diff --git a/distros/foxy/diagnostic-common-diagnostics/default.nix b/distros/foxy/diagnostic-common-diagnostics/default.nix
index 5afc1a71c2..29d7031cf2 100644
--- a/distros/foxy/diagnostic-common-diagnostics/default.nix
+++ b/distros/foxy/diagnostic-common-diagnostics/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-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, ntp, rclpy }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-pytest, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-foxy-diagnostic-common-diagnostics";
-  version = "3.1.0-r2";
+  version = "3.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_common_diagnostics/3.1.0-2.tar.gz";
-    name = "3.1.0-2.tar.gz";
-    sha256 = "d7c62bb4ddbeb0b26f48bbb8f7510d92339dc79085f05edb66ba7c0afacf92ab";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/foxy/diagnostic_common_diagnostics/3.1.2-1.tar.gz";
+    name = "3.1.2-1.tar.gz";
+    sha256 = "b14ee1885c4f3b70280c27f0363ab26e65a2a1c98b77e083ed38de72eb23e7a3";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
-  checkInputs = [ ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ diagnostic-updater ntp rclpy ];
+  checkInputs = [ ament-cmake-lint-cmake ament-cmake-pytest ament-cmake-xmllint ament-lint-auto ];
+  propagatedBuildInputs = [ diagnostic-updater python3Packages.ntplib rclpy ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/foxy/generated.nix b/distros/foxy/generated.nix
index 13684ff52f..7cce84a121 100644
--- a/distros/foxy/generated.nix
+++ b/distros/foxy/generated.nix
@@ -144,6 +144,8 @@ self: super: {
 
  apriltag = self.callPackage ./apriltag {};
 
+ aruco-opencv = self.callPackage ./aruco-opencv {};
+
  aruco-opencv-msgs = self.callPackage ./aruco-opencv-msgs {};
 
  asio-cmake-module = self.callPackage ./asio-cmake-module {};
@@ -202,6 +204,8 @@ self: super: {
 
  cartographer-ros-msgs = self.callPackage ./cartographer-ros-msgs {};
 
+ casadi-vendor = self.callPackage ./casadi-vendor {};
+
  cascade-lifecycle-msgs = self.callPackage ./cascade-lifecycle-msgs {};
 
  chomp-motion-planner = self.callPackage ./chomp-motion-planner {};
@@ -242,6 +246,8 @@ self: super: {
 
  contracts-lite-vendor = self.callPackage ./contracts-lite-vendor {};
 
+ control-box-rst = self.callPackage ./control-box-rst {};
+
  control-msgs = self.callPackage ./control-msgs {};
 
  control-toolbox = self.callPackage ./control-toolbox {};
@@ -358,6 +364,8 @@ self: super: {
 
  diagnostic-aggregator = self.callPackage ./diagnostic-aggregator {};
 
+ diagnostic-common-diagnostics = self.callPackage ./diagnostic-common-diagnostics {};
+
  diagnostic-msgs = self.callPackage ./diagnostic-msgs {};
 
  diagnostic-updater = self.callPackage ./diagnostic-updater {};
@@ -658,6 +666,8 @@ self: super: {
 
  ifm3d-core = self.callPackage ./ifm3d-core {};
 
+ ifopt = self.callPackage ./ifopt {};
+
  ign-ros2-control-demos = self.callPackage ./ign-ros2-control-demos {};
 
  image-common = self.callPackage ./image-common {};
@@ -994,6 +1004,8 @@ self: super: {
 
  mppic = self.callPackage ./mppic {};
 
+ mrpt2 = self.callPackage ./mrpt2 {};
+
  mrpt-msgs = self.callPackage ./mrpt-msgs {};
 
  mrt-cmake-modules = self.callPackage ./mrt-cmake-modules {};
@@ -1246,6 +1258,8 @@ self: super: {
 
  polygon-utils = self.callPackage ./polygon-utils {};
 
+ popf = self.callPackage ./popf {};
+
  pose-cov-ops = self.callPackage ./pose-cov-ops {};
 
  position-controllers = self.callPackage ./position-controllers {};
diff --git a/distros/foxy/mrpt2/default.nix b/distros/foxy/mrpt2/default.nix
new file mode 100644
index 0000000000..8f0380d166
--- /dev/null
+++ b/distros/foxy/mrpt2/default.nix
@@ -0,0 +1,25 @@
+
+# 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, pcl-conversions, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+buildRosPackage {
+  pname = "ros-foxy-mrpt2";
+  version = "2.8.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mrpt2-release/archive/release/foxy/mrpt2/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "24f9364a6a50518c1d771f4717a8f86b552827033c88c945ec992e892aca7892";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 tinyxml-2 udev wxGTK zlib ];
+  propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv pcl-conversions rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 2.x'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/foxy/popf/default.nix b/distros/foxy/popf/default.nix
index a27dd08246..9f1c9c5d3c 100644
--- a/distros/foxy/popf/default.nix
+++ b/distros/foxy/popf/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, bison, cbc, clp, flex, rclcpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, bison, cbc, clp, coin-utils, flex, rclcpp }:
 buildRosPackage {
   pname = "ros-foxy-popf";
   version = "0.0.12-r1";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ bison cbc clp flex rclcpp ];
+  propagatedBuildInputs = [ bison cbc clp coin-utils flex rclcpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/humble/diagnostic-common-diagnostics/default.nix b/distros/humble/diagnostic-common-diagnostics/default.nix
index 4b8473bbcb..1f6d5a86ed 100644
--- a/distros/humble/diagnostic-common-diagnostics/default.nix
+++ b/distros/humble/diagnostic-common-diagnostics/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-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, ntp, rclpy }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-pytest, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-humble-diagnostic-common-diagnostics";
-  version = "3.1.0-r2";
+  version = "3.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/humble/diagnostic_common_diagnostics/3.1.0-2.tar.gz";
-    name = "3.1.0-2.tar.gz";
-    sha256 = "8e444af59a9386405ab4ae8acd4d65665bcd2e403c40762d1858e16c6c520dad";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/humble/diagnostic_common_diagnostics/3.1.2-1.tar.gz";
+    name = "3.1.2-1.tar.gz";
+    sha256 = "bc8fd9c0e6c23ade2666783ac5caf869311dce7aa4882386d6cba08846252067";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
-  checkInputs = [ ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ diagnostic-updater ntp rclpy ];
+  checkInputs = [ ament-cmake-lint-cmake ament-cmake-pytest ament-cmake-xmllint ament-lint-auto ];
+  propagatedBuildInputs = [ diagnostic-updater python3Packages.ntplib rclpy ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/humble/generated.nix b/distros/humble/generated.nix
index eb2bab1fa7..302e53a4a7 100644
--- a/distros/humble/generated.nix
+++ b/distros/humble/generated.nix
@@ -172,6 +172,8 @@ self: super: {
 
  aruco-msgs = self.callPackage ./aruco-msgs {};
 
+ aruco-opencv = self.callPackage ./aruco-opencv {};
+
  aruco-opencv-msgs = self.callPackage ./aruco-opencv-msgs {};
 
  aruco-ros = self.callPackage ./aruco-ros {};
@@ -296,6 +298,8 @@ self: super: {
 
  console-bridge-vendor = self.callPackage ./console-bridge-vendor {};
 
+ control-box-rst = self.callPackage ./control-box-rst {};
+
  control-msgs = self.callPackage ./control-msgs {};
 
  control-toolbox = self.callPackage ./control-toolbox {};
@@ -394,6 +398,8 @@ self: super: {
 
  diagnostic-aggregator = self.callPackage ./diagnostic-aggregator {};
 
+ diagnostic-common-diagnostics = self.callPackage ./diagnostic-common-diagnostics {};
+
  diagnostic-msgs = self.callPackage ./diagnostic-msgs {};
 
  diagnostic-updater = self.callPackage ./diagnostic-updater {};
@@ -1010,6 +1016,8 @@ self: super: {
 
  moveit-visual-tools = self.callPackage ./moveit-visual-tools {};
 
+ mrpt2 = self.callPackage ./mrpt2 {};
+
  mrpt-msgs = self.callPackage ./mrpt-msgs {};
 
  mrt-cmake-modules = self.callPackage ./mrt-cmake-modules {};
@@ -1302,6 +1310,8 @@ self: super: {
 
  polygon-utils = self.callPackage ./polygon-utils {};
 
+ popf = self.callPackage ./popf {};
+
  pose-cov-ops = self.callPackage ./pose-cov-ops {};
 
  position-controllers = self.callPackage ./position-controllers {};
diff --git a/distros/humble/mrpt2/default.nix b/distros/humble/mrpt2/default.nix
new file mode 100644
index 0000000000..a109906202
--- /dev/null
+++ b/distros/humble/mrpt2/default.nix
@@ -0,0 +1,25 @@
+
+# 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, pcl-conversions, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+buildRosPackage {
+  pname = "ros-humble-mrpt2";
+  version = "2.8.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mrpt2-release/archive/release/humble/mrpt2/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "5a1c14460e937aada95a438ed4f08d65ee43210516011c695386df25300b8a1f";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 tinyxml-2 udev wxGTK zlib ];
+  propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv pcl-conversions rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 2.x'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/humble/popf/default.nix b/distros/humble/popf/default.nix
index ec98f5c43e..51cf3b826a 100644
--- a/distros/humble/popf/default.nix
+++ b/distros/humble/popf/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, bison, cbc, clp, flex, rclcpp }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, bison, cbc, clp, coin-utils, flex, rclcpp }:
 buildRosPackage {
   pname = "ros-humble-popf";
   version = "0.0.14-r1";
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ bison cbc clp flex rclcpp ];
+  propagatedBuildInputs = [ bison cbc clp coin-utils flex rclcpp ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/melodic/generated.nix b/distros/melodic/generated.nix
index 2ccbb995ed..5e3d05a2c6 100644
--- a/distros/melodic/generated.nix
+++ b/distros/melodic/generated.nix
@@ -564,6 +564,8 @@ self: super: {
 
  contact-states-observer = self.callPackage ./contact-states-observer {};
 
+ control-box-rst = self.callPackage ./control-box-rst {};
+
  control-msgs = self.callPackage ./control-msgs {};
 
  control-toolbox = self.callPackage ./control-toolbox {};
@@ -1510,6 +1512,8 @@ self: super: {
 
  ifm3d-core = self.callPackage ./ifm3d-core {};
 
+ ifopt = self.callPackage ./ifopt {};
+
  igvc-self-drive-description = self.callPackage ./igvc-self-drive-description {};
 
  igvc-self-drive-gazebo = self.callPackage ./igvc-self-drive-gazebo {};
@@ -2342,6 +2346,8 @@ self: super: {
 
  mrpt1 = self.callPackage ./mrpt1 {};
 
+ mrpt2 = self.callPackage ./mrpt2 {};
+
  mrpt-ekf-slam-2d = self.callPackage ./mrpt-ekf-slam-2d {};
 
  mrpt-ekf-slam-3d = self.callPackage ./mrpt-ekf-slam-3d {};
diff --git a/distros/melodic/mrpt2/default.nix b/distros/melodic/mrpt2/default.nix
new file mode 100644
index 0000000000..b3062ae610
--- /dev/null
+++ b/distros/melodic/mrpt2/default.nix
@@ -0,0 +1,25 @@
+
+# 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, pcl-conversions, rosbag-storage, roscpp, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+buildRosPackage {
+  pname = "ros-melodic-mrpt2";
+  version = "2.7.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/mrpt-ros-pkg-release/mrpt2-release/archive/release/melodic/mrpt2/2.7.0-1.tar.gz";
+    name = "2.7.0-1.tar.gz";
+    sha256 = "5d68b18a969fb26d11b9648570f3ed32e6c4b2cae8bc001c6fe4aaf6a03b07b2";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 tinyxml-2 udev wxGTK zlib ];
+  propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv pcl-conversions rosbag-storage roscpp sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 2.x'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/actionlib-tools/default.nix b/distros/noetic/actionlib-tools/default.nix
index f83e6e9d10..191a64437e 100644
--- a/distros/noetic/actionlib-tools/default.nix
+++ b/distros/noetic/actionlib-tools/default.nix
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "catkin";
   buildInputs = [ catkin ];
-  propagatedBuildInputs = [ actionlib actionlib-msgs python3Packages.wxPython_4_0 roslib rospy rostopic ];
+  propagatedBuildInputs = [ actionlib actionlib-msgs python3Packages.wxPython_4_2 roslib rospy rostopic ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/noetic/generated.nix b/distros/noetic/generated.nix
index 89c353f923..f9a1370b8f 100644
--- a/distros/noetic/generated.nix
+++ b/distros/noetic/generated.nix
@@ -58,6 +58,8 @@ self: super: {
 
  aruco-msgs = self.callPackage ./aruco-msgs {};
 
+ aruco-opencv = self.callPackage ./aruco-opencv {};
+
  aruco-opencv-msgs = self.callPackage ./aruco-opencv-msgs {};
 
  aruco-ros = self.callPackage ./aruco-ros {};
@@ -474,6 +476,8 @@ self: super: {
 
  contact-states-observer = self.callPackage ./contact-states-observer {};
 
+ control-box-rst = self.callPackage ./control-box-rst {};
+
  control-msgs = self.callPackage ./control-msgs {};
 
  control-toolbox = self.callPackage ./control-toolbox {};
@@ -1278,6 +1282,8 @@ self: super: {
 
  ifm3d-core = self.callPackage ./ifm3d-core {};
 
+ ifopt = self.callPackage ./ifopt {};
+
  ign-ros-control-demos = self.callPackage ./ign-ros-control-demos {};
 
  image-cb-detector = self.callPackage ./image-cb-detector {};
@@ -1988,6 +1994,8 @@ self: super: {
 
  mqtt-client = self.callPackage ./mqtt-client {};
 
+ mrpt2 = self.callPackage ./mrpt2 {};
+
  mrpt-ekf-slam-2d = self.callPackage ./mrpt-ekf-slam-2d {};
 
  mrpt-ekf-slam-3d = self.callPackage ./mrpt-ekf-slam-3d {};
diff --git a/distros/noetic/mrpt2/default.nix b/distros/noetic/mrpt2/default.nix
new file mode 100644
index 0000000000..6557604cd4
--- /dev/null
+++ b/distros/noetic/mrpt2/default.nix
@@ -0,0 +1,25 @@
+
+# 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, pcl-conversions, rosbag-storage, roscpp, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+buildRosPackage {
+  pname = "ros-noetic-mrpt2";
+  version = "2.8.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/mrpt-ros-pkg-release/mrpt2-release/archive/release/noetic/mrpt2/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "f866a823111b81f16a364810c2ad11fe5c41fdde7e48ae43485eab2fc12c1876";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 tinyxml-2 udev wxGTK zlib ];
+  propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv pcl-conversions rosbag-storage roscpp sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 2.x'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}
diff --git a/distros/noetic/smach-viewer/default.nix b/distros/noetic/smach-viewer/default.nix
index 7145f35176..782ad7f1ec 100644
--- a/distros/noetic/smach-viewer/default.nix
+++ b/distros/noetic/smach-viewer/default.nix
@@ -15,7 +15,7 @@ buildRosPackage {
 
   buildType = "catkin";
   buildInputs = [ catkin rostest ];
-  propagatedBuildInputs = [ cv-bridge graphviz gtk3 python3Packages.pygobject3 python3Packages.pyqt5 python3Packages.rospkg python3Packages.wxPython_4_0 smach-msgs smach-ros xdot ];
+  propagatedBuildInputs = [ cv-bridge graphviz gtk3 python3Packages.pygobject3 python3Packages.pyqt5 python3Packages.rospkg python3Packages.wxPython_4_2 smach-msgs smach-ros xdot ];
   nativeBuildInputs = [ catkin ];
 
   meta = {
diff --git a/distros/rolling/aruco-opencv/default.nix b/distros/rolling/aruco-opencv/default.nix
index 09f0b4c2bb..2043397bec 100644
--- a/distros/rolling/aruco-opencv/default.nix
+++ b/distros/rolling/aruco-opencv/default.nix
@@ -5,12 +5,12 @@
 { 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, libyamlcpp, python39Packages, python3Packages, rclcpp, rclcpp-components, rclcpp-lifecycle, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-aruco-opencv";
-  version = "4.1.0-r1";
+  version = "4.1.0-r3";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/aruco_opencv-release/archive/release/rolling/aruco_opencv/4.1.0-1.tar.gz";
-    name = "4.1.0-1.tar.gz";
-    sha256 = "b5407dd2b8d43ae6e15aa4ac18bbe8a2641d8d0a48b8b80ac7fd899ad07e96e4";
+    url = "https://github.com/ros2-gbp/aruco_opencv-release/archive/release/rolling/aruco_opencv/4.1.0-3.tar.gz";
+    name = "4.1.0-3.tar.gz";
+    sha256 = "12e068f799e265df4390e8e9522edc3ae9b011bfd69e8bc6600ab0ef13626384";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/control-box-rst/default.nix b/distros/rolling/control-box-rst/default.nix
index 77aa26a642..4e39b8a4c4 100644
--- a/distros/rolling/control-box-rst/default.nix
+++ b/distros/rolling/control-box-rst/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, ipopt }:
 buildRosPackage {
   pname = "ros-rolling-control-box-rst";
-  version = "0.0.7-r3";
+  version = "0.0.7-r4";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/control_box_rst-release/archive/release/rolling/control_box_rst/0.0.7-3.tar.gz";
-    name = "0.0.7-3.tar.gz";
-    sha256 = "c9dcde87cbbf480ffa3ee8b7b2c180175f0b1d3eb4a21b1b067d707649c29dae";
+    url = "https://github.com/ros2-gbp/control_box_rst-release/archive/release/rolling/control_box_rst/0.0.7-4.tar.gz";
+    name = "0.0.7-4.tar.gz";
+    sha256 = "0c402cc409f715b5a60c383d795de643f7613ebb5e115f0a5d71555eb213c171";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/diagnostic-common-diagnostics/default.nix b/distros/rolling/diagnostic-common-diagnostics/default.nix
index 297beff5e5..a6655c8408 100644
--- a/distros/rolling/diagnostic-common-diagnostics/default.nix
+++ b/distros/rolling/diagnostic-common-diagnostics/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-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, ntp, rclpy }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-pytest, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, diagnostic-updater, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-rolling-diagnostic-common-diagnostics";
-  version = "3.1.0-r2";
+  version = "3.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/rolling/diagnostic_common_diagnostics/3.1.0-2.tar.gz";
-    name = "3.1.0-2.tar.gz";
-    sha256 = "27022010e8da7b28c0929f57c56a1efff26a536b9ab774c1079724f82c3e4b4e";
+    url = "https://github.com/ros2-gbp/diagnostics-release/archive/release/rolling/diagnostic_common_diagnostics/3.1.2-1.tar.gz";
+    name = "3.1.2-1.tar.gz";
+    sha256 = "2358b652e519eac301b4626900df4bf4d55b973e6eb52b815d36f158dbf92d0b";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
-  checkInputs = [ ament-cmake-lint-cmake ament-cmake-xmllint ament-lint-auto ];
-  propagatedBuildInputs = [ diagnostic-updater ntp rclpy ];
+  checkInputs = [ ament-cmake-lint-cmake ament-cmake-pytest ament-cmake-xmllint ament-lint-auto ];
+  propagatedBuildInputs = [ diagnostic-updater python3Packages.ntplib rclpy ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/rolling/generated.nix b/distros/rolling/generated.nix
index d91164f1a4..d8125876f4 100644
--- a/distros/rolling/generated.nix
+++ b/distros/rolling/generated.nix
@@ -160,6 +160,8 @@ self: super: {
 
  apriltag-ros = self.callPackage ./apriltag-ros {};
 
+ aruco-opencv = self.callPackage ./aruco-opencv {};
+
  aruco-opencv-msgs = self.callPackage ./aruco-opencv-msgs {};
 
  asio-cmake-module = self.callPackage ./asio-cmake-module {};
@@ -236,6 +238,8 @@ self: super: {
 
  console-bridge-vendor = self.callPackage ./console-bridge-vendor {};
 
+ control-box-rst = self.callPackage ./control-box-rst {};
+
  control-msgs = self.callPackage ./control-msgs {};
 
  control-toolbox = self.callPackage ./control-toolbox {};
@@ -268,6 +272,8 @@ self: super: {
 
  diagnostic-aggregator = self.callPackage ./diagnostic-aggregator {};
 
+ diagnostic-common-diagnostics = self.callPackage ./diagnostic-common-diagnostics {};
+
  diagnostic-msgs = self.callPackage ./diagnostic-msgs {};
 
  diagnostic-updater = self.callPackage ./diagnostic-updater {};
@@ -862,6 +868,8 @@ self: super: {
 
  moveit-visual-tools = self.callPackage ./moveit-visual-tools {};
 
+ mrpt2 = self.callPackage ./mrpt2 {};
+
  mrpt-msgs = self.callPackage ./mrpt-msgs {};
 
  mrt-cmake-modules = self.callPackage ./mrt-cmake-modules {};
diff --git a/distros/rolling/mrpt2/default.nix b/distros/rolling/mrpt2/default.nix
new file mode 100644
index 0000000000..4e3d458e34
--- /dev/null
+++ b/distros/rolling/mrpt2/default.nix
@@ -0,0 +1,25 @@
+
+# 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, pcl-conversions, rosbag2-storage, sensor-msgs, std-msgs, stereo-msgs, suitesparse, tf2, tf2-msgs, tinyxml-2, udev, wxGTK, xorg, zlib }:
+buildRosPackage {
+  pname = "ros-rolling-mrpt2";
+  version = "2.8.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/mrpt2-release/archive/release/rolling/mrpt2/2.8.1-1.tar.gz";
+    name = "2.8.1-1.tar.gz";
+    sha256 = "2f88201ecb2aed614919370821243873b34ab3980b759d223fee5727279575d4";
+  };
+
+  buildType = "cmake";
+  buildInputs = [ assimp cmake ffmpeg freenect jsoncpp libjpeg libpcap libusb1 openni2 tinyxml-2 udev wxGTK zlib ];
+  propagatedBuildInputs = [ cv-bridge eigen freeglut geometry-msgs glfw3 nav-msgs octomap opencv pcl-conversions rosbag2-storage sensor-msgs std-msgs stereo-msgs suitesparse tf2 tf2-msgs xorg.libXrandr xorg.libXxf86vm ];
+  nativeBuildInputs = [ cmake ];
+
+  meta = {
+    description = ''Mobile Robot Programming Toolkit (MRPT) version 2.x'';
+    license = with lib.licenses; [ bsdOriginal ];
+  };
+}