647ae25fe577a2f598b110f9c15d51852f72322500692fa9486";
   };
 
   buildType = "catkin";
diff --git a/distros/noetic/rosdoc-lite/default.nix b/distros/noetic/rosdoc-lite/default.nix
index 6bea6b07ec..07cc2c0e61 100644
--- a/distros/noetic/rosdoc-lite/default.nix
+++ b/distros/noetic/rosdoc-lite/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, catkin, doxygen, genmsg, python3Packages }:
+{ lib, buildRosPackage, fetchurl, catkin, doxygen, genmsg, graphviz, python3Packages }:
 buildRosPackage {
   pname = "ros-noetic-rosdoc-lite";
-  version = "0.2.10-r1";
+  version = "0.2.11-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros-gbp/rosdoc_lite-release/archive/release/noetic/rosdoc_lite/0.2.10-1.tar.gz";
-    name = "0.2.10-1.tar.gz";
-    sha256 = "f6c654ab10e56b36bc7ff84ae7de6126011c44ebec7c3b9e14c4018643bd15c9";
+    url = "https://github.com/ros-gbp/rosdoc_lite-release/archive/release/noetic/rosdoc_lite/0.2.11-1.tar.gz";
+    name = "0.2.11-1.tar.gz";
+    sha256 = "3e29941517851859d8b363059988090c73a71d495e89ae9e07e85350b1af9456";
   };
 
   buildType = "catkin";
-  buildInputs = [ catkin ];
-  propagatedBuildInputs = [ doxygen genmsg python3Packages.catkin-pkg python3Packages.kitchen python3Packages.pyyaml python3Packages.rospkg python3Packages.sphinx ];
-  nativeBuildInputs = [ catkin ];
+  buildInputs = [ catkin python3Packages.setuptools ];
+  propagatedBuildInputs = [ doxygen genmsg graphviz python3Packages.catkin-pkg python3Packages.kitchen python3Packages.pyyaml python3Packages.rospkg python3Packages.sphinx ];
+  nativeBuildInputs = [ catkin python3Packages.setuptools ];
 
   meta = {
     description = ''This ROS package wraps documentation tools like doxygen, sphinx,
diff --git a/distros/noetic/test-mavros/default.nix b/distros/noetic/test-mavros/default.nix
index c5e72949e0..b138da36ee 100644
--- a/distros/noetic/test-mavros/default.nix
+++ b/distros/noetic/test-mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, angles, catkin, cmake-modules, control-toolbox, eigen, eigen-conversions, geometry-msgs, mavros, mavros-extras, roscpp, std-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-noetic-test-mavros";
-  version = "1.16.0-r1";
+  version = "1.17.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/test_mavros/1.16.0-1.tar.gz";
-    name = "1.16.0-1.tar.gz";
-    sha256 = "7804bb621204d5687e4b6dc311d20d848ff9e2f5f59ce897a21a2935723014a3";
+    url = "https://github.com/mavlink/mavros-release/archive/release/noetic/test_mavros/1.17.0-1.tar.gz";
+    name = "1.17.0-1.tar.gz";
+    sha256 = "0f7505ce385af8911f6cba30d9ca04c641328c720b40f74f05a789e881d463d3";
   };
 
   buildType = "catkin";
diff --git a/distros/rolling/ackermann-steering-controller/default.nix b/distros/rolling/ackermann-steering-controller/default.nix
index 84394a9cfd..4af94589cd 100644
--- a/distros/rolling/ackermann-steering-controller/default.nix
+++ b/distros/rolling/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-ackermann-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ackermann_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "d335e632cc009a4e7934479aa65eaa0c0515f45ca2b5813c5958d769d6d663d6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ackermann_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "831af96aba49114bb19dc7d71fb06c97ea9dfd2032866421818bc07981bb2d98";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/admittance-controller/default.nix b/distros/rolling/admittance-controller/default.nix
index ba247e6e62..8dac8cee0a 100644
--- a/distros/rolling/admittance-controller/default.nix
+++ b/distros/rolling/admittance-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, filters, generate-parameter-library, geometry-msgs, hardware-interface, joint-trajectory-controller, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-admittance-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/admittance_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "91b298b2a4831791e041203dc3f7f530aa4fbe25c5c1a8d3c27090afb0c67fad";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/admittance_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "623c4e884a8120a7dfd10f228edd9433aaf95aa584e278d9b181ae6eb5d9a0a2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/aruco-opencv/default.nix b/distros/rolling/aruco-opencv/default.nix
index 655ff15c57..27c1f29d5a 100644
--- a/distros/rolling/aruco-opencv/default.nix
+++ b/distros/rolling/aruco-opencv/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python39Packages, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cpplint, ament-cmake-lint-cmake, ament-cmake-uncrustify, ament-cmake-xmllint, ament-lint-auto, aruco-opencv-msgs, cv-bridge, image-transport, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-rolling-aruco-opencv";
   version = "4.1.1-r1";
@@ -16,7 +16,7 @@ buildRosPackage {
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-copyright ament-cmake-cpplint ament-cmake-lint-cmake ament-cmake-uncrustify ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python39Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
+  propagatedBuildInputs = [ aruco-opencv-msgs cv-bridge image-transport python3Packages.img2pdf python3Packages.numpy python3Packages.opencv4 rclcpp rclcpp-components rclcpp-lifecycle tf2-geometry-msgs tf2-ros yaml-cpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/behaviortree-cpp/default.nix b/distros/rolling/behaviortree-cpp/default.nix
index f0cdc008cf..0c04ac44e6 100644
--- a/distros/rolling/behaviortree-cpp/default.nix
+++ b/distros/rolling/behaviortree-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, cppzmq, rclcpp, ros-environment, sqlite }:
 buildRosPackage {
   pname = "ros-rolling-behaviortree-cpp";
-  version = "4.3.6-r2";
+  version = "4.3.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/rolling/behaviortree_cpp/4.3.6-2.tar.gz";
-    name = "4.3.6-2.tar.gz";
-    sha256 = "6b0fdad2d9979e3785a6c9283b06d576795835d4478d9dba15237a7689ae43ea";
+    url = "https://github.com/ros2-gbp/behaviortree_cpp_v4-release/archive/release/rolling/behaviortree_cpp/4.3.7-1.tar.gz";
+    name = "4.3.7-1.tar.gz";
+    sha256 = "60084c6b9b36dcb8c302d753684e8a371a3c5be0d1a4f63834b421fdaf9fc403";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/bicycle-steering-controller/default.nix b/distros/rolling/bicycle-steering-controller/default.nix
index e6b48d9319..cd205b105e 100644
--- a/distros/rolling/bicycle-steering-controller/default.nix
+++ b/distros/rolling/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-bicycle-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/bicycle_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "41c40aff6b5281e536251f6596b4a2bb83ed298aeadb0e01012ba9cfba4a5314";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/bicycle_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "ab056a23a1a387eade0dfc63097247fbdf01a9866f12b4edee3020bd1d134da4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/chomp-motion-planner/default.nix b/distros/rolling/chomp-motion-planner/default.nix
index 96bf8ee36d..77b39de6cd 100644
--- a/distros/rolling/chomp-motion-planner/default.nix
+++ b/distros/rolling/chomp-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, rclcpp, rsl, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-chomp-motion-planner";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/chomp_motion_planner/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "4519b17596a8559950019db78c8367f24cb807e90165208f85cdef75087a3787";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/chomp_motion_planner/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "44739528137d0fc866fcbca076e393b1f84a4f8a01cf3a830d3d2d5406915ef4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/diff-drive-controller/default.nix b/distros/rolling/diff-drive-controller/default.nix
index a62869dea7..3109f03132 100644
--- a/distros/rolling/diff-drive-controller/default.nix
+++ b/distros/rolling/diff-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-diff-drive-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/diff_drive_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "27952fe0ad44bf0cdd80319adcb2680b5aecd09bc3d96f9ca2f7e013a0e9ff98";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/diff_drive_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "f8821977e0223e4372f93f2ddb5481f25d283786a1bba0082c3b8561f35e3df2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ecal/default.nix b/distros/rolling/ecal/default.nix
index 6b76e44bcf..d961d15ea0 100644
--- a/distros/rolling/ecal/default.nix
+++ b/distros/rolling/ecal/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, protobuf }:
 buildRosPackage {
   pname = "ros-rolling-ecal";
-  version = "5.12.0-r1";
+  version = "5.12.0-r3";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ecal-release/archive/release/rolling/ecal/5.12.0-1.tar.gz";
-    name = "5.12.0-1.tar.gz";
-    sha256 = "64d4b22451f502a9363d6d069cc6be695f83e63becd092768a44778f2ae104c2";
+    url = "https://github.com/ros2-gbp/ecal-release/archive/release/rolling/ecal/5.12.0-3.tar.gz";
+    name = "5.12.0-3.tar.gz";
+    sha256 = "758854bdada0eae5f04657c8e6056a19dde85cee23f0064c24ed90fa7fba8b89";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/effort-controllers/default.nix b/distros/rolling/effort-controllers/default.nix
index 87c67bb8e3..393c96ad2f 100644
--- a/distros/rolling/effort-controllers/default.nix
+++ b/distros/rolling/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-effort-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/effort_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "e1f6630075a0fb32c1c312a1d082bd271b1fcfc49b3b74f1f358fd28ba2c85ae";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/effort_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "5e7701f7e2e55a2c900e8e6ecc3f344d4e7b87172e3091d7c14311b625c40c58";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/force-torque-sensor-broadcaster/default.nix b/distros/rolling/force-torque-sensor-broadcaster/default.nix
index 601a6e5a77..76e06ff1fa 100644
--- a/distros/rolling/force-torque-sensor-broadcaster/default.nix
+++ b/distros/rolling/force-torque-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-force-torque-sensor-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/force_torque_sensor_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "0094f56f1755cb796718ba77ca916cd90e1e82e0628a6373ecb78c197915c853";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/force_torque_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "b39e801cc2e88cc7043fdf41c8d042974ff3eb10f4da0c9a8283cff6a35a5ccf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/forward-command-controller/default.nix b/distros/rolling/forward-command-controller/default.nix
index 366e84f23b..367d63975c 100644
--- a/distros/rolling/forward-command-controller/default.nix
+++ b/distros/rolling/forward-command-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-forward-command-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/forward_command_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "731b23cdbbf95018e80a8ded48d362a32f3816a66b8a80560c7b1bf01a8a6a97";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/forward_command_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "800dfc1497efb02ffccade37d63f6350be1f10eb90b2bd8d0d361243616ffd7d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/foxglove-bridge/default.nix b/distros/rolling/foxglove-bridge/default.nix
index cab31385fb..399d32f3dd 100644
--- a/distros/rolling/foxglove-bridge/default.nix
+++ b/distros/rolling/foxglove-bridge/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, asio, nlohmann_json, openssl, rclcpp, rclcpp-components, resource-retriever, ros-environment, rosgraph-msgs, std-msgs, std-srvs, websocketpp, zlib }:
 buildRosPackage {
   pname = "ros-rolling-foxglove-bridge";
-  version = "0.7.1-r1";
+  version = "0.7.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/rolling/foxglove_bridge/0.7.1-1.tar.gz";
-    name = "0.7.1-1.tar.gz";
-    sha256 = "f3e4a1e3f300d576ac50aca8a74e489d01c6d636d7543ff71cb2ac9c915dd634";
+    url = "https://github.com/ros2-gbp/foxglove_bridge-release/archive/release/rolling/foxglove_bridge/0.7.2-1.tar.gz";
+    name = "0.7.2-1.tar.gz";
+    sha256 = "74e7e9224a458c2a9ef261410b1c476bbc84260476a56512f8689a40d854e98f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/generated.nix b/distros/rolling/generated.nix
index d743497fb9..f51b662e59 100644
--- a/distros/rolling/generated.nix
+++ b/distros/rolling/generated.nix
@@ -846,6 +846,8 @@ self: super: {
 
  message-tf-frame-transformer = self.callPackage ./message-tf-frame-transformer {};
 
+ metavision-driver = self.callPackage ./metavision-driver {};
+
  micro-ros-diagnostic-bridge = self.callPackage ./micro-ros-diagnostic-bridge {};
 
  micro-ros-diagnostic-msgs = self.callPackage ./micro-ros-diagnostic-msgs {};
@@ -866,12 +868,26 @@ self: super: {
 
  mola-common = self.callPackage ./mola-common {};
 
+ mola-demos = self.callPackage ./mola-demos {};
+
+ mola-imu-preintegration = self.callPackage ./mola-imu-preintegration {};
+
  mola-input-euroc-dataset = self.callPackage ./mola-input-euroc-dataset {};
 
  mola-input-kitti-dataset = self.callPackage ./mola-input-kitti-dataset {};
 
+ mola-input-rawlog = self.callPackage ./mola-input-rawlog {};
+
+ mola-input-ros2 = self.callPackage ./mola-input-ros2 {};
+
  mola-kernel = self.callPackage ./mola-kernel {};
 
+ mola-launcher = self.callPackage ./mola-launcher {};
+
+ mola-test-datasets = self.callPackage ./mola-test-datasets {};
+
+ mola-viz = self.callPackage ./mola-viz {};
+
  mola-yaml = self.callPackage ./mola-yaml {};
 
  mouse-teleop = self.callPackage ./mouse-teleop {};
@@ -968,6 +984,8 @@ self: super: {
 
  mp2p-icp = self.callPackage ./mp2p-icp {};
 
+ mqtt-client = self.callPackage ./mqtt-client {};
+
  mqtt-client-interfaces = self.callPackage ./mqtt-client-interfaces {};
 
  mrpt2 = self.callPackage ./mrpt2 {};
@@ -1196,6 +1214,8 @@ self: super: {
 
  random-numbers = self.callPackage ./random-numbers {};
 
+ range-sensor-broadcaster = self.callPackage ./range-sensor-broadcaster {};
+
  rc-common-msgs = self.callPackage ./rc-common-msgs {};
 
  rc-dynamics-api = self.callPackage ./rc-dynamics-api {};
@@ -1404,6 +1424,8 @@ self: super: {
 
  ros2-controllers-test-nodes = self.callPackage ./ros2-controllers-test-nodes {};
 
+ ros2-ouster = self.callPackage ./ros2-ouster {};
+
  ros2-socketcan = self.callPackage ./ros2-socketcan {};
 
  ros2-socketcan-msgs = self.callPackage ./ros2-socketcan-msgs {};
@@ -1794,6 +1816,8 @@ self: super: {
 
  stubborn-buddies-msgs = self.callPackage ./stubborn-buddies-msgs {};
 
+ swri-cli-tools = self.callPackage ./swri-cli-tools {};
+
  swri-console = self.callPackage ./swri-console {};
 
  swri-console-util = self.callPackage ./swri-console-util {};
diff --git a/distros/rolling/gripper-controllers/default.nix b/distros/rolling/gripper-controllers/default.nix
index 6c05dc0b55..70a3a42ee2 100644
--- a/distros/rolling/gripper-controllers/default.nix
+++ b/distros/rolling/gripper-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-gripper-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gripper_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "0520ab833b0b4dde11ef4fec34afead97c09101c501924bf97d08d0e80ecc969";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gripper_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "37331b9150b891b31f51469a3e134f198e982bdb5c3202d5de8dbf7403592850";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/imu-sensor-broadcaster/default.nix b/distros/rolling/imu-sensor-broadcaster/default.nix
index f2a7270329..1e2410c23b 100644
--- a/distros/rolling/imu-sensor-broadcaster/default.nix
+++ b/distros/rolling/imu-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-imu-sensor-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/imu_sensor_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "1a7c79258e795b2c7346a473aa5384036149f01511d9d6d99ec4b70bff2f2af8";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/imu_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "47918d221d81ac53186ab0706f5a02d8a8a02b826d90d1a3e4d3a75cfc9bb7b1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/joint-state-broadcaster/default.nix b/distros/rolling/joint-state-broadcaster/default.nix
index 8408cd8de9..971ab909d7 100644
--- a/distros/rolling/joint-state-broadcaster/default.nix
+++ b/distros/rolling/joint-state-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-joint-state-broadcaster";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_state_broadcaster/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "17c1584fbab0110fd63bf3acc2766753d1cd06a735f6161ae09bae725a2407c0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_state_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "957f5210b4f625e08b914b9713dd13bc338cf8f06e5209ebd9032779be85dc6c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/joint-trajectory-controller/default.nix b/distros/rolling/joint-trajectory-controller/default.nix
index 88fefb0b00..4dbc3fe121 100644
--- a/distros/rolling/joint-trajectory-controller/default.nix
+++ b/distros/rolling/joint-trajectory-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, angles, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, rsl, tl-expected, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-joint-trajectory-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_trajectory_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "214d571bec05f1d5c7f9bcaaf4dc7734afb61c15be375d0b682542bb85ec73bd";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_trajectory_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "73946b64e2a21f3aabf2eb4933b19e5564da0c019886062ebbef30c1137f9ee2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/launch-pytest/default.nix b/distros/rolling/launch-pytest/default.nix
index b42ec04281..64beb367b9 100644
--- a/distros/rolling/launch-pytest/default.nix
+++ b/distros/rolling/launch-pytest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, launch, launch-testing, osrf-pycommon, pythonPackages }:
 buildRosPackage {
   pname = "ros-rolling-launch-pytest";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_pytest/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "70a762406508a26549e1fcce8b89ac1c1793c363f7931ccd8e4cbd372edd684c";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_pytest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c956b24af66ddb59d441ed8f505b725807d5f384af132b3c8bdfa88393e87fa5";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/launch-testing-ament-cmake/default.nix b/distros/rolling/launch-testing-ament-cmake/default.nix
index bd2236d613..5b675f734f 100644
--- a/distros/rolling/launch-testing-ament-cmake/default.nix
+++ b/distros/rolling/launch-testing-ament-cmake/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-test, launch-testing, python-cmake-module }:
 buildRosPackage {
   pname = "ros-rolling-launch-testing-ament-cmake";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_testing_ament_cmake/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "6e1198c37cf3886bc5fed072ab0afb0b3996348a94da9b4190c191c339772236";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_testing_ament_cmake/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7d30093e93c2da63dc08b379213fbf1117a1524901825af5282a89278d30d37f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/launch-testing/default.nix b/distros/rolling/launch-testing/default.nix
index e39f091045..797fabd576 100644
--- a/distros/rolling/launch-testing/default.nix
+++ b/distros/rolling/launch-testing/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, launch, launch-xml, launch-yaml, osrf-pycommon, pythonPackages }:
 buildRosPackage {
   pname = "ros-rolling-launch-testing";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_testing/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "ada050aa3066bb3379f36ab22b175f42c51c4e097e9f8962df1a6b2e4cba0f5b";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_testing/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c136e540b2509fcc4e1b2e100426edef734bffec3c56a6d399204b8b198aaa3c";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/launch-xml/default.nix b/distros/rolling/launch-xml/default.nix
index 1e96756cf4..085d3e497f 100644
--- a/distros/rolling/launch-xml/default.nix
+++ b/distros/rolling/launch-xml/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, launch, pythonPackages }:
 buildRosPackage {
   pname = "ros-rolling-launch-xml";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_xml/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "e3cac7cdcd017a18aa220f02e3684d31c358f5d9704adbc572dcef6d696245af";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_xml/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "81c00638b0fc85818f83da33e8f0c1ed92922116565acf267953aafab9cd7f1f";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/launch-yaml/default.nix b/distros/rolling/launch-yaml/default.nix
index a5802450ff..00aa945e98 100644
--- a/distros/rolling/launch-yaml/default.nix
+++ b/distros/rolling/launch-yaml/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, launch, pythonPackages }:
 buildRosPackage {
   pname = "ros-rolling-launch-yaml";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_yaml/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "b5a820e301df315bc786cc57d381957f0a09580bf4a84484e2859381b10c3b57";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch_yaml/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "abbc2826a2b2ba66af9908eed7da1e59b116ae12cf812454d7f5e3755ba44f56";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/launch/default.nix b/distros/rolling/launch/default.nix
index a7538c52c3..bd4eb14f7f 100644
--- a/distros/rolling/launch/default.nix
+++ b/distros/rolling/launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-mypy, ament-pep257, osrf-pycommon, python3Packages, pythonPackages }:
 buildRosPackage {
   pname = "ros-rolling-launch";
-  version = "3.0.1-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "8d7cc87b8eda34979540c9b2c6e29b99bfc493de38b85d091f252626a8385e81";
+    url = "https://github.com/ros2-gbp/launch-release/archive/release/rolling/launch/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "83e8676b5984d5c34a7e398a645b012565a5d5f3b0a66b8f79f7e13e743c37d7";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/libmavconn/default.nix b/distros/rolling/libmavconn/default.nix
index ff7c3f0ebf..f96a0e45cc 100644
--- a/distros/rolling/libmavconn/default.nix
+++ b/distros/rolling/libmavconn/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, asio, console-bridge, mavlink, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-libmavconn";
-  version = "2.4.0-r2";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/libmavconn/2.4.0-2.tar.gz";
-    name = "2.4.0-2.tar.gz";
-    sha256 = "eade77dc2e5fb5c9403594cbdde4ca6a2aa8196a8d10fccc14ba70808e2fa636";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/libmavconn/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "061a75e9f985b259d242c3eb7474e08d391a0c1034dd6646d72c2eecb9cd18f2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-can-msgs/default.nix b/distros/rolling/marti-can-msgs/default.nix
index 4855289a7b..406a7fe7e9 100644
--- a/distros/rolling/marti-can-msgs/default.nix
+++ b/distros/rolling/marti-can-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-can-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_can_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "d98576bf411d609d084f249f7343772cff572e39ab559b034ff57ba63a237452";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_can_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "83f1967ee6a31c7a0141f25e8f6d37479e44c60e3dc3885457c08ce2881a5b36";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-common-msgs/default.nix b/distros/rolling/marti-common-msgs/default.nix
index 17ed62a0be..d77ecdae89 100644
--- a/distros/rolling/marti-common-msgs/default.nix
+++ b/distros/rolling/marti-common-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-common-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_common_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "f31f5ca3583b107659180b08b9a708d4eaefcda91c73a303b6fce0611f1de993";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_common_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "cba4192ec366a86bca182d5c012d04cbc298e2d56dbeddb0fe905c38ae0dfea3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-dbw-msgs/default.nix b/distros/rolling/marti-dbw-msgs/default.nix
index 73d18f71f9..e68fcf87ac 100644
--- a/distros/rolling/marti-dbw-msgs/default.nix
+++ b/distros/rolling/marti-dbw-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-dbw-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_dbw_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "001a26a01eca5fbdaca98cc90f12e8ebfb78d642bae166f72be4f83250c5dd29";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_dbw_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "36fe5148d3b19f248e9cd3c8937338aa920768291c3edf8ca8099ea6aa65c5ee";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-introspection-msgs/default.nix b/distros/rolling/marti-introspection-msgs/default.nix
index 4bef97315e..4728f6a5e3 100644
--- a/distros/rolling/marti-introspection-msgs/default.nix
+++ b/distros/rolling/marti-introspection-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-introspection-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_introspection_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "f047d36f959cac5586dbe3013cc5b7bc0156483102864afae2b20da446b7dbdd";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_introspection_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "c0b7aee81a4d8d26bfa7639df2e280a3062d807d435cbf9a03c3108053e86c12";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-nav-msgs/default.nix b/distros/rolling/marti-nav-msgs/default.nix
index 6ca330f7a2..a6becea519 100644
--- a/distros/rolling/marti-nav-msgs/default.nix
+++ b/distros/rolling/marti-nav-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geographic-msgs, geometry-msgs, marti-common-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-nav-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_nav_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "f9a94af427eb6e8df097c4dfb5260f4830271796391b3d4bea3963e878941ad4";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_nav_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "913acb58f6e5733921d9b897b15da2b6d063e7131155a83b76f54ddb8114a023";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-perception-msgs/default.nix b/distros/rolling/marti-perception-msgs/default.nix
index 94c2926613..48e95e0987 100644
--- a/distros/rolling/marti-perception-msgs/default.nix
+++ b/distros/rolling/marti-perception-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-perception-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_perception_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "285a0bc6e7d7c60fb79fd77433024eb0e1a826ad77369143b2c69b3278258ca5";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_perception_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "b4a0cf7989a9be121bc82c53adae7b20357335d0abd0b783c48d179f7472849a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-sensor-msgs/default.nix b/distros/rolling/marti-sensor-msgs/default.nix
index 23f34731ca..cf5a9d2290 100644
--- a/distros/rolling/marti-sensor-msgs/default.nix
+++ b/distros/rolling/marti-sensor-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, geometry-msgs, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-rolling-marti-sensor-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_sensor_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "e6cf2f5cda2093966ecf7bc159389d2b08dee6323f450bf28d7584fc88293e15";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_sensor_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "95ef40d74c0139d3038527609e0fc56bef2e1d2f0d9413f3da78721373b47813";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-status-msgs/default.nix b/distros/rolling/marti-status-msgs/default.nix
index b771d8e7c1..e1b1210cac 100644
--- a/distros/rolling/marti-status-msgs/default.nix
+++ b/distros/rolling/marti-status-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-status-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_status_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "6093ceaf2d38e8cc55112a7789a05572cfa5b2a31332a9718f52b7d7dbed5fa3";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_status_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "ca91eb98a836f7c92f827fe792292979710f54f36e848c058a6a8522fa0fec88";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/marti-visualization-msgs/default.nix b/distros/rolling/marti-visualization-msgs/default.nix
index d5f5b6d694..e6196952d5 100644
--- a/distros/rolling/marti-visualization-msgs/default.nix
+++ b/distros/rolling/marti-visualization-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-marti-visualization-msgs";
-  version = "1.5.0-r1";
+  version = "1.5.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_visualization_msgs/1.5.0-1.tar.gz";
-    name = "1.5.0-1.tar.gz";
-    sha256 = "bdf02ee5ef8e18342f2abebc5fad487fdd788bf8f29bd594706402534db46daf";
+    url = "https://github.com/ros2-gbp/marti_messages-release/archive/release/rolling/marti_visualization_msgs/1.5.1-1.tar.gz";
+    name = "1.5.1-1.tar.gz";
+    sha256 = "dd1b4b4980c99b0cd118544c33312da3ff48de4d5780145778eb7d863cbbc524";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mavlink/default.nix b/distros/rolling/mavlink/default.nix
index 4201c843f3..7d1d10bbc9 100644
--- a/distros/rolling/mavlink/default.nix
+++ b/distros/rolling/mavlink/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, cmake, python3, python3Packages, ros-environment }:
 buildRosPackage {
   pname = "ros-rolling-mavlink";
-  version = "2023.6.6-r1";
+  version = "2023.9.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/rolling/mavlink/2023.6.6-1.tar.gz";
-    name = "2023.6.6-1.tar.gz";
-    sha256 = "67da924b00bf6721241e97656cc6091c93371fbb37a446a3451ad56826a2d276";
+    url = "https://github.com/ros2-gbp/mavlink-gbp-release/archive/release/rolling/mavlink/2023.9.9-1.tar.gz";
+    name = "2023.9.9-1.tar.gz";
+    sha256 = "79707b60d6c8cd1ee4044d805cb5386d8da18bdf509dc9366bf1707e5eac1824";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mavros-extras/default.nix b/distros/rolling/mavros-extras/default.nix
index 3b4f937a56..812f93627a 100644
--- a/distros/rolling/mavros-extras/default.nix
+++ b/distros/rolling/mavros-extras/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros, mavros-msgs, message-filters, nav-msgs, pluginlib, rclcpp, rclcpp-components, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs, urdf, visualization-msgs, yaml-cpp, yaml-cpp-vendor }:
 buildRosPackage {
   pname = "ros-rolling-mavros-extras";
-  version = "2.4.0-r2";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros_extras/2.4.0-2.tar.gz";
-    name = "2.4.0-2.tar.gz";
-    sha256 = "071fbf9dfe5f86cbe6c5c4d00604b8e42ca442016eaa54e605645417da96454c";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros_extras/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "8fe8dbad677ef849b8421f33cc2a97e61ce90cee76f22906c9411d0a55263cdf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mavros-msgs/default.nix b/distros/rolling/mavros-msgs/default.nix
index 2da22c90ed..9a841b3627 100644
--- a/distros/rolling/mavros-msgs/default.nix
+++ b/distros/rolling/mavros-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, geographic-msgs, geometry-msgs, rcl-interfaces, rosidl-default-generators, rosidl-default-runtime, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-mavros-msgs";
-  version = "2.4.0-r2";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros_msgs/2.4.0-2.tar.gz";
-    name = "2.4.0-2.tar.gz";
-    sha256 = "f4462db5a68c3f17480339a299b3d28dfbca3e1336b020c985d38197decdc967";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "3c3a7dfb8208058421995fc71a8b99579110307f9ac07f1bfbc82068da8fa10b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mavros/default.nix b/distros/rolling/mavros/default.nix
index 674c66d5ca..2e701dee80 100644
--- a/distros/rolling/mavros/default.nix
+++ b/distros/rolling/mavros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, angles, console-bridge, diagnostic-msgs, diagnostic-updater, eigen, eigen-stl-containers, eigen3-cmake-module, geographic-msgs, geographiclib, geometry-msgs, gtest, libmavconn, mavlink, mavros-msgs, message-filters, nav-msgs, pluginlib, python3Packages, rclcpp, rclcpp-components, rclpy, rcpputils, rosidl-default-runtime, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-mavros";
-  version = "2.4.0-r2";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros/2.4.0-2.tar.gz";
-    name = "2.4.0-2.tar.gz";
-    sha256 = "4d56882b9e4458955d9349bee238d8eeb285db24b7dc99d1b740d4958b84067c";
+    url = "https://github.com/ros2-gbp/mavros-release/archive/release/rolling/mavros/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "5200bc19098f41a7cf18495d3f137a9726e289ee298b1a967e67e43034822bac";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/metavision-driver/default.nix b/distros/rolling/metavision-driver/default.nix
new file mode 100644
index 0000000000..afa173de4b
--- /dev/null
+++ b/distros/rolling/metavision-driver/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-auto, ament-cmake-clang-format, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-flake8, ament-cmake-lint-cmake, ament-cmake-pep257, ament-cmake-ros, ament-cmake-xmllint, boost, cmake, curl, event-camera-msgs, ffmpeg, git, glew, glfw3, gtest, hdf5, libusb1, opencv, openscenegraph, rclcpp, rclcpp-components, ros-environment, std-srvs, unzip, wget }:
+buildRosPackage {
+  pname = "ros-rolling-metavision-driver";
+  version = "1.0.6-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/metavision_driver-release/archive/release/rolling/metavision_driver/1.0.6-1.tar.gz";
+    name = "1.0.6-1.tar.gz";
+    sha256 = "e73626c58db755ca20e245b228db187e63f6dd37e5ed3346944022aab0993abc";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-auto ament-cmake-ros cmake curl git ros-environment unzip wget ];
+  checkInputs = [ ament-cmake-clang-format ament-cmake-copyright ament-cmake-cppcheck ament-cmake-cpplint ament-cmake-flake8 ament-cmake-lint-cmake ament-cmake-pep257 ament-cmake-xmllint gtest ];
+  propagatedBuildInputs = [ boost event-camera-msgs ffmpeg glew glfw3 hdf5 libusb1 opencv openscenegraph rclcpp rclcpp-components std-srvs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-auto ament-cmake-ros cmake curl git hdf5 ros-environment unzip wget ];
+
+  meta = {
+    description = ''ROS1 and ROS2 drivers for metavision based event cameras'';
+    license = with lib.licenses; [ "Apache-2" ];
+  };
+}
diff --git a/distros/rolling/mola-common/default.nix b/distros/rolling/mola-common/default.nix
index 602668db07..6f19585ba7 100644
--- a/distros/rolling/mola-common/default.nix
+++ b/distros/rolling/mola-common/default.nix
@@ -2,20 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
 buildRosPackage {
   pname = "ros-rolling-mola-common";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_common/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "7f3e8a4b6b6b6b403b02fab84d08a6dfbb5cba803a1b0609282c85de09e63552";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_common/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "485fdc61f4e3b5fa01e51872eaa9be1197d607be904380f161e78f55edd03770";
   };
 
-  buildType = "cmake";
-  buildInputs = [ cmake ];
-  nativeBuildInputs = [ cmake ];
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
 
   meta = {
     description = ''Common CMake scripts to all MOLA modules'';
diff --git a/distros/rolling/mola-demos/default.nix b/distros/rolling/mola-demos/default.nix
new file mode 100644
index 0000000000..055f03877e
--- /dev/null
+++ b/distros/rolling/mola-demos/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-rolling-mola-demos";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_demos/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "179f833b1939a6eb833463c050573df2b74855e3aaf09d8a3372fba3ed45817d";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Demo and example launch files for MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/rolling/mola-imu-preintegration/default.nix b/distros/rolling/mola-imu-preintegration/default.nix
new file mode 100644
index 0000000000..a4dadf7e20
--- /dev/null
+++ b/distros/rolling/mola-imu-preintegration/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
+buildRosPackage {
+  pname = "ros-rolling-mola-imu-preintegration";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_imu_preintegration/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "b4c53d06ccf60198a654dee68210187caa6343c9ed566b6a970d081aab7d288d";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-common mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Integrator of IMU angular velocity readings'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/rolling/mola-input-euroc-dataset/default.nix b/distros/rolling/mola-input-euroc-dataset/default.nix
index b7a892aa6b..f2f80af043 100644
--- a/distros/rolling/mola-input-euroc-dataset/default.nix
+++ b/distros/rolling/mola-input-euroc-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-rolling-mola-input-euroc-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_euroc_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "d40b42ffb8b5a0a4832a28fec69a65cff58ed0aafed4a36da65eca638aa47dcf";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_euroc_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "cbbb5edf9d0cf173f402aa2672c0438c1109300118d020c98e21e272041be937";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mola-input-kitti-dataset/default.nix b/distros/rolling/mola-input-kitti-dataset/default.nix
index 3b16d319b2..028558ca78 100644
--- a/distros/rolling/mola-input-kitti-dataset/default.nix
+++ b/distros/rolling/mola-input-kitti-dataset/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-kernel, mrpt2 }:
 buildRosPackage {
   pname = "ros-rolling-mola-input-kitti-dataset";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_kitti_dataset/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "bc18ffa98e46250ca058de3bacc1d09537709f9d54487a5f155ece741ed574e2";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_kitti_dataset/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "28096ed6ee91ec49b8ced0d152d778c5e14635d83d47054b83f2518230486e37";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Offline RawDataSource from Kitti odometry/SLAM datasets'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/rolling/mola-input-rawlog/default.nix b/distros/rolling/mola-input-rawlog/default.nix
new file mode 100644
index 0000000000..ab9fc64f76
--- /dev/null
+++ b/distros/rolling/mola-input-rawlog/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-rolling-mola-input-rawlog";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_rawlog/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "38e26bc2191fe0bb68df7e55724726bb13f619eaf7ee7d292ccbe6998102be6e";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Offline RawDataSource from MRPT rawlog datasets'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/rolling/mola-input-ros2/default.nix b/distros/rolling/mola-input-ros2/default.nix
new file mode 100644
index 0000000000..e2c76aabd3
--- /dev/null
+++ b/distros/rolling/mola-input-ros2/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, geometry-msgs, mola-common, mola-kernel, mrpt2, nav-msgs, rclcpp, ros-environment, sensor-msgs, tf2, tf2-geometry-msgs }:
+buildRosPackage {
+  pname = "ros-rolling-mola-input-ros2";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_input_ros2/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "a4cb3843f20fb6f4a5af131a5bc5a3d1ab70575c55e0d7bed91137a85e91e77a";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ ament-lint-auto ament-lint-common geometry-msgs mola-common mola-kernel mrpt2 nav-msgs rclcpp sensor-msgs tf2 tf2-geometry-msgs ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gmock ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''RawDataSource acting as a bridge: ROS2 -> MOLA'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/rolling/mola-kernel/default.nix b/distros/rolling/mola-kernel/default.nix
index e694464fb0..92e552ec65 100644
--- a/distros/rolling/mola-kernel/default.nix
+++ b/distros/rolling/mola-kernel/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mola-yaml, mrpt2 }:
 buildRosPackage {
   pname = "ros-rolling-mola-kernel";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_kernel/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "82cbe0a84e38fdafa22b3b94cb178c6cb27fc6fd7fde80284004b63406670c6e";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_kernel/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "be95ce763e51fa21071f826823bb5af2d191580a9e15ace393c1e0aa8795899c";
   };
 
   buildType = "cmake";
@@ -20,6 +20,6 @@ buildRosPackage {
 
   meta = {
     description = ''Fundamental C++ virtual interfaces and data types for the rest of MOLA modules'';
-    license = with lib.licenses; [ bsdOriginal ];
+    license = with lib.licenses; [ gpl3Only ];
   };
 }
diff --git a/distros/rolling/mola-launcher/default.nix b/distros/rolling/mola-launcher/default.nix
new file mode 100644
index 0000000000..d1c67c3568
--- /dev/null
+++ b/distros/rolling/mola-launcher/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-rolling-mola-launcher";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_launcher/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "798a15acab250fd5bb4ec53d3eb703eb9254f3d03e8171d5a201fdf8c973c7a9";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Launcher app for MOLA systems'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/rolling/mola-test-datasets/default.nix b/distros/rolling/mola-test-datasets/default.nix
new file mode 100644
index 0000000000..fdeda56bc0
--- /dev/null
+++ b/distros/rolling/mola-test-datasets/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, cmake, ros-environment }:
+buildRosPackage {
+  pname = "ros-rolling-mola-test-datasets";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_test_datasets/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "e1bed97ca929c5868fbbd930305538a8c0f95371b3553c7597d7fca11472ba35";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-gtest ament-cmake-xmllint cmake ros-environment ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-gtest cmake ];
+
+  meta = {
+    description = ''Small SLAM dataset extracts used for demos or unit tests in the rest of MOLA packages'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/rolling/mola-viz/default.nix b/distros/rolling/mola-viz/default.nix
new file mode 100644
index 0000000000..131148e460
--- /dev/null
+++ b/distros/rolling/mola-viz/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, cmake, mola-kernel, mrpt2 }:
+buildRosPackage {
+  pname = "ros-rolling-mola-viz";
+  version = "0.2.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_viz/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "948f802286f774e70b460c7d26fd3f0b0a285705daa089c8a78c3f09d1f6534a";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ cmake ];
+  propagatedBuildInputs = [ mola-kernel mrpt2 ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''GUI for MOLA'';
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/rolling/mola-yaml/default.nix b/distros/rolling/mola-yaml/default.nix
index 14d23ffefe..998a7a4d35 100644
--- a/distros/rolling/mola-yaml/default.nix
+++ b/distros/rolling/mola-yaml/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-rolling-mola-yaml";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_yaml/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "4e722779bf88c8dbe54eaf2fbecf13823a1572fa80c21930f9ee1459fa503bd6";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mola_yaml/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "0787c7420ac1a0245e5fd6bbc4b5576be528165d40813a7b008762b784f5dcd6";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/moveit-chomp-optimizer-adapter/default.nix b/distros/rolling/moveit-chomp-optimizer-adapter/default.nix
index 75949cd3a4..cf509fcb59 100644
--- a/distros/rolling/moveit-chomp-optimizer-adapter/default.nix
+++ b/distros/rolling/moveit-chomp-optimizer-adapter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib, rsl }:
 buildRosPackage {
   pname = "ros-rolling-moveit-chomp-optimizer-adapter";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_chomp_optimizer_adapter/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "268335b781e90bbd532e5ea8aaa01c1a89a29830ecbb5bc837a6371d1523399c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_chomp_optimizer_adapter/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "11c513f576dcb336a8950ce896ff6dd6490842f28bab8f2558efa7c70aeca149";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-common/default.nix b/distros/rolling/moveit-common/default.nix
index 93c1c26ddf..f87d4bdeb7 100644
--- a/distros/rolling/moveit-common/default.nix
+++ b/distros/rolling/moveit-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, backward-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-common";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_common/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "915b67ecb2aecd9592dc4b1fe15c872c3e5de0307586a1e281c07485baa35ed5";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_common/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "1ddd2484dd11d85bc48db1e3c556b3d3d41df6fd06dc5506322056692a329f44";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-configs-utils/default.nix b/distros/rolling/moveit-configs-utils/default.nix
index 4dd65f92e1..0c3259e97d 100644
--- a/distros/rolling/moveit-configs-utils/default.nix
+++ b/distros/rolling/moveit-configs-utils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-index-python, ament-lint-auto, ament-lint-common, launch, launch-param-builder, launch-ros, srdfdom }:
 buildRosPackage {
   pname = "ros-rolling-moveit-configs-utils";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_configs_utils/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "ab9d81d761108a1a6a896f7df903af47076b98de678b168e307b3a44df9f4303";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_configs_utils/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "9558cb0bd61b407150d24f010ef707b2b2d871148034eb338c0229b7a2dc0978";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/moveit-core/default.nix b/distros/rolling/moveit-core/default.nix
index 1c771e03b9..d3f69b19dc 100644
--- a/distros/rolling/moveit-core/default.nix
+++ b/distros/rolling/moveit-core/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, generate-parameter-library, geometric-shapes, geometry-msgs, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-google-benchmark, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, angles, assimp, boost, bullet, common-interfaces, eigen, eigen-stl-containers, eigen3-cmake-module, fcl, generate-parameter-library, geometric-shapes, geometry-msgs, google-benchmark-vendor, kdl-parser, moveit-common, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, octomap, octomap-msgs, orocos-kdl-vendor, pkg-config, pluginlib, pybind11-vendor, random-numbers, rclcpp, ruckig, sensor-msgs, shape-msgs, srdfdom, std-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, trajectory-msgs, urdf, urdfdom, urdfdom-headers, visualization-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-core";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_core/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "dd9e413282e3f2abb6ab0d8e4f796abdc3d898a04f92fd9e212b2ee5d88d02af";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_core/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "fabe3aef5c46b2f71759a9c65877d67e3d624ca5ac00ad0dbc5abf25bcc3ebfa";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake pkg-config ];
-  checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor ];
-  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl generate-parameter-library geometric-shapes geometry-msgs kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-kdl trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
+  checkInputs = [ ament-cmake-gmock ament-cmake-google-benchmark ament-cmake-gtest ament-index-cpp ament-lint-auto ament-lint-common angles moveit-resources-panda-moveit-config moveit-resources-pr2-description orocos-kdl-vendor ];
+  propagatedBuildInputs = [ angles assimp boost bullet common-interfaces eigen eigen-stl-containers eigen3-cmake-module fcl generate-parameter-library geometric-shapes geometry-msgs google-benchmark-vendor kdl-parser moveit-common moveit-msgs octomap octomap-msgs pluginlib pybind11-vendor random-numbers rclcpp ruckig sensor-msgs shape-msgs srdfdom std-msgs tf2 tf2-eigen tf2-geometry-msgs tf2-kdl trajectory-msgs urdf urdfdom urdfdom-headers visualization-msgs ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module pkg-config ];
 
   meta = {
diff --git a/distros/rolling/moveit-hybrid-planning/default.nix b/distros/rolling/moveit-hybrid-planning/default.nix
index f56c9b3722..fe5c4f6525 100644
--- a/distros/rolling/moveit-hybrid-planning/default.nix
+++ b/distros/rolling/moveit-hybrid-planning/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, controller-manager, moveit-common, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-panda-moveit-config, moveit-ros-planning, moveit-ros-planning-interface, pluginlib, position-controllers, rclcpp, rclcpp-action, rclcpp-components, robot-state-publisher, ros-testing, rviz2, std-msgs, std-srvs, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-hybrid-planning";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_hybrid_planning/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "0cc4c62e80e92cdbe99eb1870d77f94a8bda21eed6329c35495e7027a2fff3c2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_hybrid_planning/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "32b7c40cb37866fd5b0299fa63c27c5696126ecc9f8c36dc68b89cd8dcee351e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-kinematics/default.nix b/distros/rolling/moveit-kinematics/default.nix
index 7a64ee1dff..1732c10bf3 100644
--- a/distros/rolling/moveit-kinematics/default.nix
+++ b/distros/rolling/moveit-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, class-loader, eigen, generate-parameter-library, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-fanuc-description, moveit-resources-fanuc-moveit-config, moveit-resources-panda-description, moveit-resources-panda-moveit-config, moveit-ros-planning, orocos-kdl-vendor, pluginlib, python3Packages, ros-testing, rsl, tf2, tf2-kdl, urdfdom }:
 buildRosPackage {
   pname = "ros-rolling-moveit-kinematics";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_kinematics/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "418929f2f5abad54243e9be0d6bf93ce26ba4af307f21c5d8a79079456316f85";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_kinematics/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "7c7ba33d87aa2130fa119e0d380bc3349b0330e798f3eb05ebe2b30b70de1a78";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-msgs/default.nix b/distros/rolling/moveit-msgs/default.nix
index 336aee0e05..55b10629a0 100644
--- a/distros/rolling/moveit-msgs/default.nix
+++ b/distros/rolling/moveit-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-cmake, geometry-msgs, object-recognition-msgs, octomap-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, shape-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-msgs";
-  version = "2.2.2-r1";
+  version = "2.3.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit_msgs-release/archive/release/rolling/moveit_msgs/2.2.2-1.tar.gz";
-    name = "2.2.2-1.tar.gz";
-    sha256 = "e5cf3cfa89f85acfced804bf2085b3dae4271719f36811f139210ef6f698ee5c";
+    url = "https://github.com/ros2-gbp/moveit_msgs-release/archive/release/rolling/moveit_msgs/2.3.0-1.tar.gz";
+    name = "2.3.0-1.tar.gz";
+    sha256 = "88f4d53afea79d9960209477626c41c3766117ed142c25f21f9302f59ada4dbc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-planners-chomp/default.nix b/distros/rolling/moveit-planners-chomp/default.nix
index be616a911d..d1557b2e70 100644
--- a/distros/rolling/moveit-planners-chomp/default.nix
+++ b/distros/rolling/moveit-planners-chomp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, chomp-motion-planner, moveit-common, moveit-core, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-moveit-planners-chomp";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_chomp/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "b2886942e6fadf4b9bdf76a4bf76c8f1490ab7cd163a17752bc604ddf1ef7fd8";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_chomp/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "40945057f936861bfd6a0803b1480a809fd95494055ae6a0e4cbf4e01093ae1d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-planners-ompl/default.nix b/distros/rolling/moveit-planners-ompl/default.nix
index ca42f2fcdb..413d82b03b 100644
--- a/distros/rolling/moveit-planners-ompl/default.nix
+++ b/distros/rolling/moveit-planners-ompl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, llvmPackages, moveit-common, moveit-core, moveit-msgs, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-resources-pr2-description, moveit-ros-planning, ompl, pluginlib, rclcpp, tf2-eigen, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-planners-ompl";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_ompl/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "0642e47c698a6a2e2fbf2fdc723be2f7f3bd2cd32150ae698818157382a4579c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_ompl/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "ae90fb019007022515e6c232ddbb0274868a37cc89125468d5fd7a4feafc543a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-planners-stomp/default.nix b/distros/rolling/moveit-planners-stomp/default.nix
index 273c4be2fd..520a331e83 100644
--- a/distros/rolling/moveit-planners-stomp/default.nix
+++ b/distros/rolling/moveit-planners-stomp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, generate-parameter-library, moveit-common, moveit-core, std-msgs, stomp, tf2-eigen, visualization-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-planners-stomp";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_stomp/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "8ff47754e9640a300a870aedf3aca66b463a8d61dfd517372b72aa61c158e15d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners_stomp/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "794b11252529b09311e4640f8898f7c376c7c9c3f87bafb2ae784f3e6a227d3c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-planners/default.nix b/distros/rolling/moveit-planners/default.nix
index a93be91cf0..629aba6a3a 100644
--- a/distros/rolling/moveit-planners/default.nix
+++ b/distros/rolling/moveit-planners/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-planners-ompl, moveit-planners-stomp, pilz-industrial-motion-planner }:
 buildRosPackage {
   pname = "ros-rolling-moveit-planners";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "729e44ff196342f775778f69bfd9d0dc407f4c872cd1249f762177800e9ec22a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_planners/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "287edea150651cc1d1486d268e2ce92ffba60e963a5edfb9629f914f6bced1f2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-plugins/default.nix b/distros/rolling/moveit-plugins/default.nix
index 1c7cbe53f6..39fbbdd9d6 100644
--- a/distros/rolling/moveit-plugins/default.nix
+++ b/distros/rolling/moveit-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-simple-controller-manager }:
 buildRosPackage {
   pname = "ros-rolling-moveit-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "e58c0a6ff23bb4050d455741c6421c2ae217d56f124668fe0b1f68ff5a48da5c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_plugins/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "a83ea26eabde4c209d69476a3d317d737f8f8151fce7608ac2e7e2ae53d99aac";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-py/default.nix b/distros/rolling/moveit-py/default.nix
index febb3a87c2..d574947969 100644
--- a/distros/rolling/moveit-py/default.nix
+++ b/distros/rolling/moveit-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-index-python, geometry-msgs, moveit-core, moveit-ros-planning, moveit-ros-planning-interface, octomap-msgs, pybind11-vendor, pythonPackages, rclcpp, rclpy }:
 buildRosPackage {
   pname = "ros-rolling-moveit-py";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_py/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "f1254e0a38f17c73fd3be8ddd882165e56f0772439da0cfa8e16d193d2b124a6";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_py/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "487882d6798fd79ad66e1575bbfea15ee89f91b334a40cebb8bcf5b54e4ec24f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix b/distros/rolling/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
index 081b81bbde..736a66fb93 100644
--- a/distros/rolling/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
+++ b/distros/rolling/moveit-resources-prbt-ikfast-manipulator-plugin/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, generate-parameter-library, moveit-core, pluginlib, rclcpp, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl }:
 buildRosPackage {
   pname = "ros-rolling-moveit-resources-prbt-ikfast-manipulator-plugin";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_ikfast_manipulator_plugin/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "be05d4fd1587dcca5a01255d4d33a1937cf89ffadbeb488672528d7ec00e4822";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_ikfast_manipulator_plugin/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "baef4d4a7816f3ab1454df07fc5d03ec0ebc2adff4139e71214a72489d9ff9b1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-resources-prbt-moveit-config/default.nix b/distros/rolling/moveit-resources-prbt-moveit-config/default.nix
index 96c3dffc49..8a97f4fc49 100644
--- a/distros/rolling/moveit-resources-prbt-moveit-config/default.nix
+++ b/distros/rolling/moveit-resources-prbt-moveit-config/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-support, moveit-ros-move-group, robot-state-publisher, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-rolling-moveit-resources-prbt-moveit-config";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_moveit_config/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "cd59c1267135dc2fb030ca330e3b56d794113826868070fc7f5d1f12e2dad933";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_moveit_config/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "87e4d595d8b3a2a8ca8fc415985a854190700d65150fe072a8a28203ae37d58a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-resources-prbt-pg70-support/default.nix b/distros/rolling/moveit-resources-prbt-pg70-support/default.nix
index 9b351ef5ec..2cbc9bf60b 100644
--- a/distros/rolling/moveit-resources-prbt-pg70-support/default.nix
+++ b/distros/rolling/moveit-resources-prbt-pg70-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, moveit-resources-prbt-ikfast-manipulator-plugin, moveit-resources-prbt-moveit-config, moveit-resources-prbt-support, xacro }:
 buildRosPackage {
   pname = "ros-rolling-moveit-resources-prbt-pg70-support";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_pg70_support/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "fc8555e61924ca3854a0424f56c0f6a0fb8002f750f993578880d45f219d5c75";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_pg70_support/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "4ce6bde646a1797d404e900bd0d91ca311a468e77b5cf9ee13fccad01d784298";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-resources-prbt-support/default.nix b/distros/rolling/moveit-resources-prbt-support/default.nix
index 5534bad6a3..116da46af5 100644
--- a/distros/rolling/moveit-resources-prbt-support/default.nix
+++ b/distros/rolling/moveit-resources-prbt-support/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, xacro }:
 buildRosPackage {
   pname = "ros-rolling-moveit-resources-prbt-support";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_support/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "bd4362c425e1e40ab14139bb1996aa6a99f9528c7de46fd100d827419daf8187";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_resources_prbt_support/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "aa4428e4eebd3f58054de21a3b97c24ae71f678e1d420ece5bb1d7b01c8a82ba";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-benchmarks/default.nix b/distros/rolling/moveit-ros-benchmarks/default.nix
index a90efc7fa8..ef0d97baa2 100644
--- a/distros/rolling/moveit-ros-benchmarks/default.nix
+++ b/distros/rolling/moveit-ros-benchmarks/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, boost, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-ros-planning, moveit-ros-warehouse, pluginlib, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-benchmarks";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_benchmarks/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "fc5f495a40af8b4b9aa79a264f09cd3584748c06ce60a3088cb21b2c66cf7385";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_benchmarks/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "be66be95ff115e1ce6cc117e3823953c91a45e0c478bc2c3c84c0f501fa8a312";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-control-interface/default.nix b/distros/rolling/moveit-ros-control-interface/default.nix
index 3951eef59d..61b09b06dd 100644
--- a/distros/rolling/moveit-ros-control-interface/default.nix
+++ b/distros/rolling/moveit-ros-control-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, controller-manager-msgs, moveit-common, moveit-core, moveit-simple-controller-manager, pluginlib, rclcpp-action, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-control-interface";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_control_interface/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "5d1af97769e63118e1b07bb3f25266c5d510ae3e0ded15048e6b0055e0b9886d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_control_interface/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "3d23f2458d6791d8d4603ecfebb230370189964c1f79fe5cbf1a518352d9a8d6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-move-group/default.nix b/distros/rolling/moveit-ros-move-group/default.nix
index d25992e27e..7da72397e1 100644
--- a/distros/rolling/moveit-ros-move-group/default.nix
+++ b/distros/rolling/moveit-ros-move-group/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, fmt, moveit-common, moveit-core, moveit-kinematics, moveit-resources-fanuc-moveit-config, moveit-ros-occupancy-map-monitor, moveit-ros-planning, pluginlib, rclcpp, rclcpp-action, std-srvs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-move-group";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_move_group/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "630040bffd4a68c37264b45486a28cd05ad868fb0692b5ef1da79cfb3e51057b";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_move_group/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "f415ca5ba70301ec778ea0af8c168b84149ab1040ff5b857460ceb6fe95551be";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common moveit-resources-fanuc-moveit-config ];
-  propagatedBuildInputs = [ moveit-common moveit-core moveit-kinematics moveit-ros-occupancy-map-monitor moveit-ros-planning pluginlib rclcpp rclcpp-action std-srvs tf2 tf2-geometry-msgs tf2-ros ];
+  propagatedBuildInputs = [ fmt moveit-common moveit-core moveit-kinematics moveit-ros-occupancy-map-monitor moveit-ros-planning pluginlib rclcpp rclcpp-action std-srvs tf2 tf2-geometry-msgs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/moveit-ros-occupancy-map-monitor/default.nix b/distros/rolling/moveit-ros-occupancy-map-monitor/default.nix
index 5cce74b671..0d68e0f7df 100644
--- a/distros/rolling/moveit-ros-occupancy-map-monitor/default.nix
+++ b/distros/rolling/moveit-ros-occupancy-map-monitor/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, geometric-shapes, moveit-common, moveit-core, moveit-msgs, octomap, pluginlib, rclcpp, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-occupancy-map-monitor";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_occupancy_map_monitor/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "1da262cd9841cc7379c6a922c617efb046771788f278564ee2c7fe5c90c97383";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_occupancy_map_monitor/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "1b7943799c1643ed41efc1d293939a176d17578dfcbad2af7844903fb4b98416";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-perception/default.nix b/distros/rolling/moveit-ros-perception/default.nix
index 8092ae86dc..d7ae21e4a1 100644
--- a/distros/rolling/moveit-ros-perception/default.nix
+++ b/distros/rolling/moveit-ros-perception/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, eigen, freeglut, glew, image-transport, libGL, libGLU, llvmPackages, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-ros-occupancy-map-monitor, moveit-ros-planning, object-recognition-msgs, pluginlib, rclcpp, sensor-msgs, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-perception";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_perception/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "f43cced4014c8301a5af7b88637a559fce76684df1c74f804323a9c01172eb76";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_perception/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "7b7b776a8a4932470096ad49b41d4198fdbc5f942c826a3b85603157715fe51e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-planning-interface/default.nix b/distros/rolling/moveit-ros-planning-interface/default.nix
index 0ddd1e73d0..dcae0802bb 100644
--- a/distros/rolling/moveit-ros-planning-interface/default.nix
+++ b/distros/rolling/moveit-ros-planning-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, eigen, eigen3-cmake-module, geometry-msgs, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-planners-ompl, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-ros-move-group, moveit-ros-planning, moveit-ros-warehouse, moveit-simple-controller-manager, python3, rclcpp, rclcpp-action, rclpy, ros-testing, rviz2, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-planning-interface";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_planning_interface/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "69ae511b2df7fb3c5cf4f41d1c0f8be99c3b5eddb0f8701284ed8319d430054a";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_planning_interface/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "957a496c671a538b6db4747a99a976c692540e530c1a1449edd1c6ca0522e81c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-planning/default.nix b/distros/rolling/moveit-ros-planning/default.nix
index 44f57bc0f7..dfb4ae29d1 100644
--- a/distros/rolling/moveit-ros-planning/default.nix
+++ b/distros/rolling/moveit-ros-planning/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, generate-parameter-library, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, ros-testing, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-index-cpp, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, fmt, generate-parameter-library, message-filters, moveit-common, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-occupancy-map-monitor, pluginlib, rclcpp, rclcpp-action, ros-testing, srdfdom, tf2, tf2-eigen, tf2-geometry-msgs, tf2-msgs, tf2-ros, urdf }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-planning";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_planning/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "1a8825020224493942d1fdbb6b6219aeacb44f9897404402586b099ba7d8b552";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_planning/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "08572e87e0861ee66265e3743a92f3443d82c7d6986ffc2b1d8659c766e5c33e";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-gmock ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ros-testing ];
-  propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module generate-parameter-library message-filters moveit-common moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
+  propagatedBuildInputs = [ ament-index-cpp eigen eigen3-cmake-module fmt generate-parameter-library message-filters moveit-common moveit-core moveit-msgs moveit-ros-occupancy-map-monitor pluginlib rclcpp rclcpp-action srdfdom tf2 tf2-eigen tf2-geometry-msgs tf2-msgs tf2-ros urdf ];
   nativeBuildInputs = [ ament-cmake eigen3-cmake-module ];
 
   meta = {
diff --git a/distros/rolling/moveit-ros-robot-interaction/default.nix b/distros/rolling/moveit-ros-robot-interaction/default.nix
index 43f48f648e..bc27582189 100644
--- a/distros/rolling/moveit-ros-robot-interaction/default.nix
+++ b/distros/rolling/moveit-ros-robot-interaction/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, interactive-markers, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2, tf2-eigen, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-robot-interaction";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_robot_interaction/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "e3b862a379916936791de24ebf163551c5dfb199c2a121ed3f345cc5dcd2a50d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_robot_interaction/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "750e9a54e154f61b650d08cb09121f243ec7bc69cb1b84f822b2339b7baa6b21";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-visualization/default.nix b/distros/rolling/moveit-ros-visualization/default.nix
index ee27f9b068..54817a4209 100644
--- a/distros/rolling/moveit-ros-visualization/default.nix
+++ b/distros/rolling/moveit-ros-visualization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, class-loader, eigen, geometric-shapes, interactive-markers, moveit-common, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-warehouse, object-recognition-msgs, pkg-config, pluginlib, qt5, rclcpp, rclpy, rviz2, tf2-eigen }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-visualization";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_visualization/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "199854a33e19ba8c41b8779704c9665c0ad85d3a2d90c13143a381f58d83eb60";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_visualization/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "2dc8d624b90097d8d688161a5f7c2fc3762cd24a252fd9f1a55ec8a4ce297d2e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-ros-warehouse/default.nix b/distros/rolling/moveit-ros-warehouse/default.nix
index f032aabc62..cbb5d86ce4 100644
--- a/distros/rolling/moveit-ros-warehouse/default.nix
+++ b/distros/rolling/moveit-ros-warehouse/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, fmt, moveit-common, moveit-core, moveit-ros-planning, rclcpp, tf2-eigen, tf2-ros, warehouse-ros }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros-warehouse";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_warehouse/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "2d1bd8f2b928416d22d61c1a3e65083c6f875933d628b9eb5182bc20ac2f3ba2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros_warehouse/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "63673f4cc2b6884dfe2aa58896e258005e73781992018dc7093935039ae486c6";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ moveit-common moveit-core moveit-ros-planning rclcpp tf2-eigen tf2-ros warehouse-ros ];
+  propagatedBuildInputs = [ fmt moveit-common moveit-core moveit-ros-planning rclcpp tf2-eigen tf2-ros warehouse-ros ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/moveit-ros/default.nix b/distros/rolling/moveit-ros/default.nix
index 498545b117..19d0700567 100644
--- a/distros/rolling/moveit-ros/default.nix
+++ b/distros/rolling/moveit-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-ros-benchmarks, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-robot-interaction, moveit-ros-visualization, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-rolling-moveit-ros";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "5f6171649dfddb60c4adc0916335e852e847a0754b6f387a735f8e0944a6a3d9";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_ros/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "5c16b26614e65d7290556eba4059b1c99664faba4a263517467a2852b34f9fa2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-runtime/default.nix b/distros/rolling/moveit-runtime/default.nix
index 19a0f18f4b..a5cbee3550 100644
--- a/distros/rolling/moveit-runtime/default.nix
+++ b/distros/rolling/moveit-runtime/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros-move-group, moveit-ros-perception, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-warehouse }:
 buildRosPackage {
   pname = "ros-rolling-moveit-runtime";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_runtime/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "5098e1bcaac77f7ddd148cb9ccadde3b50a513c41431c9cbce93bf6381a9918e";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_runtime/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "cadce8c96cbbfa6d3efb4b076124d3f7a9a9b022759205ea69ac98ed9cd6d3f8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-servo/default.nix b/distros/rolling/moveit-servo/default.nix
index 419c6837df..a9ea7df2d5 100644
--- a/distros/rolling/moveit-servo/default.nix
+++ b/distros/rolling/moveit-servo/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, control-toolbox, controller-manager, generate-parameter-library, geometry-msgs, gripper-controllers, joint-state-broadcaster, joint-trajectory-controller, joy, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, pluginlib, realtime-tools, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, control-msgs, controller-manager, generate-parameter-library, geometry-msgs, gripper-controllers, joint-state-broadcaster, joint-trajectory-controller, joy, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-ros-planning-interface, pluginlib, realtime-tools, robot-state-publisher, ros-testing, sensor-msgs, std-msgs, std-srvs, tf2-eigen, tf2-ros, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-moveit-servo";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_servo/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "c7cce1b85b8c44b7fa2905e332d450e7f45b95119bf9ce42f6ae598ff53d853f";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_servo/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "5b30c8b35b338e0472e69cdab47a1f86e1100d8682905df14ec72f884c1a7eb1";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common moveit-resources-panda-moveit-config ros-testing ];
-  propagatedBuildInputs = [ control-msgs control-toolbox controller-manager generate-parameter-library geometry-msgs gripper-controllers joint-state-broadcaster joint-trajectory-controller joy launch-param-builder moveit-common moveit-configs-utils moveit-core moveit-msgs moveit-ros-planning-interface pluginlib realtime-tools robot-state-publisher sensor-msgs std-msgs std-srvs tf2-eigen tf2-ros trajectory-msgs ];
+  propagatedBuildInputs = [ control-msgs controller-manager generate-parameter-library geometry-msgs gripper-controllers joint-state-broadcaster joint-trajectory-controller joy launch-param-builder moveit-common moveit-configs-utils moveit-core moveit-msgs moveit-ros-planning-interface pluginlib realtime-tools robot-state-publisher sensor-msgs std-msgs std-srvs tf2-eigen tf2-ros trajectory-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/moveit-setup-app-plugins/default.nix b/distros/rolling/moveit-setup-app-plugins/default.nix
index d32b54f1c8..6fb37a08d9 100644
--- a/distros/rolling/moveit-setup-app-plugins/default.nix
+++ b/distros/rolling/moveit-setup-app-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-app-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_app_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "9faee9d3d189f9be4acd9cf451c160e0dcf6a5cb532c649a0ebc1b63f7dd8a8b";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_app_plugins/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "fc45840f6455152911ad00b27b72621516282a98f7feb796258e716b06ea1021";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-setup-assistant/default.nix b/distros/rolling/moveit-setup-assistant/default.nix
index 5113496b4c..17c240b62e 100644
--- a/distros/rolling/moveit-setup-assistant/default.nix
+++ b/distros/rolling/moveit-setup-assistant/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-resources-panda-moveit-config, moveit-setup-app-plugins, moveit-setup-controllers, moveit-setup-core-plugins, moveit-setup-framework, moveit-setup-srdf-plugins, pluginlib, qt5, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-assistant";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_assistant/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "5494a4a3142266b42c825dcc4eff8ca576a51cdb94e57c61dd393cb87b1db2e2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_assistant/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "424b952af14cdcff1d1a1fefafed0047fb1cee47eed22545cd789cdc75124fc0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-setup-controllers/default.nix b/distros/rolling/moveit-setup-controllers/default.nix
index 973b7aeda3..ef33b8b84d 100644
--- a/distros/rolling/moveit-setup-controllers/default.nix
+++ b/distros/rolling/moveit-setup-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-configs-utils, moveit-resources-fanuc-moveit-config, moveit-resources-panda-moveit-config, moveit-setup-framework, pluginlib, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-controllers";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_controllers/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "c48d769aebb203b7a30065779ae033c3235ec2ec1d5b765b8b470d616b5e31ef";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_controllers/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "7dd56e93a985b185f4c7eb8fbaa74e0a1d6b962ade357a13b128176f0fead22f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-setup-core-plugins/default.nix b/distros/rolling/moveit-setup-core-plugins/default.nix
index d4ba2cf0a4..7f9fdc0599 100644
--- a/distros/rolling/moveit-setup-core-plugins/default.nix
+++ b/distros/rolling/moveit-setup-core-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-ros-visualization, moveit-setup-framework, pluginlib, rclcpp, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-core-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_core_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "fa88e0a16f0c8acc4e158caa5781a3ab39853c17fcfd2537653a024f94543201";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_core_plugins/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "3f3a7fdf0d7c5a0627586375e71a1d756daec9954ea9cc28d3ff108367642042";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-setup-framework/default.nix b/distros/rolling/moveit-setup-framework/default.nix
index 92c043a754..25cdedf002 100644
--- a/distros/rolling/moveit-setup-framework/default.nix
+++ b/distros/rolling/moveit-setup-framework/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, moveit-common, moveit-core, moveit-ros-planning, moveit-ros-visualization, pluginlib, rclcpp, rviz-common, rviz-rendering, srdfdom, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-index-cpp, ament-lint-auto, fmt, moveit-common, moveit-core, moveit-ros-planning, moveit-ros-visualization, pluginlib, rclcpp, rviz-common, rviz-rendering, srdfdom, urdf }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-framework";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_framework/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "329f6935a320e387144fbd8aea55359a58bf915fbd10639669a809612af817d2";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_framework/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "325f6712c3977abe81d5e594449c1d54b2d541f310c2560635c6a8d64ca2ac44";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-clang-format ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ ament-index-cpp moveit-common moveit-core moveit-ros-planning moveit-ros-visualization pluginlib rclcpp rviz-common rviz-rendering srdfdom urdf ];
+  propagatedBuildInputs = [ ament-index-cpp fmt moveit-common moveit-core moveit-ros-planning moveit-ros-visualization pluginlib rclcpp rviz-common rviz-rendering srdfdom urdf ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/moveit-setup-srdf-plugins/default.nix b/distros/rolling/moveit-setup-srdf-plugins/default.nix
index b4f25f23e0..5ba8c37ffa 100644
--- a/distros/rolling/moveit-setup-srdf-plugins/default.nix
+++ b/distros/rolling/moveit-setup-srdf-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-clang-format, ament-cmake, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-xmllint, ament-lint-auto, moveit-resources-fanuc-description, moveit-setup-framework, pluginlib }:
 buildRosPackage {
   pname = "ros-rolling-moveit-setup-srdf-plugins";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_srdf_plugins/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "b1c43ff5ed5992b95dcb4e200089b2bb65f39eb45853143bef0b2693579ed288";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_setup_srdf_plugins/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "016d2fb84e0c35c49495b1679505909f1e18d8ef130645a8442f1dcd9b60c41c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit-simple-controller-manager/default.nix b/distros/rolling/moveit-simple-controller-manager/default.nix
index b628867180..812818d27c 100644
--- a/distros/rolling/moveit-simple-controller-manager/default.nix
+++ b/distros/rolling/moveit-simple-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, control-msgs, moveit-common, moveit-core, pluginlib, rclcpp, rclcpp-action }:
 buildRosPackage {
   pname = "ros-rolling-moveit-simple-controller-manager";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_simple_controller_manager/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "75b3e801f6bf02825bae64b796bb55a327cb4c40633574fb4a695bc930de9cc1";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit_simple_controller_manager/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "2a07c03e597946009de08de67183953d4592c88d0810370942c6e697e84a6292";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/moveit/default.nix b/distros/rolling/moveit/default.nix
index a92d5a8d55..2ca2980b5c 100644
--- a/distros/rolling/moveit/default.nix
+++ b/distros/rolling/moveit/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, moveit-core, moveit-planners, moveit-plugins, moveit-ros, moveit-setup-assistant }:
 buildRosPackage {
   pname = "ros-rolling-moveit";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "f994d8a45aabe28ab96ed7a461af4951d0216fcc830b5f338b4501d564d2373c";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/moveit/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "2c28be7fa915a1b4f57c0ff32580f342fc2c71e2e1b8e816f85de5efe5344215";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mp2p-icp/default.nix b/distros/rolling/mp2p-icp/default.nix
index 6b344d17be..03ea8765e5 100644
--- a/distros/rolling/mp2p-icp/default.nix
+++ b/distros/rolling/mp2p-icp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mola-common, mrpt2 }:
 buildRosPackage {
   pname = "ros-rolling-mp2p-icp";
-  version = "0.2.1-r1";
+  version = "0.2.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mp2p_icp/0.2.1-1.tar.gz";
-    name = "0.2.1-1.tar.gz";
-    sha256 = "5fca17b2980848359e6bfaaca8fa2a364785f1770253b420f7d25ada9e717bd4";
+    url = "https://github.com/ros2-gbp/mola-release/archive/release/rolling/mp2p_icp/0.2.2-1.tar.gz";
+    name = "0.2.2-1.tar.gz";
+    sha256 = "28ce0dc887ffc270fb2df9e5f866d0295dd9acbb427951c8cc8273cb3bd5f6b1";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mqtt-client/default.nix b/distros/rolling/mqtt-client/default.nix
new file mode 100644
index 0000000000..42ee2aa75c
--- /dev/null
+++ b/distros/rolling/mqtt-client/default.nix
@@ -0,0 +1,25 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, mqtt-client-interfaces, paho-mqtt-c, paho-mqtt-cpp, rclcpp, rcpputils, ros-environment, std-msgs }:
+buildRosPackage {
+  pname = "ros-rolling-mqtt-client";
+  version = "2.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ika-rwth-aachen/mqtt_client-release/archive/release/rolling/mqtt_client/2.0.1-1.tar.gz";
+    name = "2.0.1-1.tar.gz";
+    sha256 = "c84ee4cb24b3723e622ef88d2dc6387193e89d10f8ef48af9c748da1a870bd4c";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ mqtt-client-interfaces paho-mqtt-c paho-mqtt-cpp rclcpp rcpputils ros-environment std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Node that enables connected ROS-based devices or robots to exchange ROS messages via an MQTT broker using the MQTT protocol.'';
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/rolling/mrpt2/default.nix b/distros/rolling/mrpt2/default.nix
index 7c6cedb2de..72ef221eb2 100644
--- a/distros/rolling/mrpt2/default.nix
+++ b/distros/rolling/mrpt2/default.nix
@@ -2,7 +2,7 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, cv-bridge, eigen, ffmpeg, freeglut, freenect, geometry-msgs, glfw3, jsoncpp, libjpeg, libpcap, libusb1, nav-msgs, octomap, opencv, openni2, python3Packages, pythonPackages, rclcpp, ros-environment, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK32, xorg, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt2";
   version = "2.10.0-r1";
@@ -14,7 +14,7 @@ buildRosPackage {
   };
 
   buildType = "cmake";
-  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK zlib ];
+  buildInputs = [ ament-cmake assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 python3Packages.pip pythonPackages.pybind11 ros-environment tinyxml-2 udev wxGTK32 zlib ];
   propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv rclcpp rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mvsim/default.nix b/distros/rolling/mvsim/default.nix
index 2a3a84a135..33300ec133 100644
--- a/distros/rolling/mvsim/default.nix
+++ b/distros/rolling/mvsim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-xmllint, ament-lint-auto, ament-lint-common, boost, cmake, cppzmq, mrpt2, nav-msgs, protobuf, python3, python3Packages, pythonPackages, ros-environment, ros2launch, sensor-msgs, tf2, tf2-geometry-msgs, unzip, visualization-msgs, wget }:
 buildRosPackage {
   pname = "ros-rolling-mvsim";
-  version = "0.8.0-r1";
+  version = "0.8.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/rolling/mvsim/0.8.0-1.tar.gz";
-    name = "0.8.0-1.tar.gz";
-    sha256 = "54a7ac67fd633b8addfce3066b93aae95aa62c6322438707f93a32de4469b6c3";
+    url = "https://github.com/ros2-gbp/mvsim-release/archive/release/rolling/mvsim/0.8.1-1.tar.gz";
+    name = "0.8.1-1.tar.gz";
+    sha256 = "27d5d82537d205281870a568c22c828c83674fb87e79baa061205c3e5771341d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/pilz-industrial-motion-planner-testutils/default.nix b/distros/rolling/pilz-industrial-motion-planner-testutils/default.nix
index 0325f600a0..79214a34ec 100644
--- a/distros/rolling/pilz-industrial-motion-planner-testutils/default.nix
+++ b/distros/rolling/pilz-industrial-motion-planner-testutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen3-cmake-module, moveit-common, moveit-core, moveit-msgs, rclcpp, tf2-eigen }:
 buildRosPackage {
   pname = "ros-rolling-pilz-industrial-motion-planner-testutils";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/pilz_industrial_motion_planner_testutils/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "2b0c17fd8da180b8e30a18b4881dcf70c769b342993e92365bd7433d4fd8440d";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/pilz_industrial_motion_planner_testutils/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "d6567ac940e2c8a8f1740c78ed6e087ea2ac523ba94c463a35200358e27119af";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/pilz-industrial-motion-planner/default.nix b/distros/rolling/pilz-industrial-motion-planner/default.nix
index 278463562d..7cdec34430 100644
--- a/distros/rolling/pilz-industrial-motion-planner/default.nix
+++ b/distros/rolling/pilz-industrial-motion-planner/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-lint-auto, ament-lint-common, boost, eigen3-cmake-module, generate-parameter-library, geometry-msgs, launch-param-builder, moveit-common, moveit-configs-utils, moveit-core, moveit-msgs, moveit-resources-panda-moveit-config, moveit-resources-prbt-moveit-config, moveit-resources-prbt-pg70-support, moveit-resources-prbt-support, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, orocos-kdl-vendor, pilz-industrial-motion-planner-testutils, pluginlib, rclcpp, ros-testing, tf2, tf2-eigen, tf2-eigen-kdl, tf2-geometry-msgs, tf2-kdl, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-pilz-industrial-motion-planner";
-  version = "2.7.4-r1";
+  version = "2.8.0-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/pilz_industrial_motion_planner/2.7.4-1.tar.gz";
-    name = "2.7.4-1.tar.gz";
-    sha256 = "93eba5baa6c70a4cfdb89a35da7185b898fa9f4ce8c74a1d3c59206b252d4056";
+    url = "https://github.com/ros2-gbp/moveit2-release/archive/release/rolling/pilz_industrial_motion_planner/2.8.0-2.tar.gz";
+    name = "2.8.0-2.tar.gz";
+    sha256 = "35314c8472c7dd4c1a8a3e4a175b29583e266d7de50e84a1b2ab02630dd7aeb0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/position-controllers/default.nix b/distros/rolling/position-controllers/default.nix
index 68cf2ced15..4902e63b43 100644
--- a/distros/rolling/position-controllers/default.nix
+++ b/distros/rolling/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-position-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/position_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "52b1562be00cd8a5a553797174671e68d7f4e2b0c52097dc1753beb78324c115";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/position_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "93f755e54e32d88d440c22634d27d7c2e44029ddcab439fbcfe92513b9a2d37b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/range-sensor-broadcaster/default.nix b/distros/rolling/range-sensor-broadcaster/default.nix
new file mode 100644
index 0000000000..19de4af0b8
--- /dev/null
+++ b/distros/rolling/range-sensor-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-rolling-range-sensor-broadcaster";
+  version = "3.15.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/range_sensor_broadcaster/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "c0b1ec19f43041d441a4ec6a031b68b99e6b0d4ca3f59e34e83c1a56359f939a";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager hardware-interface ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''Controller to publish readings of Range sensors.'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/rolling/rclcpp-action/default.nix b/distros/rolling/rclcpp-action/default.nix
index 0f251fe3a1..e1c854894d 100644
--- a/distros/rolling/rclcpp-action/default.nix
+++ b/distros/rolling/rclcpp-action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, mimick-vendor, performance-test-fixture, rcl-action, rclcpp, rcpputils, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp-action";
-  version = "22.2.0-r1";
+  version = "23.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_action/22.2.0-1.tar.gz";
-    name = "22.2.0-1.tar.gz";
-    sha256 = "937a0425735a75a93d41e24b0f75d8c61d8b1e392a1d63d0a39b837e48c64e55";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_action/23.0.0-1.tar.gz";
+    name = "23.0.0-1.tar.gz";
+    sha256 = "aacffa67bea18af8c7903fd4bbd7d8c971279c5c2b977db4c558d6fa3ee5363c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp-components/default.nix b/distros/rolling/rclcpp-components/default.nix
index a17afd74cd..73f2ede178 100644
--- a/distros/rolling/rclcpp-components/default.nix
+++ b/distros/rolling/rclcpp-components/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-index-cpp, ament-lint-auto, ament-lint-common, class-loader, composition-interfaces, launch-testing, rclcpp, rcpputils, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp-components";
-  version = "22.2.0-r1";
+  version = "23.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_components/22.2.0-1.tar.gz";
-    name = "22.2.0-1.tar.gz";
-    sha256 = "a6f1c49bd3de0da8d19584d246f30a62c02c0c7e6db6cf1d0f7c0a4c34e33b8a";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_components/23.0.0-1.tar.gz";
+    name = "23.0.0-1.tar.gz";
+    sha256 = "8d737f5b05b98966aa629c87f4a7bb3abe2b0cb0aaa1dbab393721bcd5338835";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp-lifecycle/default.nix b/distros/rolling/rclcpp-lifecycle/default.nix
index 4cc1e10cb6..38d7370adc 100644
--- a/distros/rolling/rclcpp-lifecycle/default.nix
+++ b/distros/rolling/rclcpp-lifecycle/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, lifecycle-msgs, mimick-vendor, performance-test-fixture, rcl, rcl-interfaces, rcl-lifecycle, rclcpp, rcpputils, rcutils, rmw, rosidl-typesupport-cpp, test-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp-lifecycle";
-  version = "22.2.0-r1";
+  version = "23.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_lifecycle/22.2.0-1.tar.gz";
-    name = "22.2.0-1.tar.gz";
-    sha256 = "afa41cc401eb1820e9ab82e429959f6509cb6861d986b741401852c9de5bf7ab";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_lifecycle/23.0.0-1.tar.gz";
+    name = "23.0.0-1.tar.gz";
+    sha256 = "507d251cc13b5da1a1f0d41745ba9c56872f0100e4d07ec491d88bd703296477";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp/default.nix b/distros/rolling/rclcpp/default.nix
index e9558ac29e..396319aa23 100644
--- a/distros/rolling/rclcpp/default.nix
+++ b/distros/rolling/rclcpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-index-cpp, ament-lint-auto, ament-lint-common, builtin-interfaces, libstatistics-collector, mimick-vendor, performance-test-fixture, python3, rcl, rcl-interfaces, rcl-logging-interface, rcl-yaml-param-parser, rcpputils, rcutils, rmw, rmw-implementation-cmake, rosgraph-msgs, rosidl-default-generators, rosidl-dynamic-typesupport, rosidl-runtime-cpp, rosidl-typesupport-c, rosidl-typesupport-cpp, statistics-msgs, test-msgs, tracetools }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp";
-  version = "22.2.0-r1";
+  version = "23.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp/22.2.0-1.tar.gz";
-    name = "22.2.0-1.tar.gz";
-    sha256 = "7ed439c96c62b9c7515cef41540c923b86bc5fb6297467b5fb37909935e146aa";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp/23.0.0-1.tar.gz";
+    name = "23.0.0-1.tar.gz";
+    sha256 = "c029f6d83a69521fd67877cfc75f0183fe920120e66889b1eaa0de6896bde51f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclpy/default.nix b/distros/rolling/rclpy/default.nix
index 3619bae461..00d1351dbf 100644
--- a/distros/rolling/rclpy/default.nix
+++ b/distros/rolling/rclpy/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-cmake-gtest, ament-cmake-pytest, ament-index-python, ament-lint-auto, ament-lint-common, builtin-interfaces, lifecycle-msgs, pybind11-vendor, python-cmake-module, pythonPackages, rcl, rcl-action, rcl-interfaces, rcl-lifecycle, rcl-logging-interface, rcl-yaml-param-parser, rcpputils, rcutils, rmw, rmw-implementation, rmw-implementation-cmake, rosgraph-msgs, rosidl-generator-py, rosidl-runtime-c, rpyutils, test-msgs, unique-identifier-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclpy";
-  version = "5.1.0-r1";
+  version = "5.2.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/rolling/rclpy/5.1.0-1.tar.gz";
-    name = "5.1.0-1.tar.gz";
-    sha256 = "253792b5c01ffe66177412531fdf76ddc62c3c25efea3a7b1399b8dcf7ebf3f6";
+    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/rolling/rclpy/5.2.0-1.tar.gz";
+    name = "5.2.0-1.tar.gz";
+    sha256 = "818a5a3a2d50e7b5557079970941ecda630338e0803cbb4b0167c7ace6f754e0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ros2-controllers-test-nodes/default.nix b/distros/rolling/ros2-controllers-test-nodes/default.nix
index a7e1894e36..d5531464c5 100644
--- a/distros/rolling/ros2-controllers-test-nodes/default.nix
+++ b/distros/rolling/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, pythonPackages, rclpy, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-ros2-controllers-test-nodes";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers_test_nodes/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "b2f61d1be03b60e0f1ac91bec7945d8a32bac3ba85df198dfc999bf066614728";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers_test_nodes/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "a8353018bd37b15cea1f6ce8f4ad5c08b8d415377adc51540ed20b212ddd1bf8";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/ros2-controllers/default.nix b/distros/rolling/ros2-controllers/default.nix
index d9f020464c..89fc558321 100644
--- a/distros/rolling/ros2-controllers/default.nix
+++ b/distros/rolling/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2023 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, position-controllers, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, position-controllers, range-sensor-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
 buildRosPackage {
   pname = "ros-rolling-ros2-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "30acc62beb195eb41fb708dc4d37a0062da57ac3f5560562a576313170b11333";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "9aa819ffa36127738040cd5eb1d538d974c4e92eff30a5fa40547d604a88bf5e";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller position-controllers steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller position-controllers range-sensor-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/ros2-ouster/default.nix b/distros/rolling/ros2-ouster/default.nix
new file mode 100644
index 0000000000..e685272b80
--- /dev/null
+++ b/distros/rolling/ros2-ouster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, launch, launch-ros, libtins, ouster-msgs, pcl, pcl-conversions, rclcpp, rclcpp-components, rclcpp-lifecycle, sensor-msgs, std-srvs, tf2-geometry-msgs, tf2-ros, visualization-msgs }:
+buildRosPackage {
+  pname = "ros-rolling-ros2-ouster";
+  version = "0.5.0-r2";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_ouster_drivers-release/archive/release/rolling/ros2_ouster/0.5.0-2.tar.gz";
+    name = "0.5.0-2.tar.gz";
+    sha256 = "03e12ac079d5e5b6aa7fd10a14e2617f350b19fabcc33e4033260a15a59c31e1";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ builtin-interfaces geometry-msgs launch launch-ros libtins ouster-msgs pcl pcl-conversions rclcpp rclcpp-components rclcpp-lifecycle sensor-msgs std-srvs tf2-geometry-msgs tf2-ros visualization-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = ''ROS2 Drivers for the Ouster OS-1 Lidar'';
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/rolling/rqt-joint-trajectory-controller/default.nix b/distros/rolling/rqt-joint-trajectory-controller/default.nix
index b2c8b2b731..c99ab4d6cd 100644
--- a/distros/rolling/rqt-joint-trajectory-controller/default.nix
+++ b/distros/rolling/rqt-joint-trajectory-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rqt-joint-trajectory-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/rqt_joint_trajectory_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "2dc68fcc3e21f9e750cf2a19c6a811d4e3aaf0f900a4211004fe7d1eea551e5e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/rqt_joint_trajectory_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "15ad8eeae1c275b450a379940bf534b1883676ca16b25073022ac2eacb1fc036";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/steering-controllers-library/default.nix b/distros/rolling/steering-controllers-library/default.nix
index 59e9acb2a5..91caf6a3d6 100644
--- a/distros/rolling/steering-controllers-library/default.nix
+++ b/distros/rolling/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ackermann-msgs, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-steering-controllers-library";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/steering_controllers_library/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "cb02e929e3253239e419f8fb2d25e928975683403f108bfbf10383d7588483f0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/steering_controllers_library/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "2c97fc85e1485cb3db4d27725e83f2ab5c2555288f37f1073637156c1a1b33b0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-cli-tools/default.nix b/distros/rolling/swri-cli-tools/default.nix
new file mode 100644
index 0000000000..3204818870
--- /dev/null
+++ b/distros/rolling/swri-cli-tools/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2023 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, marti-introspection-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli }:
+buildRosPackage {
+  pname = "ros-rolling-swri-cli-tools";
+  version = "3.6.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_cli_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "040f605a77eb7f8fa7a4663509bd1124b2728083f20f84c0044ae5238e85d5cb";
+  };
+
+  buildType = "ament_python";
+  checkInputs = [ ament-copyright ament-flake8 ament-pep257 ament-xmllint ];
+  propagatedBuildInputs = [ marti-introspection-msgs python3Packages.natsort rcl-interfaces rclpy ros2cli ];
+
+  meta = {
+    description = ''Command line tools for introspecting ROS systems'';
+    license = with lib.licenses; [ bsd3 ];
+  };
+}
diff --git a/distros/rolling/swri-console-util/default.nix b/distros/rolling/swri-console-util/default.nix
index 4c242400c5..0dbcc2c692 100644
--- a/distros/rolling/swri-console-util/default.nix
+++ b/distros/rolling/swri-console-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-swri-console-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_console_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "5f248ff6218c11eba147d446fb0a8dcae22053d92af9e469118c7a1aa46f0e62";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_console_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "774cb3a7d23c54661c2d3be402f77531cc33a943a7c54070fd14f46d9c63917a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-dbw-interface/default.nix b/distros/rolling/swri-dbw-interface/default.nix
index 4ca283cfbe..f47ddae036 100644
--- a/distros/rolling/swri-dbw-interface/default.nix
+++ b/distros/rolling/swri-dbw-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-rolling-swri-dbw-interface";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_dbw_interface/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "70fa632d06116c25dd6fab7cc328a613359540799ffb2ef7f9482c1393de8901";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_dbw_interface/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "7a77cdde194268d4b09311e66a102aa884fe9cfcfcf16bd1fa87c8cb246c5240";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-geometry-util/default.nix b/distros/rolling/swri-geometry-util/default.nix
index 88f5e26c6d..efd4920fba 100644
--- a/distros/rolling/swri-geometry-util/default.nix
+++ b/distros/rolling/swri-geometry-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, cv-bridge, eigen, geos, pkg-config, rclcpp, tf2 }:
 buildRosPackage {
   pname = "ros-rolling-swri-geometry-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_geometry_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "058cbe0fe94bc4b78ee992b226a27b36b284fb0c54b0a9931c9495373e6dae19";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_geometry_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "de9d86423f5faf3296722e7086eaff55d857dbffb5369cc713286f50963b68f0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-image-util/default.nix b/distros/rolling/swri-image-util/default.nix
index f1365b9c3f..26dc823c00 100644
--- a/distros/rolling/swri-image-util/default.nix
+++ b/distros/rolling/swri-image-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, camera-calibration-parsers, cv-bridge, eigen, geometry-msgs, image-geometry, image-transport, message-filters, nav-msgs, pkg-config, rclcpp, rclcpp-components, rclpy, std-msgs, swri-geometry-util, swri-math-util, swri-opencv-util, swri-roscpp, tf2 }:
 buildRosPackage {
   pname = "ros-rolling-swri-image-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_image_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "31371edb087502eeb6fd8b3fbaa99cb0d71f194758dc525e8242c0c9ecbf6945";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_image_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "63a66197fc9554f08f97ad3228ae601dbfc0cdd2b493f64f416c12d33974c2a9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-math-util/default.nix b/distros/rolling/swri-math-util/default.nix
index dc98e05421..a26e2ab7bc 100644
--- a/distros/rolling/swri-math-util/default.nix
+++ b/distros/rolling/swri-math-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-swri-math-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_math_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "8c5972ae6ce9350141c437de2f558bbf1d93d2424cae4334e87c691dfae6be2c";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_math_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "04d3c471042b63e0c1b6fbbd87b2b9413d33e24058a7f87f38e52b61d859e084";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-opencv-util/default.nix b/distros/rolling/swri-opencv-util/default.nix
index 776e8bbbd7..c7b5f8a36f 100644
--- a/distros/rolling/swri-opencv-util/default.nix
+++ b/distros/rolling/swri-opencv-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, cv-bridge, swri-math-util }:
 buildRosPackage {
   pname = "ros-rolling-swri-opencv-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_opencv_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "52c62ce3c13e81ca21e6822ceb8fa1b64278436c6e1eb6e5c613a401fe9e3c91";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_opencv_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "061c12c13b96c87c01d11b095c56354e262a1390114c85b35bb93e21114085b7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-prefix-tools/default.nix b/distros/rolling/swri-prefix-tools/default.nix
index 8d1441dbb2..0f1322af78 100644
--- a/distros/rolling/swri-prefix-tools/default.nix
+++ b/distros/rolling/swri-prefix-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-swri-prefix-tools";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_prefix_tools/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "9e549fc506e4a4e1f01e71606c266203666685877feff44e926802a586290852";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_prefix_tools/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "3149d097185b5f9d32634ff3714e5032b537d9ce60ec41bd8a1d314c0a3a518f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-roscpp/default.nix b/distros/rolling/swri-roscpp/default.nix
index 4732eba931..135ee47d65 100644
--- a/distros/rolling/swri-roscpp/default.nix
+++ b/distros/rolling/swri-roscpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, boost, diagnostic-updater, gtest, marti-common-msgs, nav-msgs, rclcpp, ros-environment, rosidl-cmake, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-rolling-swri-roscpp";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_roscpp/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "783718c3705cca7f7ca1fe9588ecc496493b21d255e91d82cbc49a0c0112cbf7";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_roscpp/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "2fd48b3629c8a15290bae157dd3aff64c0ea81d3ab885664cd8e2419e44351e5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-route-util/default.nix b/distros/rolling/swri-route-util/default.nix
index 877aecb9fa..e5a92b6528 100644
--- a/distros/rolling/swri-route-util/default.nix
+++ b/distros/rolling/swri-route-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost, marti-common-msgs, marti-nav-msgs, rclcpp, swri-geometry-util, swri-math-util, swri-roscpp, swri-transform-util, tf2-geometry-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-rolling-swri-route-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_route_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "91082518841c03515542b2de1fe98d12fbf79e5ab9393eb0dcfd41519f24de7b";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_route_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "75898b6340fd45eb58888c20c79ad403e0d24cbd2beea413167bdc206b504829";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-serial-util/default.nix b/distros/rolling/swri-serial-util/default.nix
index 9a21858ce7..86eb2bb9d8 100644
--- a/distros/rolling/swri-serial-util/default.nix
+++ b/distros/rolling/swri-serial-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, boost }:
 buildRosPackage {
   pname = "ros-rolling-swri-serial-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_serial_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "c9e9e55ae430f28eb5df100fbae6c4f95ad12ad19eb5ec32a2cbcfe541630c99";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_serial_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "43e09874627fa6ea3ccd38b242ec35915e2969bbc3e948e84108da266da8b92b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-system-util/default.nix b/distros/rolling/swri-system-util/default.nix
index 371348c925..b9e1cee4d6 100644
--- a/distros/rolling/swri-system-util/default.nix
+++ b/distros/rolling/swri-system-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, boost, rclcpp }:
 buildRosPackage {
   pname = "ros-rolling-swri-system-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_system_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "e148f677a7e09d3068c72ee7b0d60421779c9ca755959285e764c038586d6ef3";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_system_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "9aafc37ed12b522038dfb6a8c609919d7498eea2be0d05c1c5fdd4a614a0fa9a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/swri-transform-util/default.nix b/distros/rolling/swri-transform-util/default.nix
index d77d229c01..2405bc4ddf 100644
--- a/distros/rolling/swri-transform-util/default.nix
+++ b/distros/rolling/swri-transform-util/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, boost, cv-bridge, diagnostic-msgs, diagnostic-updater, geographic-msgs, geometry-msgs, geos, gps-msgs, marti-nav-msgs, pkg-config, proj, python3Packages, rcl-interfaces, rclcpp, rclcpp-components, rclpy, sensor-msgs, swri-math-util, swri-roscpp, tf2, tf2-geometry-msgs, tf2-ros, yaml-cpp }:
 buildRosPackage {
   pname = "ros-rolling-swri-transform-util";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_transform_util/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "f78d97f62ec3a62dba7c00e5c976145abcbf56702685e54e7f4442b7496419a0";
+    url = "https://github.com/ros2-gbp/marti_common-release/archive/release/rolling/swri_transform_util/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "cced1ddd47f469b5a23e48b4da5d089c3f48259deeb642866a5edd5a81016fef";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tricycle-controller/default.nix b/distros/rolling/tricycle-controller/default.nix
index 83adff8bf5..aa458c1e70 100644
--- a/distros/rolling/tricycle-controller/default.nix
+++ b/distros/rolling/tricycle-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ackermann-msgs, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, controller-interface, controller-manager, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-tricycle-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "47564c3a08f461b29ae124207993ff5b42bbbaf6d003ae5598087c31ce25793f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "9c59f93214378e90f9fe0196d8868b08feef819daad41607af4d2040ad00afda";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tricycle-steering-controller/default.nix b/distros/rolling/tricycle-steering-controller/default.nix
index a41f1c6f10..7bf510d1ca 100644
--- a/distros/rolling/tricycle-steering-controller/default.nix
+++ b/distros/rolling/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-tricycle-steering-controller";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_steering_controller/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "27000e7a3ae1d2ba5684a40d0734dd3aefc4cd99b234d2806c7169d55e3bb800";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_steering_controller/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "817c48555b5c6c68b4aafbc9108de5d5c41c398986b61a9cf42180d96e40460e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ur-description/default.nix b/distros/rolling/ur-description/default.nix
index 77316e077c..d1fe7a9e55 100644
--- a/distros/rolling/ur-description/default.nix
+++ b/distros/rolling/ur-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, joint-state-publisher-gui, launch, launch-ros, launch-testing-ament-cmake, launch-testing-ros, robot-state-publisher, rviz2, urdf, urdfdom, xacro }:
 buildRosPackage {
   pname = "ros-rolling-ur-description";
-  version = "2.2.0-r1";
+  version = "2.2.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/rolling/ur_description/2.2.0-1.tar.gz";
-    name = "2.2.0-1.tar.gz";
-    sha256 = "2a247bb535119049695b4c563f8a4e03ee35e8435f08dcca8dd2842ca74ad5d8";
+    url = "https://github.com/ros2-gbp/ur_description-release/archive/release/rolling/ur_description/2.2.1-1.tar.gz";
+    name = "2.2.1-1.tar.gz";
+    sha256 = "ec6479c10983b0100d9dbbc1d2e765888180ecf066492594d2e1119c0255bca6";
   };
 
   buildType = "ament_cmake";
@@ -21,6 +21,6 @@ buildRosPackage {
 
   meta = {
     description = ''URDF description for Universal Robots'';
-    license = with lib.licenses; [ bsd3 ];
+    license = with lib.licenses; [ bsd3 "Universal-Robots-A-S’-Terms-and-Conditions-for-Use-of-Graphical-Documentation" ];
   };
 }
diff --git a/distros/rolling/urdf-launch/default.nix b/distros/rolling/urdf-launch/default.nix
index d5e47bd19b..e75e930791 100644
--- a/distros/rolling/urdf-launch/default.nix
+++ b/distros/rolling/urdf-launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, joint-state-publisher, joint-state-publisher-gui, launch-ros, robot-state-publisher, rviz-common, rviz-default-plugins, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-rolling-urdf-launch";
-  version = "0.1.0-r1";
+  version = "0.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/rolling/urdf_launch/0.1.0-1.tar.gz";
-    name = "0.1.0-1.tar.gz";
-    sha256 = "97d072744df1393760c95d61ca347f1822afad2a6c1d545fbd528c6465661022";
+    url = "https://github.com/ros2-gbp/urdf_launch-release/archive/release/rolling/urdf_launch/0.1.1-1.tar.gz";
+    name = "0.1.1-1.tar.gz";
+    sha256 = "c839cc3d2d756ac242d864dd082974f70429f78ed464edb7fb21660ad308ae83";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/velocity-controllers/default.nix b/distros/rolling/velocity-controllers/default.nix
index 2006837ab7..ea380ddea3 100644
--- a/distros/rolling/velocity-controllers/default.nix
+++ b/distros/rolling/velocity-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-velocity-controllers";
-  version = "3.14.0-r1";
+  version = "3.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/velocity_controllers/3.14.0-1.tar.gz";
-    name = "3.14.0-1.tar.gz";
-    sha256 = "de65dc4887559929a49a35e4e7ab4d658dc638797c0f50edef7995103a4bab22";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/velocity_controllers/3.15.0-1.tar.gz";
+    name = "3.15.0-1.tar.gz";
+    sha256 = "b37e71f018c95def8eead1ec99c5abb33b012b72bad2d0678561afd2bf892c18";
   };
 
   buildType = "ament_cmake";