diff --git a/distros/distro-overlay.nix b/distros/distro-overlay.nix
index 35371e23888..83ff7501364 100644
--- a/distros/distro-overlay.nix
+++ b/distros/distro-overlay.nix
@@ -48,8 +48,7 @@ let
           originalRev = "\${MRPT_VERSION_TO_DOWNLOAD}";
           inherit rev;
           fetchgitArgs.hash = {
-            "2.15.17" = "sha256-XgTkkrbnbioakTUII/8DW4dDpL/hoQIJV8gR6MtLDkk=";
-            "2.15.18" = "sha256-d7pb9kIzFIWtNBakBvrcoPRgsmxnhHs4I3Q4DTFE+l4=";
+            "2.15.19" = "sha256-HdnUw74g4ywEpqCteNZlPaXW1lxJ7G9c5IZW06kZ5NE=";
           }.${rev};
         }).overrideAttrs ({ postPatch ? "", buildInputs ? [], ... }: {
           postPatch = postPatch + ''
diff --git a/distros/humble/ackermann-steering-controller/default.nix b/distros/humble/ackermann-steering-controller/default.nix
index 1de362a2739..de347d7fbec 100644
--- a/distros/humble/ackermann-steering-controller/default.nix
+++ b/distros/humble/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-humble-ackermann-steering-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ackermann_steering_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "3b899387b8a8d44da78e9a8c45306c11fe980afb92ec8ec955edf77038e38435";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ackermann_steering_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "f9bec9c6b216506952484f80359f842328bdad03822debfb3f0a9fe6f32846be";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/admittance-controller/default.nix b/distros/humble/admittance-controller/default.nix
index ae13bb90991..c1907600c98 100644
--- a/distros/humble/admittance-controller/default.nix
+++ b/distros/humble/admittance-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, geometry-msgs, hardware-interface, hardware-interface-testing, 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, tinyxml-2, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-admittance-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/admittance_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "18cd97cab44c0773104264f66a7f9b125aeb613f2887dd73a1044a86b1148028";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/admittance_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "56d465238cc5696e518e220d4bd6a256509446c0c774e9762c2c16697a3f55a3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/bicycle-steering-controller/default.nix b/distros/humble/bicycle-steering-controller/default.nix
index eb568401ac3..4704a0ec89f 100644
--- a/distros/humble/bicycle-steering-controller/default.nix
+++ b/distros/humble/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-humble-bicycle-steering-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/bicycle_steering_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "cede05a3a6f87ec82f744ede11aa7f645bc900c9cd634fa2b536d0e73004707b";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/bicycle_steering_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "cbf3b0b8bcfb2e8cab79270d3984be5554853e882b1997d0c3d57d723a27608a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/connection-inspector/default.nix b/distros/humble/connection-inspector/default.nix
new file mode 100644
index 00000000000..1a6e1623de9
--- /dev/null
+++ b/distros/humble/connection-inspector/default.nix
@@ -0,0 +1,27 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, glfw3, libGL, libGLU, rclcpp, rclpy, ros2launch, std-msgs }:
+buildRosPackage {
+  pname = "ros-humble-connection-inspector";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/DynoRobotics/connection_inspector-release/archive/release/humble/connection_inspector/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "d69b66d938d0239c715d706355a28059c85fdc1657d45ae6e261721dd9756417";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gtest ];
+  propagatedBuildInputs = [ ament-index-cpp glfw3 libGL libGLU rclcpp rclpy ros2launch std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Lightweight C++ GUI to inspect a ROS 2 node's live connections and diagnose
+    broken topic links (QoS incompatibility, type mismatch, dead links).";
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/humble/crazyflie-description/default.nix b/distros/humble/crazyflie-description/default.nix
new file mode 100644
index 00000000000..fe605190d26
--- /dev/null
+++ b/distros/humble/crazyflie-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-humble-crazyflie-description";
+  version = "1.0.5-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_description/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "c145afdd40eea5d7c41864ef4667af68c1e06b81e8d51c8c8e56a68991c3104c";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "URDF and mesh assets for the Crazyflie robot";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/humble/crazyflie-examples/default.nix b/distros/humble/crazyflie-examples/default.nix
index 285d010197d..e991f5d55de 100644
--- a/distros/humble/crazyflie-examples/default.nix
+++ b/distros/humble/crazyflie-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-py, geometry-msgs, nav-msgs, python3Packages, rclpy, sensor-msgs, tf-transformations, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-crazyflie-examples";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_examples/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "22ec3032d4f9e3b8871c007b3e890751a04c1ed403eea2f4d6536f25239a85fc";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_examples/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "8120bc9062587b266b49d548a964c01bbadcbe5957f3445dc7d184e1a75442b0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crazyflie-interfaces/default.nix b/distros/humble/crazyflie-interfaces/default.nix
index 14454eac8da..2c7b7879c5e 100644
--- a/distros/humble/crazyflie-interfaces/default.nix
+++ b/distros/humble/crazyflie-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-humble-crazyflie-interfaces";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_interfaces/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "f6355b9743093a55dae657266b2001a510c7b4dd37c5a300f75afea81e3dc38a";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_interfaces/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "8bcce999ae32e4b46dc0a92c168bebd3935a730e4472cba9168159dc53ea2b61";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crazyflie-py/default.nix b/distros/humble/crazyflie-py/default.nix
index 6499c5a6a9d..a33e457cf93 100644
--- a/distros/humble/crazyflie-py/default.nix
+++ b/distros/humble/crazyflie-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-humble-crazyflie-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "d63148e532f83ca157df316ae576ad5e53b5c2c242727a20e0db3208362d17fc";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "d11ff4989247daeeb1bc4a1e87b66b5aa8839fd3fb4988cf854558160ead5608";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/crazyflie-server-py/default.nix b/distros/humble/crazyflie-server-py/default.nix
index 7b4b96e7590..02b482966f9 100644
--- a/distros/humble/crazyflie-server-py/default.nix
+++ b/distros/humble/crazyflie-server-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, crazyflie-interfaces, geometry-msgs, motion-capture-tracking-interfaces, nav-msgs, python3Packages, rcl-interfaces, rclpy, sensor-msgs, std-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-crazyflie-server-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_server_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "6d3d3bd41afe93acb5ae74b96afd4e8056beed1a55a6b1813da488b9a60ba31a";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_server_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "a7f181dcfa40c6cc67d4aa2a4c6ea9350715687199c22796b104756b37f49307";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/crazyflie-sim/default.nix b/distros/humble/crazyflie-sim/default.nix
index ec4079d1124..29825c6f319 100644
--- a/distros/humble/crazyflie-sim/default.nix
+++ b/distros/humble/crazyflie-sim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-humble-crazyflie-sim";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_sim/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "5b43d920dfc7a9990e80ec38be6b3cdf60c0a56b9786256609b10359a5383b0f";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie_sim/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "42c0444bfbd0aafb4b8fb399f9908df658817783df61a1d9e97326b35edd3462";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/crazyflie/default.nix b/distros/humble/crazyflie/default.nix
index 86319d1fadc..4e46a525060 100644
--- a/distros/humble/crazyflie/default.nix
+++ b/distros/humble/crazyflie/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-description, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-crazyflie";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "4cc586df5293e7aa24edd4c5277ddb474625e18d855f7c1e8f811d7772c12ef7";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/humble/crazyflie/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "acf1780dd5b77802a69b9d65da7f7d369e388256063db442610c3cced6ec7ec7";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ boost crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
+  propagatedBuildInputs = [ boost crazyflie-description crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/humble/diff-drive-controller/default.nix b/distros/humble/diff-drive-controller/default.nix
index 96231f1ee57..17978f66f3c 100644
--- a/distros/humble/diff-drive-controller/default.nix
+++ b/distros/humble/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, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-humble-diff-drive-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/diff_drive_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "fae3e6ad1b534a561da9338f2906eb194f7b0b7aca959725cc2c944b72908eef";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/diff_drive_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "a30d0ac1b654ce8236134aa36971b3bf71eed7b258a84da9287f2fc97f9be8e7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/effort-controllers/default.nix b/distros/humble/effort-controllers/default.nix
index 3e1ff00e639..4fd2fa49c43 100644
--- a/distros/humble/effort-controllers/default.nix
+++ b/distros/humble/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-humble-effort-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/effort_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "e365d6a4111586746b131e7d4c91dc3f95d06b25dcf1cf6600eeeb246246ef72";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/effort_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "dc8bf8f43a0d43860fa269b378ac7a61be476bd441cc026d893d4bb94a0292cb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/force-torque-sensor-broadcaster/default.nix b/distros/humble/force-torque-sensor-broadcaster/default.nix
index fc62b4901f2..556cf3fcc01 100644
--- a/distros/humble/force-torque-sensor-broadcaster/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-force-torque-sensor-broadcaster";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/force_torque_sensor_broadcaster/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "1a4d4df0b77b8f1f4fc7de3016d3aa6b82d25752e204e93be5592d4f7927e1ef";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/force_torque_sensor_broadcaster/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "51fd1e7fdef1ebf7adb0d8f69cacd90df379da959820d20e1c40d84ecb47cf1f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/forward-command-controller/default.nix b/distros/humble/forward-command-controller/default.nix
index 52b1cc28a47..edbfac8bf2b 100644
--- a/distros/humble/forward-command-controller/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-humble-forward-command-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/forward_command_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "78a5a8ff3dc99a6342c0ef6ebbcb90c9fed3579d806382083f16118918853219";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/forward_command_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "80d25db09d7b8f679479231a3823fe8ad744641c37b6f4bfeb73c01aa5cf168e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/generated.nix b/distros/humble/generated.nix
index 16c09b8d499..0fddcd7c8dc 100644
--- a/distros/humble/generated.nix
+++ b/distros/humble/generated.nix
@@ -792,6 +792,8 @@ self: super: {
 
  compressed-image-transport = self.callPackage ./compressed-image-transport {};
 
+ connection-inspector = self.callPackage ./connection-inspector {};
+
  console-bridge-vendor = self.callPackage ./console-bridge-vendor {};
 
  continental-msgs = self.callPackage ./continental-msgs {};
@@ -826,6 +828,8 @@ self: super: {
 
  crazyflie = self.callPackage ./crazyflie {};
 
+ crazyflie-description = self.callPackage ./crazyflie-description {};
+
  crazyflie-examples = self.callPackage ./crazyflie-examples {};
 
  crazyflie-interfaces = self.callPackage ./crazyflie-interfaces {};
diff --git a/distros/humble/gpio-controllers/default.nix b/distros/humble/gpio-controllers/default.nix
index 93f47f78ea4..ee3676fd8ab 100644
--- a/distros/humble/gpio-controllers/default.nix
+++ b/distros/humble/gpio-controllers/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-humble-gpio-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/gpio_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "f052948d7ed4dc048bc9ce7162ed3c7165306d73729108bad19861d1e769accc";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/gpio_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "46d13ea1ec3d64c51d791c346f39060e2d80a939e1443bdc453566a19df533be";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/gripper-controllers/default.nix b/distros/humble/gripper-controllers/default.nix
index 11ffaf7a9ad..aeb79db861d 100644
--- a/distros/humble/gripper-controllers/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-humble-gripper-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/gripper_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "2490ccb1ff6a62cf2c80100954346f538ae29e5e2169801b55b07f5accab60d5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/gripper_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "1e60959d62b60fa42f1174f11aa0416cbeacfef87d1f3ad17204cfd8efbe80fb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/imu-sensor-broadcaster/default.nix b/distros/humble/imu-sensor-broadcaster/default.nix
index 39a14056419..e921be8cf54 100644
--- a/distros/humble/imu-sensor-broadcaster/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-imu-sensor-broadcaster";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/imu_sensor_broadcaster/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "3976c69f5ac3acb9f4d9aa0fc06c5a58a100e50fee73742d2577e507dddf0137";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/imu_sensor_broadcaster/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "903fe3468e8827b35aa07f84e24307dcb3dcfd356d9a1c6806e24c2337da0f1f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/joint-state-broadcaster/default.nix b/distros/humble/joint-state-broadcaster/default.nix
index c4acce315ee..13870869a38 100644
--- a/distros/humble/joint-state-broadcaster/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, rcutils, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-joint-state-broadcaster";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/joint_state_broadcaster/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "7fb765f473a01f897f27f2f7b470d14d7bc933c71c0fa2561580327ce7a3e8ba";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/joint_state_broadcaster/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "f9b20bfafbe7de2123dbb37d32167d623ab8b397b709ee69bfb42a972d2f7d5f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/joint-trajectory-controller/default.nix b/distros/humble/joint-trajectory-controller/default.nix
index 33d9952561f..12e05ca4974 100644
--- a/distros/humble/joint-trajectory-controller/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, rsl, tl-expected-nixpkgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-joint-trajectory-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/joint_trajectory_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "ca765947fe154b667827bb8cc9a84a23a3ebdd03eab46fe9862b223d7d764caf";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/joint_trajectory_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "36de336979f5aa8ed3fbf82bb67146eaa05e20c31b7bbabd4f5b1345d9b2f5b0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/jrl-cmakemodules/default.nix b/distros/humble/jrl-cmakemodules/default.nix
index 35fcc1434e4..0c44524343d 100644
--- a/distros/humble/jrl-cmakemodules/default.nix
+++ b/distros/humble/jrl-cmakemodules/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, doxygen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, catch2, cmake, doxygen, eigen, git, matio, pkg-config, python3Packages, simde }:
 buildRosPackage {
   pname = "ros-humble-jrl-cmakemodules";
-  version = "1.1.2-r1";
+  version = "2.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/humble/jrl_cmakemodules/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "4ba1dcefbc3313fa10e2fbec045ab4c78ea6aacf90faa88686d3d540be5bd02b";
+    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/humble/jrl_cmakemodules/2.0.0-1.tar.gz";
+    name = "2.0.0-1.tar.gz";
+    sha256 = "28e9764714799d1138c10fa916f58f8161d8bdc06b9635aa27f9397d6ebeb92e";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake ];
+  checkInputs = [ boost catch2 eigen git matio python3Packages.nanobind python3Packages.numpy python3Packages.pytest python3Packages.typing-extensions simde ];
   propagatedBuildInputs = [ doxygen pkg-config ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/launch-ros/default.nix b/distros/humble/launch-ros/default.nix
index 77bb39a3273..cc0023e5bcb 100644
--- a/distros/humble/launch-ros/default.nix
+++ b/distros/humble/launch-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, composition-interfaces, launch, lifecycle-msgs, osrf-pycommon, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-humble-launch-ros";
-  version = "0.19.13-r1";
+  version = "0.19.14-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/launch_ros/0.19.13-1.tar.gz";
-    name = "0.19.13-1.tar.gz";
-    sha256 = "7e621f1a208990d35c22bc4bb3dc902d9ad0043e8ad2dd96acf4588f251ff1dd";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/launch_ros/0.19.14-1.tar.gz";
+    name = "0.19.14-1.tar.gz";
+    sha256 = "10d63ddee0f25a5312a3c3d3a4c00511e8b3c0860f71511a42b12f454042b770";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/launch-testing-ros/default.nix b/distros/humble/launch-testing-ros/default.nix
index 4a9bf9d5c0f..85b4bda99ca 100644
--- a/distros/humble/launch-testing-ros/default.nix
+++ b/distros/humble/launch-testing-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, launch-ros, launch-testing, python3Packages, rclpy, std-msgs }:
 buildRosPackage {
   pname = "ros-humble-launch-testing-ros";
-  version = "0.19.13-r1";
+  version = "0.19.14-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/launch_testing_ros/0.19.13-1.tar.gz";
-    name = "0.19.13-1.tar.gz";
-    sha256 = "65e3376566207781e82ba58beb41dd3bddd9fc8d8b8912ad1be036cf523f5827";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/launch_testing_ros/0.19.14-1.tar.gz";
+    name = "0.19.14-1.tar.gz";
+    sha256 = "ade1e2644ccb6f42af4414f62bc51b9d3c45d86b16c8e3d2003dd7c753c95847";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/mecanum-drive-controller/default.nix b/distros/humble/mecanum-drive-controller/default.nix
index 15342c48364..a9ec2ab1272 100644
--- a/distros/humble/mecanum-drive-controller/default.nix
+++ b/distros/humble/mecanum-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-humble-mecanum-drive-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/mecanum_drive_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "033dd6045b0b0e19dd5ae0ac01125081baf34c3e2fcbd602788bd626f00363f9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/mecanum_drive_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "d8256b38a30fb103fcbca368a41063d4b59f4a75a87bbff52e96bb6c7ee47edb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/motion-capture-tracking-interfaces/default.nix b/distros/humble/motion-capture-tracking-interfaces/default.nix
index 12bf98cd697..8af887e9b61 100644
--- a/distros/humble/motion-capture-tracking-interfaces/default.nix
+++ b/distros/humble/motion-capture-tracking-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-humble-motion-capture-tracking-interfaces";
-  version = "1.0.6-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/humble/motion_capture_tracking_interfaces/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "78fbb9c63a3dd221f87bc15a4704b4fae3676da4ba2b05aa591a2b371ba34ab3";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/humble/motion_capture_tracking_interfaces/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "ed627259c566b9e6f014500c34fa5601f5d9730af14077276eeccb75f8032561";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/motion-capture-tracking/default.nix b/distros/humble/motion-capture-tracking/default.nix
index 093804e731f..cd3e8132e10 100644
--- a/distros/humble/motion-capture-tracking/default.nix
+++ b/distros/humble/motion-capture-tracking/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, motion-capture-tracking-interfaces, pcl, rclcpp, sensor-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-humble-motion-capture-tracking";
-  version = "1.0.6-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/humble/motion_capture_tracking/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "9848cae38ee70ad2687a3d49116ad66ad566f9e0dc72d675c43010a24b06137e";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/humble/motion_capture_tracking/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "dc4f9e62917353d3bfdade95df5a9c34ec28e7f3bf75cc08eedd29caf2e88971";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/mrpt-apps-cli/default.nix b/distros/humble/mrpt-apps-cli/default.nix
index 5ac1c7bc46d..b5e54e8eacf 100644
--- a/distros/humble/mrpt-apps-cli/default.nix
+++ b/distros/humble/mrpt-apps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-libapps-cli }:
 buildRosPackage {
   pname = "ros-humble-mrpt-apps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_apps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "73a899a2441f1b69013c54ce36ebb56fcf8de43175247d1ce15770f59ecb22ac";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_apps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e885a2215a04ac8713f7f95b4661a68f3a8c8fb47b74188b31a46931d4eeaccc";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-apps-gui/default.nix b/distros/humble/mrpt-apps-gui/default.nix
index 80f3a446fc2..9fa184913b6 100644
--- a/distros/humble/mrpt-apps-gui/default.nix
+++ b/distros/humble/mrpt-apps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-graphslam, mrpt-kinematics, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-humble-mrpt-apps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_apps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "47d8785afa998498db0fbf5ed39b0c4a9974c97ca57f822bcd5ea19916760a2e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_apps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a0fd3690a2911a07d85047b9afe23982dcad18f3906acae04cb48066f8ece443";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-apps/default.nix b/distros/humble/mrpt-apps/default.nix
index 71b217af19b..5fd8277d177 100644
--- a/distros/humble/mrpt-apps/default.nix
+++ b/distros/humble/mrpt-apps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libapps, mrpt-libnav, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-apps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_apps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "42a8bd0906606599c6aa2a4920fd029fa937bdc87205de778f9ea2d3bb3cf84d";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_apps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "ffbf7cc1fc32415a71c2b68b1b791bb5026c0526392f0d848813dac8c43322c0";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-bayes/default.nix b/distros/humble/mrpt-bayes/default.nix
index c71b6c1367e..8f20e813930 100644
--- a/distros/humble/mrpt-bayes/default.nix
+++ b/distros/humble/mrpt-bayes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-config, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-bayes";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_bayes/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "0ce6366b46edb1129d59746fa01b66bf871ac7fc62351f9ba1e09f24ddaec7fc";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_bayes/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "5d9a156ba5297982ebd9bf17378bbd0ec941e589d6989cf89865ec5e544d4090";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-common/default.nix b/distros/humble/mrpt-common/default.nix
index 12a6832b3e3..12a7579f79c 100644
--- a/distros/humble/mrpt-common/default.nix
+++ b/distros/humble/mrpt-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, gtest }:
 buildRosPackage {
   pname = "ros-humble-mrpt-common";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_common/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "84f663d1021b2c3c062bce59fac212d3407bd2d89aa39c440350de3074a3a12f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_common/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a923f0c71a03fc3e4f0ee7494f92c69e262ebed7ec88405fb043b1dfa5ce5e72";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-comms/default.nix b/distros/humble/mrpt-comms/default.nix
index 23c39365b6b..b34fbcad9fe 100644
--- a/distros/humble/mrpt-comms/default.nix
+++ b/distros/humble/mrpt-comms/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libftdi1, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-comms";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_comms/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "217e99642d7c224cd8f843629782820578e92c98b3b8258ba3d5482d44e5623f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_comms/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7ee66c8d2202c2fa28cb27d1c82b62b4dc77814aac5dfd2d2bdb9cb11556a9e3";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libftdi1 python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-poses ];
   propagatedBuildInputs = [ mrpt-common mrpt-io ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/humble/mrpt-config/default.nix b/distros/humble/mrpt-config/default.nix
index e26ff0bdcb6..01b9d7a8ca9 100644
--- a/distros/humble/mrpt-config/default.nix
+++ b/distros/humble/mrpt-config/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-expr, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, _unresolved_libsimpleini-dev, cmake, icu, mrpt-common, mrpt-expr, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-config";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_config/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "a7be5fdc470b1ea4019eb2879e90abc1b0d07fa96669f924911cc8ac80d14067";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_config/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "95726ba7909f2fb7e397f0fc652cf0576ef6fc53e07f2c1a8e37efc394ce72a2";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ _unresolved_libsimpleini-dev cmake icu python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-expr ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mrpt-containers/default.nix b/distros/humble/mrpt-containers/default.nix
index 3d83e7af5be..2159e139fec 100644
--- a/distros/humble/mrpt-containers/default.nix
+++ b/distros/humble/mrpt-containers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libfyaml, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-containers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_containers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ee6b2a10079f14532f6f5f6a96346d04460d888da54eb276322b3d680194357a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_containers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1326d62a45a98261449a50bacaecd51ffc34f8a99ccf5af2ec8f680369f05559";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libfyaml python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-core mrpt-typemeta ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mrpt-core/default.nix b/distros/humble/mrpt-core/default.nix
index 8281e574f30..0a231f0ae3d 100644
--- a/distros/humble/mrpt-core/default.nix
+++ b/distros/humble/mrpt-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-core";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_core/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3539d3245a071fd11f42b84084afa7a1f4ab8e76adbf998d8a1af8fb10d729b6";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_core/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "57eed284a4bd79375f604ba1c1ae094ba41fb92bd5510fceee809d0240cfc42a";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-data/default.nix b/distros/humble/mrpt-data/default.nix
index f9c3076e228..5b84338ad32 100644
--- a/distros/humble/mrpt-data/default.nix
+++ b/distros/humble/mrpt-data/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-humble-mrpt-data";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_data/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "d19cf405ab0817f36c26fd74d28360e079c3c79c26959844ba3fdb453b39261f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_data/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "6f48e7678b9032d32278e3f755a24b3f8c5286ffb5077b578d604a258fc2f9f2";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-examples-cpp/default.nix b/distros/humble/mrpt-examples-cpp/default.nix
index fa5a1c43a94..5c85968bb01 100644
--- a/distros/humble/mrpt-examples-cpp/default.nix
+++ b/distros/humble/mrpt-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, glfw3, mrpt-common, mrpt-data, mrpt-graphslam, mrpt-gui, mrpt-imgui, mrpt-libapps-cli, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-humble-mrpt-examples-cpp";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_examples_cpp/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "96f76e12b802996c74c30756780db393362fe99f7591116cd9a501712ea675dd";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_examples_cpp/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "5537d0c8a664e6de9980314170391002eda937a99ef2a674b03e04595d797c47";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-expr/default.nix b/distros/humble/mrpt-expr/default.nix
index 1b9d65c1fdd..d889923c5f5 100644
--- a/distros/humble/mrpt-expr/default.nix
+++ b/distros/humble/mrpt-expr/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-expr";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_expr/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "013a3015cd20c92375d90893d0195f6dd0d1a91b80bc0b8966f6f1a45188b8ca";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_expr/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "28aecc0cf6911f17223da501cb01980231bfb7086b2cba1992d15a01097b7bc9";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-graphs/default.nix b/distros/humble/mrpt-graphs/default.nix
index 1e31c804fb8..eca28d7923c 100644
--- a/distros/humble/mrpt-graphs/default.nix
+++ b/distros/humble/mrpt-graphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-poses, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-graphs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_graphs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "03dc33a9daf05bd42a370b2ab503af74e86dd7791fdce9e998fb3de4ff327a70";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_graphs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "eb02126071fb876e20f2dcc4721f37cfca16ba712cbc1c88295ff16ef82ea42b";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-graphslam/default.nix b/distros/humble/mrpt-graphslam/default.nix
index ac6f3bb5d0b..68b02358ba4 100644
--- a/distros/humble/mrpt-graphslam/default.nix
+++ b/distros/humble/mrpt-graphslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-slam }:
 buildRosPackage {
   pname = "ros-humble-mrpt-graphslam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_graphslam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4d9e6ccc5120847f982acef908fb73af8f1ceb68bbd74285fcc70dda17b38b4e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_graphslam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f4f30ed220c8485a4a28384727f29d8ab9f93641eca6e1c5904e6e45c8dd3f26";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-gui/default.nix b/distros/humble/mrpt-gui/default.nix
index 5d1ee9dda69..4c60f9c54b4 100644
--- a/distros/humble/mrpt-gui/default.nix
+++ b/distros/humble/mrpt-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, libGL, libGLU, libxrandr, libxxf86vm, mrpt-opengl, python3, python3Packages, qt5, wxGTK32 }:
 buildRosPackage {
   pname = "ros-humble-mrpt-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "abb8fb71b93ea5d37a03cfc22e30891bf4c8ccc9f565166dd7aeafc054bf2c3e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "10fea1887ef4bf01831ac76687a3192e5f56b34d7f519e4d19cf78aaffe2550f";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-hwdrivers/default.nix b/distros/humble/mrpt-hwdrivers/default.nix
index 1250ed82e2e..c75eee3f790 100644
--- a/distros/humble/mrpt-hwdrivers/default.nix
+++ b/distros/humble/mrpt-hwdrivers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-comms, mrpt-maps, mrpt-viz }:
+{ lib, buildRosPackage, fetchurl, cmake, ffmpeg, libdc1394, libpcap, libusb1, mrpt-comms, mrpt-maps, mrpt-viz, openni2 }:
 buildRosPackage {
   pname = "ros-humble-mrpt-hwdrivers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_hwdrivers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "04203a086479a17fee8a11fbc3caead4a3a442b57231d52e90f2bada970e2e62";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_hwdrivers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "6b5bcdf5a52b6ebffa223b2b96b1b817c3070e217d8c90f4c47710a70d1fe454";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake ];
+  buildInputs = [ cmake ffmpeg libdc1394 libpcap libusb1 openni2 ];
   propagatedBuildInputs = [ mrpt-comms mrpt-maps mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mrpt-img/default.nix b/distros/humble/mrpt-img/default.nix
index e05d1ef29be..68016d56a78 100644
--- a/distros/humble/mrpt-img/default.nix
+++ b/distros/humble/mrpt-img/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, mrpt-common, mrpt-config, mrpt-io, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-img";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_img/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "54a610b0c13228e4b0962e0d50e93e784030aae8905d4c8b0c62e286637a2d76";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_img/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d382259d8b1b38d866220004ac6ef980c0f1c18a7660a0a58f6e8a55d39ffdfb";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-imgui/default.nix b/distros/humble/mrpt-imgui/default.nix
index af6130133dc..d82b625bbcb 100644
--- a/distros/humble/mrpt-imgui/default.nix
+++ b/distros/humble/mrpt-imgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-opengl }:
 buildRosPackage {
   pname = "ros-humble-mrpt-imgui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_imgui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e794239cecacd84efb5bf5ce5b3bd0765b185d0d2e6dc093f524a57c08acd089";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_imgui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "bab708a27024c6813842f8885cc2dd5f98c36eb2501eb00ceca50635543a8740";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-io/default.nix b/distros/humble/mrpt-io/default.nix
index 571fc2309e0..1c638073208 100644
--- a/distros/humble/mrpt-io/default.nix
+++ b/distros/humble/mrpt-io/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages, zstd }:
 buildRosPackage {
   pname = "ros-humble-mrpt-io";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_io/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b487c50900bca2318342d4019328bf70d3919df0214417e092b969a59380e1e5";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_io/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e19d5bd1e50811587dd6ba0439f9f54e6609df257ef328a51f6e1a36035c627c";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-kinematics/default.nix b/distros/humble/mrpt-kinematics/default.nix
index 46d23a1b8fd..d591a8735fd 100644
--- a/distros/humble/mrpt-kinematics/default.nix
+++ b/distros/humble/mrpt-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-kinematics";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_kinematics/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9b09291035e9d0403a35ec66f4f7abf33ce98ebccfc8c1842d286266ca14e7ba";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_kinematics/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8d7d3be7189cd7f64bcda34cc737aec03884930dbe0cee3a95fa3a4900f7384a";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libapps-cli/default.nix b/distros/humble/mrpt-libapps-cli/default.nix
index 3690f97e9e0..6278c42ed16 100644
--- a/distros/humble/mrpt-libapps-cli/default.nix
+++ b/distros/humble/mrpt-libapps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cli11, cmake, mrpt-hwdrivers, mrpt-slam, mrpt-topography }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libapps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_libapps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e8aeb91527d78847f8591fdab39b7655bc71ceaa7a88d8451c749d1c63c67c7d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_libapps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "6e25615630854f32f2e409fe7871334b646e67a24c272a62e343c4c0795d91fd";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libapps-gui/default.nix b/distros/humble/mrpt-libapps-gui/default.nix
index 341364ce8fd..d31ffd93269 100644
--- a/distros/humble/mrpt-libapps-gui/default.nix
+++ b/distros/humble/mrpt-libapps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-libapps-cli, wxGTK32 }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libapps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_libapps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "244e2e2da0f1f6f6d634f54bd697b4b7f1d7f15cdd944d8a4126518ea77138bc";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_libapps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3736ffe3a8ff11cef8bcf3b08ddead0a55e8fd89239497c3bf08ef5597c19ad7";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libapps/default.nix b/distros/humble/mrpt-libapps/default.nix
index 7fc70d0d2ca..7971dc7a1f2 100644
--- a/distros/humble/mrpt-libapps/default.nix
+++ b/distros/humble/mrpt-libapps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libhwdrivers, mrpt-libmaps, mrpt-libslam, mrpt-libtclap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libapps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libapps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "f53ea8881fbf2ac0f8a64309633111f4c6c5b7ea1d3c7720f54f8eda47784704";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libapps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "b3454be4d7eaf34637175a0a704ff2c0fbf7e923fd5e0b7a1f9089bbe611c438";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libbase/default.nix b/distros/humble/mrpt-libbase/default.nix
index 341d9a18e25..c63bcf50483 100644
--- a/distros/humble/mrpt-libbase/default.nix
+++ b/distros/humble/mrpt-libbase/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, onetbb, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib, zstd }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libbase";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libbase/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "7ff8afc74f243243821f3420be613899fc3de0fe03494f91f65fdb7ceb050cad";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libbase/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "16283bbb268e82c3d68002d08f46236f4e148baad0867c95e6ccdd7756d68275";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libgui/default.nix b/distros/humble/mrpt-libgui/default.nix
index bae80fb52d5..0dfe1bd45de 100644
--- a/distros/humble/mrpt-libgui/default.nix
+++ b/distros/humble/mrpt-libgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libgui";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libgui/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "375dd43e2fac9acbec5ddfac2bcc0b0a0ab83119e94c63bb0c5cbf95edbc4669";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libgui/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "532656f959f28de88dd1d52684cfacc6f37a4fbc908073f8f0038c7f2a267dc4";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libhwdrivers/default.nix b/distros/humble/mrpt-libhwdrivers/default.nix
index 6a58d9a2d11..3a980f990bd 100644
--- a/distros/humble/mrpt-libhwdrivers/default.nix
+++ b/distros/humble/mrpt-libhwdrivers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libmaps, mrpt-libslam, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libhwdrivers";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libhwdrivers/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "52a42303e37e25f9d458d29a7d4dd8a2820bca7a3f7af8edf4ed5af3ff860477";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libhwdrivers/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e2720c019215e946859f055a2ec362b8942f9bbb81bb2e143044f0202d1894b4";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libmaps/default.nix b/distros/humble/mrpt-libmaps/default.nix
index a2359c728b6..a6030f8c836 100644
--- a/distros/humble/mrpt-libmaps/default.nix
+++ b/distros/humble/mrpt-libmaps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libobs, octomap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libmaps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libmaps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "661b5924c8a4d3a7e3772ab6593ef2b000118c64880c71ca3d82bf797962faa5";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libmaps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "645387f5129d2b789e6020b361ae698f1423fccc7405538394cd0f88977e4a9e";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libmath/default.nix b/distros/humble/mrpt-libmath/default.nix
index 8b9582c1fdd..5ee001a315f 100644
--- a/distros/humble/mrpt-libmath/default.nix
+++ b/distros/humble/mrpt-libmath/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libmath";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libmath/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "686c64db6b14001ab7f78b0b4d13cd42cccf57cff32b2b88852034aace0d70e8";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libmath/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "1a006df520277a0a75e28d36f6f2b3006ac5298fb0eb3d00ecc9189acc7ccf2f";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libnav/default.nix b/distros/humble/mrpt-libnav/default.nix
index 3c6f2d3c098..78e1479e779 100644
--- a/distros/humble/mrpt-libnav/default.nix
+++ b/distros/humble/mrpt-libnav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libnav";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libnav/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "bc74b688c1838e470f9258e4b1846b737ec4c6de1815e584caa38ca266fe1331";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libnav/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "ab00279c5c9ece8c12859188e9c5c7c6812b9817ead244159db8d20c39a84598";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libobs/default.nix b/distros/humble/mrpt-libobs/default.nix
index 534e3070a26..cebba7580a2 100644
--- a/distros/humble/mrpt-libobs/default.nix
+++ b/distros/humble/mrpt-libobs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libobs";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libobs/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "a75acc217752d7d77551cbc8823acfcbd32ff43a82e05db99ac8af805c22a701";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libobs/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "1e4c2625fbe75d8612ab6cda84a4dc0d8eb49fcba087ad96c74fe325fc3bf5d6";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libopengl/default.nix b/distros/humble/mrpt-libopengl/default.nix
index 4fb42f7ca1b..2914e502c7c 100644
--- a/distros/humble/mrpt-libopengl/default.nix
+++ b/distros/humble/mrpt-libopengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libopengl";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libopengl/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "58d8174780ba772d254a0a4ad5f8d914e0b5a74c99ad3a74ca7725646d2277a1";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libopengl/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "0651ae141c856983995a15c664c646f174670a6ebcf2057f6f1d246ad53c8a17";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libposes/default.nix b/distros/humble/mrpt-libposes/default.nix
index 5bc94c00afb..6fd25b41251 100644
--- a/distros/humble/mrpt-libposes/default.nix
+++ b/distros/humble/mrpt-libposes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libmath, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libposes";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libposes/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "0e22a65773da2a705879ba1f99fd4d4e4c0d25545956e5bc19db44776a3b911f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libposes/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "45daf63a5e564f1e3854e01bba9372445e03839f66aa41bdc3e0a83c28327581";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libslam/default.nix b/distros/humble/mrpt-libslam/default.nix
index 17a64972089..3d8ddad9357 100644
--- a/distros/humble/mrpt-libslam/default.nix
+++ b/distros/humble/mrpt-libslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, onetbb, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libslam";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libslam/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "76665fefa4067cbe0d243cf986cf91e7d1ee1d430b401332f85fbab92be106fd";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libslam/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "68e317f6eee0e17b6ef7073838f18f2a5f63dd94475a20bcad3a05190bcfa79c";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-libtclap/default.nix b/distros/humble/mrpt-libtclap/default.nix
index 31990c0acb7..d59f70f1a72 100644
--- a/distros/humble/mrpt-libtclap/default.nix
+++ b/distros/humble/mrpt-libtclap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-humble-mrpt-libtclap";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libtclap/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "70827ffbb8bcb3b12385150b884669ef95f9382a7721eb601403cec2cfe8355f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/humble/mrpt_libtclap/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "761233c1e558c3e6ab6a7b045aed139b8be9ba8c94c31dfeb9b51971f055b636";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-maps/default.nix b/distros/humble/mrpt-maps/default.nix
index 65c8719307c..a362c2304f1 100644
--- a/distros/humble/mrpt-maps/default.nix
+++ b/distros/humble/mrpt-maps/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, octomap, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-maps";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_maps/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "18fefd19251b50c3eecb38122140ff910aabf681c679d81ae56aaaa2251aa8b3";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_maps/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ca81d41284bbc7c8f1ade5f301f66e458f076c9f9eb72f0cc6917babee41c6cb";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen octomap python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-graphs mrpt-obs ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mrpt-math/default.nix b/distros/humble/mrpt-math/default.nix
index fcdc79057db..e5a05b7599e 100644
--- a/distros/humble/mrpt-math/default.nix
+++ b/distros/humble/mrpt-math/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, nanoflann, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-math";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_math/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7101e243f306318463651b3bf20ee45c568da398a684573c5b421edff6166876";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_math/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "fd96e0bd22d3c30dbdc0712f39633e753d011e751e174d0acc76674eec8312da";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen nanoflann python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-io ];
   propagatedBuildInputs = [ mrpt-common mrpt-random mrpt-serialization mrpt-system ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/humble/mrpt-nav/default.nix b/distros/humble/mrpt-nav/default.nix
index 86793a71175..093f3c77cb1 100644
--- a/distros/humble/mrpt-nav/default.nix
+++ b/distros/humble/mrpt-nav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-kinematics, mrpt-maps, mrpt-viz }:
 buildRosPackage {
   pname = "ros-humble-mrpt-nav";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_nav/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f6c16ab5ca0f70cf37a82ad45240af82a6e2eeeef94bad3d82f08134624272bd";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_nav/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "faab4b37bc93ae11c64b32498eb9d4462060c769768b655bd889909dc5190a21";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-obs/default.nix b/distros/humble/mrpt-obs/default.nix
index f848e7a3699..ce5f8df1672 100644
--- a/distros/humble/mrpt-obs/default.nix
+++ b/distros/humble/mrpt-obs/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-humble-mrpt-obs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_obs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "8f26a4b35833fa75602fd3bb923c294fc592fe92830f40d3e2f78c9a4a241c67";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_obs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a949a355ae8214b3c0c00ab464c5e9329b4261c937a8a2e94fb6da8842d7fc1d";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen python3 python3Packages.pybind11 tinyxml-2 ];
   propagatedBuildInputs = [ mrpt-common mrpt-tfest mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/humble/mrpt-opengl/default.nix b/distros/humble/mrpt-opengl/default.nix
index f16bd84f837..f591b07f985 100644
--- a/distros/humble/mrpt-opengl/default.nix
+++ b/distros/humble/mrpt-opengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, libGL, libGLU, mrpt-img, mrpt-poses, mrpt-viz }:
 buildRosPackage {
   pname = "ros-humble-mrpt-opengl";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_opengl/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9847ed076269726053f65e1085cf26cc1dc5747d3ada6e8be14fd83a2e137765";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_opengl/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "bf2ea6c55ac650b9f8b4a880efb404ecc09a5a5196199bb08585df9c352e8089";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-poses/default.nix b/distros/humble/mrpt-poses/default.nix
index 41020f6f14e..44ab686cc65 100644
--- a/distros/humble/mrpt-poses/default.nix
+++ b/distros/humble/mrpt-poses/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-bayes, mrpt-common, mrpt-io, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-poses";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_poses/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "101f6ea59f7206a91957a5bf0a04686b62f7fb1ba12ef486d4bccc2cbc72de8e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_poses/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ce07170cb51c46b2d3ce488eeabc8ae58ebd7d1d0f0259205411e4e06a99413d";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-random/default.nix b/distros/humble/mrpt-random/default.nix
index 11e3bf3b810..31208b3e915 100644
--- a/distros/humble/mrpt-random/default.nix
+++ b/distros/humble/mrpt-random/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-random";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_random/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f406e0df6eba06be8cd263f9fb8a23c32a9474cf39212e8d6b007d8970f823d1";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_random/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c1d52713b1ae1022cc90f5fd4443bb6176a3ad19e50ab21d6ee7173f5e2c7181";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-rtti/default.nix b/distros/humble/mrpt-rtti/default.nix
index 2855dc0563e..fe4f743b367 100644
--- a/distros/humble/mrpt-rtti/default.nix
+++ b/distros/humble/mrpt-rtti/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-rtti";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_rtti/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "008c25cd217d5135342677f114ad3d65de0c05cd152e9ea262f881b601e5d684";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_rtti/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "eac635012f312d8887ef2c3d8ffca8f89aac2e67539ce3739c83b4d79abe7c99";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-serialization/default.nix b/distros/humble/mrpt-serialization/default.nix
index 8b181ab8e8a..8020861aeb5 100644
--- a/distros/humble/mrpt-serialization/default.nix
+++ b/distros/humble/mrpt-serialization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-rtti, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-serialization";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_serialization/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f373c0b7bd15ef7327d66c6f81c47169d799c69c739ec29e0410c70d36812fb1";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_serialization/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "328ec16818854569b50eaa72279964f57dbde84d3c7bd18dd361dfe490a90f2d";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-slam/default.nix b/distros/humble/mrpt-slam/default.nix
index 45ea88a940e..3f722ba8e03 100644
--- a/distros/humble/mrpt-slam/default.nix
+++ b/distros/humble/mrpt-slam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-maps, mrpt-topography, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-slam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_slam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "efb8abaed9081c3b35ca2d44240b0eaff6cd077f7c06e5d99e296fa52352e475";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_slam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "63271905b6e2b0aecd20e862c2077e93d5e2bfde888c27170fa09fa8ea5d963b";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-system/default.nix b/distros/humble/mrpt-system/default.nix
index f2087da07d4..c93b8d6614e 100644
--- a/distros/humble/mrpt-system/default.nix
+++ b/distros/humble/mrpt-system/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-containers, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-system";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_system/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9b021f1298ccdd4a740cef43cb85951e5949529d5b5e97f2a1051024862909cc";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_system/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "4ca9e6679a617645ae8fa547e58aea23c1dfea1d22a53d16d7c904e07d1d8b50";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-tfest/default.nix b/distros/humble/mrpt-tfest/default.nix
index 74f7be6bc88..37a5d74a4c4 100644
--- a/distros/humble/mrpt-tfest/default.nix
+++ b/distros/humble/mrpt-tfest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-tfest";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_tfest/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ba5ef1113e45f8533feeec01ff4b36d0e9afb0b4620490dba29b54eb96efc6f2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_tfest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "4d93c9b406f418e98ef35c9972294d82f8b7273cdda7f211fc13f914a636b00c";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-topography/default.nix b/distros/humble/mrpt-topography/default.nix
index e1d8f048726..d33e7794cbc 100644
--- a/distros/humble/mrpt-topography/default.nix
+++ b/distros/humble/mrpt-topography/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-topography";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_topography/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1428aaf9df5498a5b325a7437fd212e94183e518924fd3d8af0065558706d985";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_topography/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e52311e9544dbebe05c60977bdcdbbade3c20997b699e0fda2ee14618d00c9d0";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-typemeta/default.nix b/distros/humble/mrpt-typemeta/default.nix
index e001e47c615..57a7c30e355 100644
--- a/distros/humble/mrpt-typemeta/default.nix
+++ b/distros/humble/mrpt-typemeta/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common }:
 buildRosPackage {
   pname = "ros-humble-mrpt-typemeta";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_typemeta/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "31672fd49bddba53345eef2b4724778a4306bd886222f6c973df4b73b33d2633";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_typemeta/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c266ba083c8d2ea77bcd62284c842139a04695ef36a6fc8a629c0fa2b7d0a612";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/mrpt-viz/default.nix b/distros/humble/mrpt-viz/default.nix
index 6a027375e36..315d2243688 100644
--- a/distros/humble/mrpt-viz/default.nix
+++ b/distros/humble/mrpt-viz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, mrpt-common, mrpt-img, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-humble-mrpt-viz";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_viz/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3bd96e0d622b1fbf1adfcafeaa16d2050bdc803aa60861e7d5a3870d87236ddb";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/humble/mrpt_viz/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "64836d9a989520a03d57e4cb28e481d1b381a720af2484412c31bed75541e40b";
   };
 
   buildType = "cmake";
diff --git a/distros/humble/pid-controller/default.nix b/distros/humble/pid-controller/default.nix
index 7f82797691f..8dc8ff65d78 100644
--- a/distros/humble/pid-controller/default.nix
+++ b/distros/humble/pid-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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-humble-pid-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/pid_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "83518c15a101cdb32bcb1edf1a73fd53585f7e956fbbc26c9597154a97afcde8";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/pid_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "09e16d401c5b1314df5ab2e6e229f2c3c6ac9834de90f6bd8548ae669f832eb3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/point-cloud-transport-py/default.nix b/distros/humble/point-cloud-transport-py/default.nix
index 3c1a9c95163..083b7536292 100644
--- a/distros/humble/point-cloud-transport-py/default.nix
+++ b/distros/humble/point-cloud-transport-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, pybind11-vendor, python-cmake-module, rclcpp, rpyutils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-point-cloud-transport-py";
-  version = "1.0.22-r1";
+  version = "1.0.23-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/humble/point_cloud_transport_py/1.0.22-1.tar.gz";
-    name = "1.0.22-1.tar.gz";
-    sha256 = "f7cf1f65cc20895cb7326971a60caa7ff9f4a46e656c2cd170232a3a70d93910";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/humble/point_cloud_transport_py/1.0.23-1.tar.gz";
+    name = "1.0.23-1.tar.gz";
+    sha256 = "790daa58f50992e4843560e56093c33f4f78526e82a31cc9c531b2d75839595d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/point-cloud-transport/default.nix b/distros/humble/point-cloud-transport/default.nix
index 26b096a836d..f894b344777 100644
--- a/distros/humble/point-cloud-transport/default.nix
+++ b/distros/humble/point-cloud-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-ros, ament-lint-auto, ament-lint-common, message-filters, pluginlib, rclcpp, rclcpp-components, rcpputils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-point-cloud-transport";
-  version = "1.0.22-r1";
+  version = "1.0.23-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/humble/point_cloud_transport/1.0.22-1.tar.gz";
-    name = "1.0.22-1.tar.gz";
-    sha256 = "89d8bc1d9da6245d908d85b74c3199b1643fc13a259abdee6786acaed88db440";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/humble/point_cloud_transport/1.0.23-1.tar.gz";
+    name = "1.0.23-1.tar.gz";
+    sha256 = "036db701f4cea05bc92c0f5e958df67cfdfe58dc8132a9355d1158ea4be80d69";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/pose-broadcaster/default.nix b/distros/humble/pose-broadcaster/default.nix
index 0a73ace02f8..0a10d89ff07 100644
--- a/distros/humble/pose-broadcaster/default.nix
+++ b/distros/humble/pose-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-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, tf2-msgs }:
 buildRosPackage {
   pname = "ros-humble-pose-broadcaster";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/pose_broadcaster/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "58afefdae3fef4ba5c63ff7de1456375c964f5e4f308cf7f92d0c18208cd218c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/pose_broadcaster/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "25a01a82b867aa0649e452ba72ae128a895c9fda06b5f376a01627607b7e238e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/position-controllers/default.nix b/distros/humble/position-controllers/default.nix
index 7b6c7884d9e..a14d67d48c2 100644
--- a/distros/humble/position-controllers/default.nix
+++ b/distros/humble/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-humble-position-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/position_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "ccba3d477919ec00aa38805336eb5b0cec7990e49ef7c962c3f057d57947cca3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/position_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "e63c411961c5dc706097ecded2442353834b29bc0876215b2530177ceae74237";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/range-sensor-broadcaster/default.nix b/distros/humble/range-sensor-broadcaster/default.nix
index c08e256d5e1..07418c30490 100644
--- a/distros/humble/range-sensor-broadcaster/default.nix
+++ b/distros/humble/range-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-humble-range-sensor-broadcaster";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/range_sensor_broadcaster/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "72f6bb629861c1732acfb032d5009603ff4a0cc124d047682368d49ac24bdf39";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/range_sensor_broadcaster/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "c27e2db1e0256aebc7dc284beefb326c395ff337e01017021d24a7bff731bf6b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/rcpputils/default.nix b/distros/humble/rcpputils/default.nix
index f71a88f3cfa..25465646526 100644
--- a/distros/humble/rcpputils/default.nix
+++ b/distros/humble/rcpputils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros, ament-cmake-uncrustify, ament-cmake-xmllint, rcutils }:
 buildRosPackage {
   pname = "ros-humble-rcpputils";
-  version = "2.4.6-r1";
+  version = "2.4.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/humble/rcpputils/2.4.6-1.tar.gz";
-    name = "2.4.6-1.tar.gz";
-    sha256 = "cf99d1c39dd1bc6c012b32d1b7236ba41751f8fb6c5c53680c7906da32686a69";
+    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/humble/rcpputils/2.4.7-1.tar.gz";
+    name = "2.4.7-1.tar.gz";
+    sha256 = "1ca1f34e239ba4ac2f80d44c9be2c796b0c56743f6d52fc96dc38f01b4a8b92f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ros2-controllers-test-nodes/default.nix b/distros/humble/ros2-controllers-test-nodes/default.nix
index 60be485f627..13e90ff86f4 100644
--- a/distros/humble/ros2-controllers-test-nodes/default.nix
+++ b/distros/humble/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, launch-ros, launch-testing-ros, python3Packages, rclpy, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-ros2-controllers-test-nodes";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ros2_controllers_test_nodes/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "413550d327ea308e04d4ae5197d3646ed867dbdc02aebded28b2bf83c2ba298c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ros2_controllers_test_nodes/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "c290be6c0a5752005b57e2aaffb2c481c282d680d6c15df8006318d327cf7578";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/ros2-controllers/default.nix b/distros/humble/ros2-controllers/default.nix
index 03d268429a7..bf2db5ab1e2 100644
--- a/distros/humble/ros2-controllers/default.nix
+++ b/distros/humble/ros2-controllers/default.nix
@@ -5,12 +5,12 @@
 { 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, gpio-controllers, gripper-controllers, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, mecanum-drive-controller, pid-controller, pose-broadcaster, position-controllers, range-sensor-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
 buildRosPackage {
   pname = "ros-humble-ros2-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ros2_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "a7d20599ed7a60eda2b267335de56fe81cbdafaf4e7444bcabb2cabdbe45cf57";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/ros2_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "3ce153266a79daf017cb0a48fc15ea8aeeda2be151b8c10c5cfe7981e402476d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ros2launch/default.nix b/distros/humble/ros2launch/default.nix
index 732baa8bc85..0ec0b83b1a4 100644
--- a/distros/humble/ros2launch/default.nix
+++ b/distros/humble/ros2launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, launch, launch-ros, launch-xml, launch-yaml, python3Packages, ros2cli, ros2pkg }:
 buildRosPackage {
   pname = "ros-humble-ros2launch";
-  version = "0.19.13-r1";
+  version = "0.19.14-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/ros2launch/0.19.13-1.tar.gz";
-    name = "0.19.13-1.tar.gz";
-    sha256 = "eef6e139c56ca5299373e2c46f2db633f319cf2164c06b3899ef0d64fdac833e";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/humble/ros2launch/0.19.14-1.tar.gz";
+    name = "0.19.14-1.tar.gz";
+    sha256 = "46c19b90743c30e37a089899d995a75843c2e823ab372b95bc4b52d011093a84";
   };
 
   buildType = "ament_python";
diff --git a/distros/humble/rqt-joint-trajectory-controller/default.nix b/distros/humble/rqt-joint-trajectory-controller/default.nix
index ab190747c8f..f7e3b7fff80 100644
--- a/distros/humble/rqt-joint-trajectory-controller/default.nix
+++ b/distros/humble/rqt-joint-trajectory-controller/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, launch-testing, launch-testing-ros, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-rqt-joint-trajectory-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/rqt_joint_trajectory_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "a39bb039d1bd5f3813e09b0e70471561dad052a2fc718e46bd58f44a8a4342aa";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/rqt_joint_trajectory_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "66a11ae74c1249a8f3d8f886c47c8e1e3edbd1c1673a09d274042ca20af55b59";
   };
 
   buildType = "ament_python";
-  checkInputs = [ python3Packages.pytest ];
+  checkInputs = [ launch-testing launch-testing-ros python3Packages.pytest ];
   propagatedBuildInputs = [ control-msgs controller-manager-msgs python-qt-binding python3Packages.rospkg qt-gui rclpy rqt-gui rqt-gui-py trajectory-msgs ];
 
   meta = {
diff --git a/distros/humble/steering-controllers-library/default.nix b/distros/humble/steering-controllers-library/default.nix
index 929df8df5ef..7239c59776d 100644
--- a/distros/humble/steering-controllers-library/default.nix
+++ b/distros/humble/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, 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-humble-steering-controllers-library";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/steering_controllers_library/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "0494a9e202cc42dff465f0ad457abebba5f3cc38f2f57425e406d578a0d95a27";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/steering_controllers_library/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "fac9ce08a833c64337b6be7c31ce9c6acea2c40e5b634e3fa9ed889c3917798d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/swri-console/default.nix b/distros/humble/swri-console/default.nix
index 43dbd9bb8b9..a7e8db7a140 100644
--- a/distros/humble/swri-console/default.nix
+++ b/distros/humble/swri-console/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, qt5, rcl-interfaces, rclcpp, rmw, rosbag2-storage-mcap, rosbag2-transport, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-humble-swri-console";
-  version = "2.1.3-r1";
+  version = "2.1.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/humble/swri_console/2.1.3-1.tar.gz";
-    name = "2.1.3-1.tar.gz";
-    sha256 = "7b79273c8f80f7302dd902ebbce1f4c7854945c9ee7e01ecc072bb5a268846f8";
+    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/humble/swri_console/2.1.4-1.tar.gz";
+    name = "2.1.4-1.tar.gz";
+    sha256 = "75d745738438fb93640458fccf93b9253f498a87f3aa660a39f0cbcdc860dccc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/tricycle-controller/default.nix b/distros/humble/tricycle-controller/default.nix
index fc52b8754a9..5e7616f562d 100644
--- a/distros/humble/tricycle-controller/default.nix
+++ b/distros/humble/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, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-humble-tricycle-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/tricycle_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "b372e0a57c835d963e33fafb3a226909d6ce730b5e80f09063a847bc6eaa0682";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/tricycle_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "7a29d7edbebee9d2ee1db2dde3a048993eeb35dc383baa2b0d1011d8512a3518";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/tricycle-steering-controller/default.nix b/distros/humble/tricycle-steering-controller/default.nix
index 655dc40e10e..161b710f22c 100644
--- a/distros/humble/tricycle-steering-controller/default.nix
+++ b/distros/humble/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-humble-tricycle-steering-controller";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/tricycle_steering_controller/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "1a308ad8d0ec54ae751e20bf27982d465639dc0e191b41bf80f038308447ef7d";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/tricycle_steering_controller/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "9751eba7690b70af229083bbe51560e244e493396e414a87b4cb02d4973bb811";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/ur-msgs/default.nix b/distros/humble/ur-msgs/default.nix
index 73de6846357..7cc1cae5d34 100644
--- a/distros/humble/ur-msgs/default.nix
+++ b/distros/humble/ur-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, control-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-humble-ur-msgs";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/humble/ur_msgs/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "f6ab1f123e540d2d777b03157ffec60b50a351718dc831a82b226d2f6fd79b75";
+    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/humble/ur_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "be46914446dc66d78b58c2c279a3a944160b114a1bc4721a648ff206bd9cfad9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/humble/velocity-controllers/default.nix b/distros/humble/velocity-controllers/default.nix
index 0d911830117..93fc91abdbd 100644
--- a/distros/humble/velocity-controllers/default.nix
+++ b/distros/humble/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, hardware-interface-testing, pluginlib, rclcpp, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-humble-velocity-controllers";
-  version = "2.53.1-r1";
+  version = "2.53.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/velocity_controllers/2.53.1-1.tar.gz";
-    name = "2.53.1-1.tar.gz";
-    sha256 = "e5361b235d7605c4d5075131089ef69209545e019f633a253c6c57db077ef6c3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/humble/velocity_controllers/2.53.2-1.tar.gz";
+    name = "2.53.2-1.tar.gz";
+    sha256 = "ddd8f425294aa9c0ee72aa1878caac9f9a4285ac3bb413e9a791b42c417453bd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/ackermann-steering-controller/default.nix b/distros/jazzy/ackermann-steering-controller/default.nix
index 38e37a9f207..38f6800d825 100644
--- a/distros/jazzy/ackermann-steering-controller/default.nix
+++ b/distros/jazzy/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-jazzy-ackermann-steering-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ackermann_steering_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "96a5cc55b4adab38efb482fd1461dd17e1cb9529620fecee1467a45131107db5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ackermann_steering_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "ff552fd19483d44706f33fbdeddfbdaaa157abb3be31cc97dde90e3aa845fb95";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/admittance-controller/default.nix b/distros/jazzy/admittance-controller/default.nix
index 789370eb7e8..d635edcae3d 100644
--- a/distros/jazzy/admittance-controller/default.nix
+++ b/distros/jazzy/admittance-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, geometry-msgs, hardware-interface, hardware-interface-testing, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, tinyxml-2, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-admittance-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/admittance_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "0c439b44cc257ab9219c2a3d12111e84a8509559de8298c776f9761681c08a00";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/admittance_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "b340b8288acaee0b02bdda1473c1232360eff170814ed61f2a20f80ca0745b35";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/bicycle-steering-controller/default.nix b/distros/jazzy/bicycle-steering-controller/default.nix
index b82fce15cf9..e337ac89735 100644
--- a/distros/jazzy/bicycle-steering-controller/default.nix
+++ b/distros/jazzy/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-jazzy-bicycle-steering-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/bicycle_steering_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "31d02cc6a42a94949c9b4b3adeee9817f99de64d3c96593ae5951c8663b199f4";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/bicycle_steering_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "02f7fa1419527afc1fac96582932a2b43c738201b8072b8d1bcad231ab12935c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/chained-filter-controller/default.nix b/distros/jazzy/chained-filter-controller/default.nix
index 318a6096a4b..e81230f26c4 100644
--- a/distros/jazzy/chained-filter-controller/default.nix
+++ b/distros/jazzy/chained-filter-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, filters, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-chained-filter-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/chained_filter_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "fbdf2b966d2f359355148724e74e36c56051618fb0c17807144633b3b1c38da6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/chained_filter_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "69f122de5f1e65c745325f3c3c42d28d87ce3865e6cb91691d866c30799090d5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-bms-broadcaster/default.nix b/distros/jazzy/clearpath-bms-broadcaster/default.nix
index 85cd4999b2d..b7599255c50 100644
--- a/distros/jazzy/clearpath-bms-broadcaster/default.nix
+++ b/distros/jazzy/clearpath-bms-broadcaster/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, rosidl-default-runtime, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-bms-broadcaster";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_bms_broadcaster/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "0c923b79b2697ecaaf30790d56e0e082b8d42d4b97052579d4ff2ad76a49660c";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_bms_broadcaster/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "84f64e79896a2d3082f7f94c49c93c2e0355aa0acdb4e98e5e925c75f1367e71";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-bt-joy/default.nix b/distros/jazzy/clearpath-bt-joy/default.nix
index 5832c60c8fe..a82a7c411e7 100644
--- a/distros/jazzy/clearpath-bt-joy/default.nix
+++ b/distros/jazzy/clearpath-bt-joy/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, bluez, joy-linux, python3Packages, twist-mux }:
+{ lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, bluez, diagnostic-msgs, diagnostic-updater, python3Packages, rclpy, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-bt-joy";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_bt_joy/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "d15d2f3825753bfea70f41161bce7e6978d7021001a2eaecb2b388863bd0d8e8";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_bt_joy/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "3c62c9ec708b89969082c58aaa30a5790fd0d7e7d8f4550faff37f4857dba994";
   };
 
   buildType = "ament_python";
   checkInputs = [ ament-copyright ament-flake8 ament-pep257 python3Packages.pytest ];
-  propagatedBuildInputs = [ bluez joy-linux twist-mux ];
+  propagatedBuildInputs = [ bluez diagnostic-msgs diagnostic-updater rclpy std-msgs ];
 
   meta = {
     description = "Clearpath bluetooth joy controller signal quality monitoring node";
diff --git a/distros/jazzy/clearpath-common/default.nix b/distros/jazzy/clearpath-common/default.nix
index 661636808d9..143c1700044 100644
--- a/distros/jazzy/clearpath-common/default.nix
+++ b/distros/jazzy/clearpath-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, clearpath-control, clearpath-description, clearpath-generator-common, rmw-cyclonedds-cpp, rmw-fastrtps-cpp, rmw-zenoh-cpp }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-common";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_common/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "1cd3ceb5b1778f40459342708cb08b21d5c4381536564c5ebfdcdb5eccb41628";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_common/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "503730d999030edb808537d0b5f8a821e08611052009686ec5caed8625873b5e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-control/default.nix b/distros/jazzy/clearpath-control/default.nix
index e0fc1131683..8e3ad015959 100644
--- a/distros/jazzy/clearpath-control/default.nix
+++ b/distros/jazzy/clearpath-control/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, clearpath-bt-joy, controller-manager, diff-drive-controller, imu-filter-madgwick, interactive-marker-twist-server, joint-state-broadcaster, joint-trajectory-controller, joy-linux, mecanum-drive-controller, robot-localization, robot-state-publisher, teleop-twist-joy, twist-mux }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-control";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_control/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "68cc730d58a0583d3283456af3adb42e9c3e8fe27b02e9e0eae303286b41f11c";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_control/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "c1b98f3e36702724797b243cdd460f61acd96d51d95dd70a9194a54a5df52594";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-customization/default.nix b/distros/jazzy/clearpath-customization/default.nix
index 1145af24d8c..6167ba95db4 100644
--- a/distros/jazzy/clearpath-customization/default.nix
+++ b/distros/jazzy/clearpath-customization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-customization";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_customization/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "9cd85fadacf720dd49196092929aedb146f317cc89e43d245271063cc9de18bf";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_customization/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "21f199be317493b731420e24a20d8c8056ccc4928666f9b8e80049c192eb3368";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-description/default.nix b/distros/jazzy/clearpath-description/default.nix
index 1118aad689e..b12ddbe8953 100644
--- a/distros/jazzy/clearpath-description/default.nix
+++ b/distros/jazzy/clearpath-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, clearpath-manipulators-description, clearpath-mounts-description, clearpath-platform-description, clearpath-sensors-description }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-description";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_description/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "623bca3d933868e4d69a02f0c900f904f2b0db23b340409188d6acdde4582128";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_description/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "4b6f992b0a45313a68d4368694a80a38edced92a78507be312abb68790d4784d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-diagnostics/default.nix b/distros/jazzy/clearpath-diagnostics/default.nix
index 18121cac765..887581296de 100644
--- a/distros/jazzy/clearpath-diagnostics/default.nix
+++ b/distros/jazzy/clearpath-diagnostics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, clearpath-platform-msgs, diagnostic-aggregator, diagnostic-updater, foxglove-bridge, rclcpp, ros2launch, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-diagnostics";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_diagnostics/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "2152f5e2c2fac9df7a3b783e4a0ae2f2d27cac29d072544d8173a07337ec11b3";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_diagnostics/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "6a9150fc49111e9084c0b8632cd681018ea57729b23f2409c6e88beb361960b2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-generator-common/default.nix b/distros/jazzy/clearpath-generator-common/default.nix
index 50aadf88dc5..95806c71c64 100644
--- a/distros/jazzy/clearpath-generator-common/default.nix
+++ b/distros/jazzy/clearpath-generator-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, _unresolved_python3-apt, ament-cmake, ament-cmake-pytest, ament-lint-auto, ament-lint-common, clearpath-config, clearpath-control, clearpath-description, clearpath-diagnostics, clearpath-manipulators, moveit-setup-srdf-plugins }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-generator-common";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_generator_common/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "f2f511a9ee9126b2076e4a71ac241a324456f9780c5ddc80bc388c70d97140c1";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_generator_common/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "3ec4d50721d3b451eef5d16ea923853a0ae3186b88cd06fe9ddc1359d0a3dcc8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-manipulators-description/default.nix b/distros/jazzy/clearpath-manipulators-description/default.nix
index fc0b0805ab2..e001b1291e9 100644
--- a/distros/jazzy/clearpath-manipulators-description/default.nix
+++ b/distros/jazzy/clearpath-manipulators-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ewellix-description, robot-state-publisher, robotiq-description, ur-description, urdf, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-manipulators-description";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_manipulators_description/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "0d3fc97c3343223e5fb6f81560620f78ef2ed9cf98480d1548ec73b00894867e";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_manipulators_description/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "508177460edce9c915d30abe4491f5016d7c54c61c8ac521cb79910215ef3524";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-manipulators/default.nix b/distros/jazzy/clearpath-manipulators/default.nix
index 5452c773f73..af5619e65d3 100644
--- a/distros/jazzy/clearpath-manipulators/default.nix
+++ b/distros/jazzy/clearpath-manipulators/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, clearpath-manipulators-description, gripper-controllers, moveit-configs-utils, moveit-kinematics, moveit-planners, moveit-planners-chomp, moveit-ros-move-group, moveit-ros-warehouse, moveit-setup-srdf-plugins, moveit-simple-controller-manager, position-controllers, tf2-ros, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-manipulators";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_manipulators/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "5947ba01a32cf2432ec427d89d5cdcc7643f9de39f5332694cad17b3f9a1f252";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_manipulators/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "47eb56823c518e3fe0d12b9b7bcce542476d177665c3f93a4dae72b3739b0dfd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-mounts-description/default.nix b/distros/jazzy/clearpath-mounts-description/default.nix
index 43857671df1..f23444b9189 100644
--- a/distros/jazzy/clearpath-mounts-description/default.nix
+++ b/distros/jazzy/clearpath-mounts-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-mounts-description";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_mounts_description/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "ff930b3eb1dc1241aa52ccb2f493fd625a362129515608b8b2a0c49bfd6bebb8";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_mounts_description/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "de7088eb962f01cf1dd9db01f1e741588a22f765406047aebd915bda1d401105";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-platform-description/default.nix b/distros/jazzy/clearpath-platform-description/default.nix
index dc585edaab2..82c49dec17c 100644
--- a/distros/jazzy/clearpath-platform-description/default.nix
+++ b/distros/jazzy/clearpath-platform-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, robot-state-publisher, urdf, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-platform-description";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_platform_description/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "d054a4af377b39ea284f4e841f25eecc42b6544fa5e604b9204115097da5ee2f";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_platform_description/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "5615708baec9272ef0865b564530a2efaf6256ca46384cf3d2f70413749a9330";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/clearpath-sensors-description/default.nix b/distros/jazzy/clearpath-sensors-description/default.nix
index bf5f6e6ccdb..644b4e2276a 100644
--- a/distros/jazzy/clearpath-sensors-description/default.nix
+++ b/distros/jazzy/clearpath-sensors-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, axis-description, flir-ptu-description, microstrain-inertial-description, realsense2-description, velodyne-description, zed-description }:
 buildRosPackage {
   pname = "ros-jazzy-clearpath-sensors-description";
-  version = "2.9.9-r1";
+  version = "2.9.10-r2";
 
   src = fetchurl {
-    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_sensors_description/2.9.9-1.tar.gz";
-    name = "2.9.9-1.tar.gz";
-    sha256 = "35ad6706145ef26f05acf96f80f101426469225950f3d0ac2f9c805080810bd7";
+    url = "https://github.com/clearpath-gbp/clearpath_common-release/archive/release/jazzy/clearpath_sensors_description/2.9.10-2.tar.gz";
+    name = "2.9.10-2.tar.gz";
+    sha256 = "5ae665dadeeffc256aa4448b1ccf744a33e6512366fdeb76ff02502d36ac40d8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/connection-inspector/default.nix b/distros/jazzy/connection-inspector/default.nix
new file mode 100644
index 00000000000..fb2c54c9332
--- /dev/null
+++ b/distros/jazzy/connection-inspector/default.nix
@@ -0,0 +1,27 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-index-cpp, glfw3, libGL, libGLU, rclcpp, rclpy, ros2launch, std-msgs }:
+buildRosPackage {
+  pname = "ros-jazzy-connection-inspector";
+  version = "1.0.1-r1";
+
+  src = fetchurl {
+    url = "https://github.com/DynoRobotics/connection_inspector-release/archive/release/jazzy/connection_inspector/1.0.1-1.tar.gz";
+    name = "1.0.1-1.tar.gz";
+    sha256 = "51b36a2ebda71f516a6a35a05cc3aa0c8088c337ec92b9dad104ca5bdd93b575";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-gtest ];
+  propagatedBuildInputs = [ ament-index-cpp glfw3 libGL libGLU rclcpp rclpy ros2launch std-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Lightweight C++ GUI to inspect a ROS 2 node's live connections and diagnose
+    broken topic links (QoS incompatibility, type mismatch, dead links).";
+    license = with lib.licenses; [ gpl3Only ];
+  };
+}
diff --git a/distros/jazzy/controller-interface/default.nix b/distros/jazzy/controller-interface/default.nix
index a76043b0931..e70c7a843b1 100644
--- a/distros/jazzy/controller-interface/default.nix
+++ b/distros/jazzy/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, geometry-msgs, hardware-interface, pal-statistics, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-controller-interface";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_interface/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "efb850aa07c8c0af1b8edcd78929e90545979852b89e9db678b8b4eb5a7052bc";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_interface/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "40dc5492a1b615c38f7929cec39a8e436f692cee07e8c65df9ce0edf270fb7b5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/controller-manager-msgs/default.nix b/distros/jazzy/controller-manager-msgs/default.nix
index 597946bf64f..fb25a735f72 100644
--- a/distros/jazzy/controller-manager-msgs/default.nix
+++ b/distros/jazzy/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-controller-manager-msgs";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_manager_msgs/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "1172649e16a4727540f2fd0b83194f895097fb46422b5ef619f4de085a10db79";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_manager_msgs/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "51c19507265d4bfd0fb52732067890f10e56e8b36aa8fc4ba644f9364ee4999f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/controller-manager/default.nix b/distros/jazzy/controller-manager/default.nix
index f04b98273ae..abd830949dd 100644
--- a/distros/jazzy/controller-manager/default.nix
+++ b/distros/jazzy/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-pytest, ament-cmake-python, backward-ros, controller-interface, controller-manager-msgs, diagnostic-updater, example-interfaces, fmt, generate-parameter-library, hardware-interface, hardware-interface-testing, launch, launch-ros, launch-testing, launch-testing-ros, libstatistics-collector, lifecycle-msgs, pluginlib, python3Packages, rcl-interfaces, rclcpp, rclpy, realtime-tools, robot-state-publisher, ros2-control-cmake, ros2-control-test-assets, ros2param, ros2pkg, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-controller-manager";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_manager/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "062c5053d295fe0d1ebcd6e7772adbecfbe920e4ab1fab0b902b6297b95bfd36";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/controller_manager/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "0c98eb29fc4cd2cd04bd7157218b53a4e66945cc624c18ffdf43e2f21c152cc1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/crazyflie-description/default.nix b/distros/jazzy/crazyflie-description/default.nix
new file mode 100644
index 00000000000..2598fd1aa82
--- /dev/null
+++ b/distros/jazzy/crazyflie-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-jazzy-crazyflie-description";
+  version = "1.0.5-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_description/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "77b4f320966c7020bd9bb5f488a7483794881dd7cfa39bb2b0f8d8d7f81f8eb6";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "URDF and mesh assets for the Crazyflie robot";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/jazzy/crazyflie-examples/default.nix b/distros/jazzy/crazyflie-examples/default.nix
index 2100c7471a9..5a3a6caad60 100644
--- a/distros/jazzy/crazyflie-examples/default.nix
+++ b/distros/jazzy/crazyflie-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-py, geometry-msgs, nav-msgs, python3Packages, rclpy, sensor-msgs, tf-transformations, tf2-ros }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie-examples";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_examples/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "db2fda1235769dd556673d4f2c85ee662e3af6094d2871f106b69c0ca90ad90c";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_examples/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "ea16bd51e024c60b9e66d3aff6ff56257ab7300337f912e50d3bd211a88023ed";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/crazyflie-interfaces/default.nix b/distros/jazzy/crazyflie-interfaces/default.nix
index ad18eb12249..8ad4aa76252 100644
--- a/distros/jazzy/crazyflie-interfaces/default.nix
+++ b/distros/jazzy/crazyflie-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie-interfaces";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_interfaces/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "6a3814150ff0c0b47263fe125d1c7418bcfe62db99700ffdd602a170a214cc32";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_interfaces/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "abb8e9faa4326ea6f9600e4a84e37918a0c01efd3d6a0b465ab021e2aa611411";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/crazyflie-py/default.nix b/distros/jazzy/crazyflie-py/default.nix
index 59c03a9a254..5237b7e4664 100644
--- a/distros/jazzy/crazyflie-py/default.nix
+++ b/distros/jazzy/crazyflie-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "367fae8ea98e74a4340116734d99a39d3c86ddd61e03902210c97fb36dbf93d2";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "f627c26435d129c5afe53e869d8c3d7ff6bbba45ebf1f180ff98e62e73f9f225";
   };
 
   buildType = "ament_python";
diff --git a/distros/jazzy/crazyflie-server-py/default.nix b/distros/jazzy/crazyflie-server-py/default.nix
index 38d4c9089af..584973cf9df 100644
--- a/distros/jazzy/crazyflie-server-py/default.nix
+++ b/distros/jazzy/crazyflie-server-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, crazyflie-interfaces, geometry-msgs, motion-capture-tracking-interfaces, nav-msgs, python3Packages, rcl-interfaces, rclpy, sensor-msgs, std-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie-server-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_server_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "e6f95329b6550331f9b4812f68219e60331850485d88991261c065f8ec50043d";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_server_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "77a8b0e85176f180b772c10eea68529a5e2ad48c6a00c43d791f19e792b9f6e0";
   };
 
   buildType = "ament_python";
diff --git a/distros/jazzy/crazyflie-sim/default.nix b/distros/jazzy/crazyflie-sim/default.nix
index f139839e076..49d827b57eb 100644
--- a/distros/jazzy/crazyflie-sim/default.nix
+++ b/distros/jazzy/crazyflie-sim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie-sim";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_sim/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "229c4baa8d1eac057ebc1fbcf200b97c491f8e79b232c03e60d22fe9599d00bf";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie_sim/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "db2f2f94f52dbab05efb65126c556f18c8326ac9eff03885f602b8d9f4fe49a9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/crazyflie/default.nix b/distros/jazzy/crazyflie/default.nix
index 4d2ee6892e6..00fe424262b 100644
--- a/distros/jazzy/crazyflie/default.nix
+++ b/distros/jazzy/crazyflie/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-description, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-jazzy-crazyflie";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "667735ea6c6064b4dcb6d9e5b717aacd7a34448b60de4ee075242e69490595a8";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/jazzy/crazyflie/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "89f2ea435de0cc33de6789de628e686720c36d56ba14f442cbb5655ae71a75e2";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ boost crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
+  propagatedBuildInputs = [ boost crazyflie-description crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/jazzy/diff-drive-controller/default.nix b/distros/jazzy/diff-drive-controller/default.nix
index 04e9ed9e39f..9c200293275 100644
--- a/distros/jazzy/diff-drive-controller/default.nix
+++ b/distros/jazzy/diff-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-diff-drive-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/diff_drive_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "b2aeed5fdd42877509639ee4601a730481725349c578037d83b163df0c449030";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/diff_drive_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "cbc46274e0c1f2fc86186a835169653d821ed9fd1cf9e3550832a8a6d71eff22";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/effort-controllers/default.nix b/distros/jazzy/effort-controllers/default.nix
index d4a75ddf3ff..f563b4d652b 100644
--- a/distros/jazzy/effort-controllers/default.nix
+++ b/distros/jazzy/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-effort-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/effort_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "7baea8795577099808150c342f84a2550a8e71de60072a95faa868c29e6b973c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/effort_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "f4724373d5779130b56336a2e64b8158bbf28d836750ba6c74d1c945665a9f85";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/force-torque-sensor-broadcaster/default.nix b/distros/jazzy/force-torque-sensor-broadcaster/default.nix
index 4b87b20c623..984386cfb10 100644
--- a/distros/jazzy/force-torque-sensor-broadcaster/default.nix
+++ b/distros/jazzy/force-torque-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, filters, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-jazzy-force-torque-sensor-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/force_torque_sensor_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "567fbaf283b44fa2d2609d9ad2ceb8c0b160757edeef992131756fc9360e9a94";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/force_torque_sensor_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "c5fb0b7f21e3b7f0cf383074a2ca2a35b3cd121d0cade073d8b5be267aea6c40";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/forward-command-controller/default.nix b/distros/jazzy/forward-command-controller/default.nix
index cc1c6ff6856..6d1c54bbd51 100644
--- a/distros/jazzy/forward-command-controller/default.nix
+++ b/distros/jazzy/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-forward-command-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/forward_command_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "ff68aebcb9e4e74e8e42a80e6da47c16633363b9dc4250b8c70eb64f9b0388b1";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/forward_command_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "a2d6dc0ce479775d8db493a65ca62cdb5db31cf279a016d5eb03d2083e0dad33";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/generated.nix b/distros/jazzy/generated.nix
index 26935c7f761..58eac55f18a 100644
--- a/distros/jazzy/generated.nix
+++ b/distros/jazzy/generated.nix
@@ -710,6 +710,8 @@ self: super: {
 
  compressed-image-transport = self.callPackage ./compressed-image-transport {};
 
+ connection-inspector = self.callPackage ./connection-inspector {};
+
  console-bridge-vendor = self.callPackage ./console-bridge-vendor {};
 
  continental-msgs = self.callPackage ./continental-msgs {};
@@ -754,6 +756,8 @@ self: super: {
 
  crazyflie = self.callPackage ./crazyflie {};
 
+ crazyflie-description = self.callPackage ./crazyflie-description {};
+
  crazyflie-examples = self.callPackage ./crazyflie-examples {};
 
  crazyflie-interfaces = self.callPackage ./crazyflie-interfaces {};
@@ -1896,6 +1900,8 @@ self: super: {
 
  magnetic-model = self.callPackage ./magnetic-model {};
 
+ magnetometer-broadcaster = self.callPackage ./magnetometer-broadcaster {};
+
  magnetometer-compass = self.callPackage ./magnetometer-compass {};
 
  magnetometer-pipeline = self.callPackage ./magnetometer-pipeline {};
@@ -2816,6 +2822,8 @@ self: super: {
 
  point-cloud-transport-tutorial = self.callPackage ./point-cloud-transport-tutorial {};
 
+ pointcloud-conversions = self.callPackage ./pointcloud-conversions {};
+
  pointcloud-to-laserscan = self.callPackage ./pointcloud-to-laserscan {};
 
  pointcloud-to-ply = self.callPackage ./pointcloud-to-ply {};
@@ -4230,6 +4238,8 @@ self: super: {
 
  urg-node-msgs = self.callPackage ./urg-node-msgs {};
 
+ urinterfaces = self.callPackage ./urinterfaces {};
+
  usb-cam = self.callPackage ./usb-cam {};
 
  v4l2-camera = self.callPackage ./v4l2-camera {};
diff --git a/distros/jazzy/gpio-controllers/default.nix b/distros/jazzy/gpio-controllers/default.nix
index ee0a1314526..7f6c402bff2 100644
--- a/distros/jazzy/gpio-controllers/default.nix
+++ b/distros/jazzy/gpio-controllers/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-gpio-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gpio_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "ceda047d03dab580ac17b00153e6b1381ff1e51edd7ad1c358af556841041876";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gpio_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "ff75e6397479d04131faa9be8ab53a4b26bd5e54d30dd1bb2012334f296a0b67";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/gps-sensor-broadcaster/default.nix b/distros/jazzy/gps-sensor-broadcaster/default.nix
index 18ea7af2558..b54ffbb5e15 100644
--- a/distros/jazzy/gps-sensor-broadcaster/default.nix
+++ b/distros/jazzy/gps-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-gps-sensor-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gps_sensor_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "139e8638ea961cffb587a2db5a959acba2c1bd1ebb497e6a1b97de107fc2ebcc";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gps_sensor_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "43573375e0b8db6c48d55d017e29e2afc7bbb62c751f30d3a2ceeb343d6c9d8a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/gripper-controllers/default.nix b/distros/jazzy/gripper-controllers/default.nix
index 99a3afcdc45..e540d84a5a2 100644
--- a/distros/jazzy/gripper-controllers/default.nix
+++ b/distros/jazzy/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-gripper-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gripper_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "c3d4733f034c6959637786ed878c3fdfdb1bab8b71925ce42b9c43554d12819e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/gripper_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "040ebaea1c8bce5d9b8a0db56ec3c5d2f5ce54fe9b8854b002a34f715016be2e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/hardware-interface-testing/default.nix b/distros/jazzy/hardware-interface-testing/default.nix
index cd3eeb65232..0f3fa781b53 100644
--- a/distros/jazzy/hardware-interface-testing/default.nix
+++ b/distros/jazzy/hardware-interface-testing/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, fmt, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-hardware-interface-testing";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/hardware_interface_testing/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "8011005d15cb544b9d78fc84a86610bf2242fb5de86f467625b3f74d02fb47bf";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/hardware_interface_testing/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "2e4f32001d679e64fb88c65a8f5a3673f0e731f9c442dd5216c3552dd256f222";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/hardware-interface/default.nix b/distros/jazzy/hardware-interface/default.nix
index 3c7ce3a75aa..bb3684d5ad3 100644
--- a/distros/jazzy/hardware-interface/default.nix
+++ b/distros/jazzy/hardware-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, control-msgs, fmt, joint-limits, lifecycle-msgs, pal-statistics, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sdformat-urdf, tinyxml2-vendor, urdf }:
 buildRosPackage {
   pname = "ros-jazzy-hardware-interface";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/hardware_interface/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "f9139f3f367150cba84d6e37af63cc7b15a4095e4989eea455addc3abafd004c";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/hardware_interface/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "26a44bfef830c54a223ca146a05fcfaaed24fb2716f2ed272c12b29b1b2a94c4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/husarion-components-description/default.nix b/distros/jazzy/husarion-components-description/default.nix
index ab55269eea6..c82050c71e4 100644
--- a/distros/jazzy/husarion-components-description/default.nix
+++ b/distros/jazzy/husarion-components-description/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-index-python, depthai-descriptions, python3Packages, realsense2-description, robotiq-description, ur-description, urdf, xacro, zed-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-index-python, depthai-descriptions, python3Packages, realsense2-description, robotiq-description, ur-description, urdf, xacro, zed-description }:
 buildRosPackage {
   pname = "ros-jazzy-husarion-components-description";
-  version = "0.1.0-r1";
+  version = "0.1.1-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/husarion_components_description-release/archive/release/jazzy/husarion_components_description/0.1.0-1.tar.gz";
-    name = "0.1.0-1.tar.gz";
-    sha256 = "22293ae7f7ea340bb2f6a3c2079a41932992ee5d761e8c7736ac2f3e6adbb47e";
+    url = "https://github.com/ros2-gbp/husarion_components_description-release/archive/release/jazzy/husarion_components_description/0.1.1-2.tar.gz";
+    name = "0.1.1-2.tar.gz";
+    sha256 = "566a6855adabc1bf14bd25b5fce2d304e604ad5365030d57e53676a612f8ac88";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-pytest ament-index-python python3Packages.pyyaml ];
-  propagatedBuildInputs = [ depthai-descriptions realsense2-description robotiq-description ur-description urdf xacro zed-msgs ];
+  propagatedBuildInputs = [ depthai-descriptions realsense2-description robotiq-description ur-description urdf xacro zed-description ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/husarion-ugv-description/default.nix b/distros/jazzy/husarion-ugv-description/default.nix
index 7c7960ef990..704770de006 100644
--- a/distros/jazzy/husarion-ugv-description/default.nix
+++ b/distros/jazzy/husarion-ugv-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, husarion-components-description, joint-state-publisher, joint-state-publisher-gui, launch, launch-ros, nav2-common, robot-state-publisher, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-husarion-ugv-description";
-  version = "2.3.1-r1";
+  version = "2.3.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/husarion_ugv_ros-release/archive/release/jazzy/husarion_ugv_description/2.3.1-1.tar.gz";
-    name = "2.3.1-1.tar.gz";
-    sha256 = "e2aa1a50fc5fc0819a1e9fede4d9c14f546ce8abc1449e4302ba4457c92e355b";
+    url = "https://github.com/ros2-gbp/husarion_ugv_ros-release/archive/release/jazzy/husarion_ugv_description/2.3.2-1.tar.gz";
+    name = "2.3.2-1.tar.gz";
+    sha256 = "fba9735565d9be80ec2d21af5682aad478bf518a63ff360e6bd7631b737a6471";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/husarion-ugv-msgs/default.nix b/distros/jazzy/husarion-ugv-msgs/default.nix
index dba0538e2cc..0870a65586a 100644
--- a/distros/jazzy/husarion-ugv-msgs/default.nix
+++ b/distros/jazzy/husarion-ugv-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-jazzy-husarion-ugv-msgs";
-  version = "2.3.1-r1";
+  version = "2.3.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/husarion_ugv_ros-release/archive/release/jazzy/husarion_ugv_msgs/2.3.1-1.tar.gz";
-    name = "2.3.1-1.tar.gz";
-    sha256 = "c964c49c0ef7f137c98d333d34769c05200d58835bdc07b389fc9484be2f9ca6";
+    url = "https://github.com/ros2-gbp/husarion_ugv_ros-release/archive/release/jazzy/husarion_ugv_msgs/2.3.2-1.tar.gz";
+    name = "2.3.2-1.tar.gz";
+    sha256 = "c6a10dfc4f9e1e965b7db5e91bb06a701ba2f5eb949606bd9431a4d3cc97738f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/imu-sensor-broadcaster/default.nix b/distros/jazzy/imu-sensor-broadcaster/default.nix
index 140c1bf24d1..3e6997cffcc 100644
--- a/distros/jazzy/imu-sensor-broadcaster/default.nix
+++ b/distros/jazzy/imu-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-imu-sensor-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/imu_sensor_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "9a7097122f148de73615a1e082711befbf94bcb169e5b74dd58402d08cbe522e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/imu_sensor_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "16ac6d8ec23487370395f4294e0398e96547353334e983ea962a113d723b65ec";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/joint-limits/default.nix b/distros/jazzy/joint-limits/default.nix
index cf32021f6cd..ec1e1f5988a 100644
--- a/distros/jazzy/joint-limits/default.nix
+++ b/distros/jazzy/joint-limits/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, fmt, generate-parameter-library, launch-ros, launch-testing-ament-cmake, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-jazzy-joint-limits";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/joint_limits/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "0103c39f7cc3eed6e0d7c2c57919c67f26831202ec8eab11c78cb63bd387f300";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/joint_limits/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "585a033b71c545838733d472bd059dad988580ea6c4c9edb1b03e94bbba60ed9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/joint-state-broadcaster/default.nix b/distros/jazzy/joint-state-broadcaster/default.nix
index d4f0452246f..b8535cad765 100644
--- a/distros/jazzy/joint-state-broadcaster/default.nix
+++ b/distros/jazzy/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
 buildRosPackage {
   pname = "ros-jazzy-joint-state-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/joint_state_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "6ef7da43ea2252ba486cc870a579870fb0b63093031186c578ccfaf6d9e3129a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/joint_state_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "b65e9ac69137faebef7c2cf11f24fbe92bcb0baea3af816c3d4614ff08dc7174";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/joint-trajectory-controller/default.nix b/distros/jazzy/joint-trajectory-controller/default.nix
index 7ac1358cf83..6c6363d904e 100644
--- a/distros/jazzy/joint-trajectory-controller/default.nix
+++ b/distros/jazzy/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, rsl, tl-expected-nixpkgs, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-jazzy-joint-trajectory-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/joint_trajectory_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "533da12518a071c88e468be42cdef431a04e1c32ee914ce1616f99fd8d9f9c0e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/joint_trajectory_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "75c505de232648612d20eba0fd8921cb86423b55cc792911dbe759efc8d47822";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/jrl-cmakemodules/default.nix b/distros/jazzy/jrl-cmakemodules/default.nix
index f7496024ea9..4284bdc9fc6 100644
--- a/distros/jazzy/jrl-cmakemodules/default.nix
+++ b/distros/jazzy/jrl-cmakemodules/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, doxygen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, catch2, cmake, doxygen, eigen, git, matio, pkg-config, python3Packages, simde }:
 buildRosPackage {
   pname = "ros-jazzy-jrl-cmakemodules";
-  version = "1.1.2-r1";
+  version = "2.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/jazzy/jrl_cmakemodules/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "399256dfb0e37d7ccd5a5e5a29ff6046f4e26ab04da4a0a0750ba11d4fad1170";
+    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/jazzy/jrl_cmakemodules/2.0.0-1.tar.gz";
+    name = "2.0.0-1.tar.gz";
+    sha256 = "3cf85013f3388a441d5ecc747fe7d79383ef7ffca8c2d34dc317f87e8939daef";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake ];
+  checkInputs = [ boost catch2 eigen git matio python3Packages.nanobind python3Packages.numpy python3Packages.pytest python3Packages.typing-extensions simde ];
   propagatedBuildInputs = [ doxygen pkg-config ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/leo-example-follow-aruco-marker/default.nix b/distros/jazzy/leo-example-follow-aruco-marker/default.nix
index adc3b94bb6e..e9853df1dff 100644
--- a/distros/jazzy/leo-example-follow-aruco-marker/default.nix
+++ b/distros/jazzy/leo-example-follow-aruco-marker/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, aruco-opencv, aruco-opencv-msgs, generate-parameter-library, geometry-msgs, nav-msgs, rclpy, tf-transformations }:
 buildRosPackage {
   pname = "ros-jazzy-leo-example-follow-aruco-marker";
-  version = "1.0.0-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_follow_aruco_marker/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "d269d229357afe9fb8b406fa46c59f3ca20fd5cb9900ac243ab9c04c2c3088ca";
+    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_follow_aruco_marker/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "a2890f4a220fc975de74c96a9a6313e2161e5ef7d437e5164b97bae91ff6c893";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/leo-example-line-follower/default.nix b/distros/jazzy/leo-example-line-follower/default.nix
index 16e8d30097d..b77da788750 100644
--- a/distros/jazzy/leo-example-line-follower/default.nix
+++ b/distros/jazzy/leo-example-line-follower/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, cv-bridge, generate-parameter-library, geometry-msgs, python3Packages, rclpy, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-leo-example-line-follower";
-  version = "1.0.0-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_line_follower/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "c3d8d1ec73e4689cc29e463a85016cdec0e9ef1edd053831414f119a1c525579";
+    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_line_follower/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "9b1dbc828ca79bb72c5404bd8153783c8f2aab3afc50fad13af008710eb398d1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/leo-example-object-detection/default.nix b/distros/jazzy/leo-example-object-detection/default.nix
index d4f45914114..55bdf86c595 100644
--- a/distros/jazzy/leo-example-object-detection/default.nix
+++ b/distros/jazzy/leo-example-object-detection/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-lint-cmake, ament-cmake-python, ament-cmake-xmllint, ament-lint-auto, cv-bridge, python3Packages, rcl-interfaces, rclpy, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-leo-example-object-detection";
-  version = "1.0.0-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_object_detection/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "3aea735d42e5f4b47919bc2fb9281ac27d703545dbf24531f911553d3a40e916";
+    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_example_object_detection/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "e204a602da7cfff3c5c96e073bda77ae9d9c83dba43bff7962f9da6c2bf42084";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/leo-examples/default.nix b/distros/jazzy/leo-examples/default.nix
index 08d8f65944f..bc0f8f9a786 100644
--- a/distros/jazzy/leo-examples/default.nix
+++ b/distros/jazzy/leo-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, leo, leo-example-follow-aruco-marker, leo-example-line-follower, leo-example-object-detection }:
 buildRosPackage {
   pname = "ros-jazzy-leo-examples";
-  version = "1.0.0-r1";
+  version = "1.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_examples/1.0.0-1.tar.gz";
-    name = "1.0.0-1.tar.gz";
-    sha256 = "f53ac1056eabceecc1462ed0f552e52021f7c3d42b52d16c8ce11c5a26e218a2";
+    url = "https://github.com/ros2-gbp/leo_examples-ros2-release/archive/release/jazzy/leo_examples/1.1.0-1.tar.gz";
+    name = "1.1.0-1.tar.gz";
+    sha256 = "79ffe48cb300b93670da39ef3c6da9d32ed981c6621179af928996b242c9e4f2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/magnetometer-broadcaster/default.nix b/distros/jazzy/magnetometer-broadcaster/default.nix
new file mode 100644
index 00000000000..f7a047b60b0
--- /dev/null
+++ b/distros/jazzy/magnetometer-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 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, eigen, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-jazzy-magnetometer-broadcaster";
+  version = "4.41.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/magnetometer_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "d99e1ae656064b5b8a3e1b07f282fbb00d24e5e90a9adcfbdf8d6bd69cff5a12";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ros2-control-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface eigen generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Controller to publish readings of a magnetometer.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/jazzy/mecanum-drive-controller/default.nix b/distros/jazzy/mecanum-drive-controller/default.nix
index bfec0164542..53aea45ff16 100644
--- a/distros/jazzy/mecanum-drive-controller/default.nix
+++ b/distros/jazzy/mecanum-drive-controller/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-mecanum-drive-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/mecanum_drive_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "9bdbed5fc21520bb2741a41c278c49818d0c73085c0efebb65edb6d25f945d66";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/mecanum_drive_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "1f1f25f431681192cbaedc0551ae81573ba16d18b6174b2776c75cf108f565e2";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake generate-parameter-library ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros control-msgs controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools std-srvs tf2 tf2-geometry-msgs tf2-msgs ];
+  propagatedBuildInputs = [ backward-ros control-msgs control-toolbox controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools std-srvs tf2 tf2-geometry-msgs tf2-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/motion-capture-tracking-interfaces/default.nix b/distros/jazzy/motion-capture-tracking-interfaces/default.nix
index 200e92c4306..fcbf7baea0a 100644
--- a/distros/jazzy/motion-capture-tracking-interfaces/default.nix
+++ b/distros/jazzy/motion-capture-tracking-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-motion-capture-tracking-interfaces";
-  version = "1.0.6-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/jazzy/motion_capture_tracking_interfaces/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "7ef3f20f60b92e0460025453189b9ffedbe000981514bc6b0b93f8f2fc03b059";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/jazzy/motion_capture_tracking_interfaces/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "6049fc03d5f2d12de2fadf6fadd6de160c59586bc83119f5549af52d80dba331";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/motion-capture-tracking/default.nix b/distros/jazzy/motion-capture-tracking/default.nix
index cd88fbf42b7..d7e592dacaf 100644
--- a/distros/jazzy/motion-capture-tracking/default.nix
+++ b/distros/jazzy/motion-capture-tracking/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, motion-capture-tracking-interfaces, pcl, rclcpp, sensor-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-jazzy-motion-capture-tracking";
-  version = "1.0.6-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/jazzy/motion_capture_tracking/1.0.6-1.tar.gz";
-    name = "1.0.6-1.tar.gz";
-    sha256 = "8f41d7151bdbc29b2c9906b1987816f41e8071e40b98ea83b6a279acbbbada99";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/jazzy/motion_capture_tracking/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "d99c9ee3fb6362b2ca484c5e41ff31294601abd22a439488cc2f2cca579d04e5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/motion-primitives-controllers/default.nix b/distros/jazzy/motion-primitives-controllers/default.nix
index 302223d6f24..b0d8573716f 100644
--- a/distros/jazzy/motion-primitives-controllers/default.nix
+++ b/distros/jazzy/motion-primitives-controllers/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, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-jazzy-motion-primitives-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/motion_primitives_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "16035dc378ec1a04ad306d4a445798f59eb253ff71f4cce094c4e7be01a1afb0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/motion_primitives_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "4a74f48e42250d464ba2fcafcfd77e522e3b2d56078b0ee456974388421a8617";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/mrpt-apps-cli/default.nix b/distros/jazzy/mrpt-apps-cli/default.nix
index 59f4e2cba15..8fedf755c8e 100644
--- a/distros/jazzy/mrpt-apps-cli/default.nix
+++ b/distros/jazzy/mrpt-apps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-libapps-cli }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-apps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_apps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "8f90f8dad56015c1f45e9699728b8d7171d570b7fb9b5a36201dca4598cbd30e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_apps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1db97349d13cad3ad41bc3e9fe3e4963977c195ce5bb541a11773bdc7b55adb1";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-apps-gui/default.nix b/distros/jazzy/mrpt-apps-gui/default.nix
index 131d00549ba..39c4465c3fa 100644
--- a/distros/jazzy/mrpt-apps-gui/default.nix
+++ b/distros/jazzy/mrpt-apps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-graphslam, mrpt-kinematics, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-apps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_apps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5c6b9550e829c95f8773c5d118b60d2045dc5ba412eaa57b88204c4340c8944c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_apps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8f2a3173813e48cc420a964d30de87986950b230378e13673ac6436247b91351";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-apps/default.nix b/distros/jazzy/mrpt-apps/default.nix
index 3a4d7f58b75..7588cddb1fe 100644
--- a/distros/jazzy/mrpt-apps/default.nix
+++ b/distros/jazzy/mrpt-apps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libapps, mrpt-libnav, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-apps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_apps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "08e8db4aba0112d6fce7e4755a8f667434d401aef95af7250c2758a95235a3cf";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_apps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "5c9d0880299ddee601a75b3828d75a4c6a3094c890c9b3c243d710faed0e429d";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-bayes/default.nix b/distros/jazzy/mrpt-bayes/default.nix
index 1150def6d9b..c0a7f7704cd 100644
--- a/distros/jazzy/mrpt-bayes/default.nix
+++ b/distros/jazzy/mrpt-bayes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-config, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-bayes";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_bayes/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "087612bfaca1804df607a53bc433e8d9e0fa42b09c4f8fe92deec6225d2dbff3";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_bayes/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "603754b5d798d529a5c5aba7e005b978b66d9a6ab02d3387cb1341b1ea2f006a";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-common/default.nix b/distros/jazzy/mrpt-common/default.nix
index 0f290b4cd0d..52b51754327 100644
--- a/distros/jazzy/mrpt-common/default.nix
+++ b/distros/jazzy/mrpt-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, gtest }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-common";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_common/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9998994d5f679170192cb259b0a2bbe2b107b58d59d096bc4f083bb73699c1d6";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_common/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3326e955acd63f1b16e7183dfb2b6b8dfb56e178d86cede009b92bc714fb98ae";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-comms/default.nix b/distros/jazzy/mrpt-comms/default.nix
index 4e603f1f793..f780f5ae156 100644
--- a/distros/jazzy/mrpt-comms/default.nix
+++ b/distros/jazzy/mrpt-comms/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libftdi1, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-comms";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_comms/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3f2e51ca665262bbddbe8851d9e660094908df207254875e9ff223ff4ce94e9e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_comms/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ef5bb26a5dcabd780ed8a3fa171a9bbc5b368b2b8c6b0008952094fd7210f98d";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libftdi1 python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-poses ];
   propagatedBuildInputs = [ mrpt-common mrpt-io ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/jazzy/mrpt-config/default.nix b/distros/jazzy/mrpt-config/default.nix
index 149dfcb410f..400129e0ebc 100644
--- a/distros/jazzy/mrpt-config/default.nix
+++ b/distros/jazzy/mrpt-config/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-expr, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, _unresolved_libsimpleini-dev, cmake, icu, mrpt-common, mrpt-expr, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-config";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_config/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "74dd496098ff46ccb9eb78c297550bc6a3ee8f5e3801f5c333cb341479cb3266";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_config/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "9d4d285e5050ceefd3520c83c2d0e74cdd720b0925c7c25bfb2debc945435ea3";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ _unresolved_libsimpleini-dev cmake icu python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-expr ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/mrpt-containers/default.nix b/distros/jazzy/mrpt-containers/default.nix
index 99b1d866fbe..bd6e5a99237 100644
--- a/distros/jazzy/mrpt-containers/default.nix
+++ b/distros/jazzy/mrpt-containers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libfyaml, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-containers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_containers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "0b8655d57a8c194c744b5dadce7a86b454458b451233a9b80309b92a002f857b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_containers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "be13ed2d56925ab7e871027029a1a08bfc009304b1021d93b77ee884d2c0b7ec";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libfyaml python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-core mrpt-typemeta ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/mrpt-core/default.nix b/distros/jazzy/mrpt-core/default.nix
index 0be6b0956d9..df4706f1613 100644
--- a/distros/jazzy/mrpt-core/default.nix
+++ b/distros/jazzy/mrpt-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-core";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_core/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e7bea28cc5d7ee19ce2028c9f455d856cda4422b75ae3b37649ef45793bd250c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_core/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8eb7ecefbcc6102513fcd4aca409d3e1da643761d4ffbb21b6c406031a94387d";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-data/default.nix b/distros/jazzy/mrpt-data/default.nix
index 82d5fc4a9ef..fc501f3b31b 100644
--- a/distros/jazzy/mrpt-data/default.nix
+++ b/distros/jazzy/mrpt-data/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-data";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_data/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c3656fc09cb919dbc07d42ffb3bb1f416ee3e99de961b8c5d7603afc7e0f6b3c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_data/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a6d85b178ad6c47515b5c9884b0c9945f85f616eeba0421b7a3f96168dffc408";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-examples-cpp/default.nix b/distros/jazzy/mrpt-examples-cpp/default.nix
index 9ae1ffe37b5..846b0c666bf 100644
--- a/distros/jazzy/mrpt-examples-cpp/default.nix
+++ b/distros/jazzy/mrpt-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, glfw3, mrpt-common, mrpt-data, mrpt-graphslam, mrpt-gui, mrpt-imgui, mrpt-libapps-cli, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-examples-cpp";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_examples_cpp/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "82e2f0e482e046d23db6f7f757c37e4d6b1d9ed836039f6adccdf6012789c64d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_examples_cpp/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8e789b4490cbba12f2d9b85304467c710dd97ed9ddebcf0dd57f06478b3acffb";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-expr/default.nix b/distros/jazzy/mrpt-expr/default.nix
index 84c921c6e7e..45d112d7326 100644
--- a/distros/jazzy/mrpt-expr/default.nix
+++ b/distros/jazzy/mrpt-expr/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-expr";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_expr/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "27342cacb33866b774cb7f7265dd9fdf1d32b2b20c3bb74b6f422f61a5d2c414";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_expr/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "00058f4f59f42e0972741e7422a799b837b412fccd8a59c2c0b7560d79745538";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-graphs/default.nix b/distros/jazzy/mrpt-graphs/default.nix
index b68ce304be4..d34ae4ffd27 100644
--- a/distros/jazzy/mrpt-graphs/default.nix
+++ b/distros/jazzy/mrpt-graphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-poses, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-graphs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_graphs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "55c744f99b54af769f8619b3d3b0c245ad4562bdeed339071382b94a7b8ddb40";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_graphs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d3f62fe999635bc2446bf46b49e858e46ff5ed9c4f45c5275d88db0b5b2bb517";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-graphslam/default.nix b/distros/jazzy/mrpt-graphslam/default.nix
index d4c967c1bf4..cbbd2953763 100644
--- a/distros/jazzy/mrpt-graphslam/default.nix
+++ b/distros/jazzy/mrpt-graphslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-slam }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-graphslam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_graphslam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7cc3d8a00b76f27ec1f06b1f817a94f4762a8ec3e8cf331d4ed28d2f82d1b6da";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_graphslam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "598c34d7740092ddc7e7eddee1126c2a61cea414bd5d3c9ed3b0ccb04625b26f";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-gui/default.nix b/distros/jazzy/mrpt-gui/default.nix
index 2df8df98729..07b868352db 100644
--- a/distros/jazzy/mrpt-gui/default.nix
+++ b/distros/jazzy/mrpt-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, libGL, libGLU, libxrandr, libxxf86vm, mrpt-opengl, python3, python3Packages, qt5, wxGTK32 }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "2fcf1a070bd645edee46ed20be642177131c600dbfe268b2f786030bcbbdd14c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d41622fc07be518604ab75512ae654de73a7887bc4867210b51bff1ff5cfc10a";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-hwdrivers/default.nix b/distros/jazzy/mrpt-hwdrivers/default.nix
index 7b837422a80..6de82a5ad35 100644
--- a/distros/jazzy/mrpt-hwdrivers/default.nix
+++ b/distros/jazzy/mrpt-hwdrivers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-comms, mrpt-maps, mrpt-viz }:
+{ lib, buildRosPackage, fetchurl, cmake, ffmpeg, libdc1394, libpcap, libusb1, mrpt-comms, mrpt-maps, mrpt-viz, openni2 }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-hwdrivers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_hwdrivers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "56bc3ac0f8dd1a67d51787ef36a19bc7c0245c8e6f3fe600f99d349f72fc42b7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_hwdrivers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "91dba9b0e1969e0456724ce469facfde2685818ff8e9bddc446e382899ca8a55";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake ];
+  buildInputs = [ cmake ffmpeg libdc1394 libpcap libusb1 openni2 ];
   propagatedBuildInputs = [ mrpt-comms mrpt-maps mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/mrpt-img/default.nix b/distros/jazzy/mrpt-img/default.nix
index 1674fb2ca31..cf85f548d5a 100644
--- a/distros/jazzy/mrpt-img/default.nix
+++ b/distros/jazzy/mrpt-img/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, mrpt-common, mrpt-config, mrpt-io, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-img";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_img/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "09b590836789c6e684d9dd954dcb8db49c39c05a144368466c0d1ee089412719";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_img/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "bdbe86efc29791a20d68ae949ee893350d668f24d2a75d5f29a202f8fc36a72d";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-imgui/default.nix b/distros/jazzy/mrpt-imgui/default.nix
index 9c777c8fa31..84c431bd845 100644
--- a/distros/jazzy/mrpt-imgui/default.nix
+++ b/distros/jazzy/mrpt-imgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-opengl }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-imgui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_imgui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4646f8aa53dfd2137262c5c844d996ebc2b498f1e001f96b1e592beab8848e74";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_imgui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3e0db29ae3aafe9fff3a8b4cb119f08e9c64441d3d64f718601ab2d1169f0a88";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-io/default.nix b/distros/jazzy/mrpt-io/default.nix
index 2363ca49870..091b6ee9c8c 100644
--- a/distros/jazzy/mrpt-io/default.nix
+++ b/distros/jazzy/mrpt-io/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages, zstd }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-io";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_io/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e2828dd1d19e6b3507d655e5ead8f6fac38a5b188e9a8e093f9857b0e36b7468";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_io/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d93fdec23b8f80597751bc61916b3beb083b97d96efe9cdd7256346b15feba09";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-kinematics/default.nix b/distros/jazzy/mrpt-kinematics/default.nix
index eacba5521d6..a7e005b3ad7 100644
--- a/distros/jazzy/mrpt-kinematics/default.nix
+++ b/distros/jazzy/mrpt-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-kinematics";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_kinematics/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "21279538ebe57ff1e11e30afcc4342e3eda600a780f44aef2b1f00c0781faeda";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_kinematics/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ac9c343ad4de4a81b16fffbcb0298a53357b5cf4d183d918c7996521338837f3";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libapps-cli/default.nix b/distros/jazzy/mrpt-libapps-cli/default.nix
index 7efe5532171..971217044ce 100644
--- a/distros/jazzy/mrpt-libapps-cli/default.nix
+++ b/distros/jazzy/mrpt-libapps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cli11, cmake, mrpt-hwdrivers, mrpt-slam, mrpt-topography }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libapps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_libapps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "6ff27660d992f03c19c8c211aef188b4a9751eb8742e22bbc004c8c7acfedc38";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_libapps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "2daf4ca9d40563b6124dc67c8c8b08cca179aac1d470b115c7628546e9802ac3";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libapps-gui/default.nix b/distros/jazzy/mrpt-libapps-gui/default.nix
index 8a59ab45c12..0a31bc10ebb 100644
--- a/distros/jazzy/mrpt-libapps-gui/default.nix
+++ b/distros/jazzy/mrpt-libapps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-libapps-cli, wxGTK32 }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libapps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_libapps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "93d7f9959b045aca3fe6ae46319a52cba463e0da68d29869ec92f0e367997e4f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_libapps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a99ab7c58015e8ce69b900b79e71339b00258bde78ba6ef3dfca39600ab72009";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libapps/default.nix b/distros/jazzy/mrpt-libapps/default.nix
index 2a9f0819532..4e677ec48d5 100644
--- a/distros/jazzy/mrpt-libapps/default.nix
+++ b/distros/jazzy/mrpt-libapps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libhwdrivers, mrpt-libmaps, mrpt-libslam, mrpt-libtclap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libapps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libapps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "507cc178a165316e9937e33d49b71c9b930b95c3207d515c0aa6097e43f4673c";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libapps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "66437a9d1fabba63d3ea231a792626783c48b21b892646aa4db56ac112240e2c";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libbase/default.nix b/distros/jazzy/mrpt-libbase/default.nix
index aa1982dbecb..b1b26a1cb0a 100644
--- a/distros/jazzy/mrpt-libbase/default.nix
+++ b/distros/jazzy/mrpt-libbase/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, onetbb, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib, zstd }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libbase";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libbase/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "2ed6d45fb2083cf906d65642ab4cbd0109c5f6d8cafba2cf31708d4f664a57d0";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libbase/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "c40c0dc3e0fb59e55463169d9019909db63c72449f9543f90efc4d6b5ffad51c";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libgui/default.nix b/distros/jazzy/mrpt-libgui/default.nix
index 30204f0b204..947f1dee363 100644
--- a/distros/jazzy/mrpt-libgui/default.nix
+++ b/distros/jazzy/mrpt-libgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libgui";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libgui/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "ef110d10ace8c27898d7e4724a7e90f860f9d352eab88b017f1890bbe712f406";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libgui/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "4dd3f4467b12109f95a616e6bb1dc7c2c5529be101fc5aca0b2c788261ce02a2";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libhwdrivers/default.nix b/distros/jazzy/mrpt-libhwdrivers/default.nix
index 1d27c0983ee..dcf50847b7b 100644
--- a/distros/jazzy/mrpt-libhwdrivers/default.nix
+++ b/distros/jazzy/mrpt-libhwdrivers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libmaps, mrpt-libslam, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libhwdrivers";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libhwdrivers/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "887badc13efe63267f6aff86f66ba69bf5c669a1a79fe7b228ac2fccf9116a4f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libhwdrivers/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "922a583f67cb2b25c3388c9642aa1d1cbd905ec761f2bffab3579d179a187a9f";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libmaps/default.nix b/distros/jazzy/mrpt-libmaps/default.nix
index 75bd59a1425..05a645c6200 100644
--- a/distros/jazzy/mrpt-libmaps/default.nix
+++ b/distros/jazzy/mrpt-libmaps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libobs, octomap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libmaps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libmaps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "79486e3cea6b986ab25918d2b0ff68763b38e0085aa6a91874ba14264a92a463";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libmaps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "dd88ea76d7af84f07be21e1b953f97c3d60ad17b6387abb46081ec946ae7534b";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libmath/default.nix b/distros/jazzy/mrpt-libmath/default.nix
index eb387f092fe..acd8362f118 100644
--- a/distros/jazzy/mrpt-libmath/default.nix
+++ b/distros/jazzy/mrpt-libmath/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libmath";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libmath/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "49cab0428dfbd6ef9353cc818344c7afc86130192e521d434fa13fb171ef856e";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libmath/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "cf4f1fdeacbe5768549a01d8170a4b8842b439725073047e748bc101ae135182";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libnav/default.nix b/distros/jazzy/mrpt-libnav/default.nix
index 422735b2b8d..ba5e24b64ae 100644
--- a/distros/jazzy/mrpt-libnav/default.nix
+++ b/distros/jazzy/mrpt-libnav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libnav";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libnav/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "0119ec954a493745754464596f468264e30e01aeae4a56b60e56dda02850171e";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libnav/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "488740eb0a92a37206aa5b51efb1e92ca70de9b4d997e5b23ceb6fc75108b0d3";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libobs/default.nix b/distros/jazzy/mrpt-libobs/default.nix
index 7009defc29c..e1f9b4486cc 100644
--- a/distros/jazzy/mrpt-libobs/default.nix
+++ b/distros/jazzy/mrpt-libobs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libobs";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libobs/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d560d4a7827b70b111c9e65f870cdc212a104f44cfdecceba90c0a8839c7af77";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libobs/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "fc525efe73bd70fc99df0dafabdfd3355fd6f1cadcb1a305866f02c6918ad432";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libopengl/default.nix b/distros/jazzy/mrpt-libopengl/default.nix
index 474c97cb7af..e5f8bbe8faf 100644
--- a/distros/jazzy/mrpt-libopengl/default.nix
+++ b/distros/jazzy/mrpt-libopengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libopengl";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libopengl/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d146abe488044b3f7cde966d9d6e66349dbca08ce955b114e0fb2d5bd01dbe02";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libopengl/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "f636c263361b56d37695f772670a86872c30222d7e02aa078764bb81be882e5e";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libposes/default.nix b/distros/jazzy/mrpt-libposes/default.nix
index 97368285161..71c93f31f47 100644
--- a/distros/jazzy/mrpt-libposes/default.nix
+++ b/distros/jazzy/mrpt-libposes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libmath, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libposes";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libposes/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "2ab86dbcbb092a4519cf8b0894910d0ba8e085b3d5907cf06f12b83bbc259cd2";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libposes/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "7e0d5577e3c0d0a6e77700618c57db8fcdbb6e52a36bcd462dac0c4af89e9e79";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libslam/default.nix b/distros/jazzy/mrpt-libslam/default.nix
index 50f5e1fc816..95753a2bf34 100644
--- a/distros/jazzy/mrpt-libslam/default.nix
+++ b/distros/jazzy/mrpt-libslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, onetbb, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libslam";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libslam/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "793b4eebb47638107e11ab55c77f82a86b56e8e17185f4dfb78315102c957e11";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libslam/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "f20bbec8235a0e3e26c7cf1291b3046434f3f5250d96b6999f8e1ed52583cb5d";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-libtclap/default.nix b/distros/jazzy/mrpt-libtclap/default.nix
index f04d3ec002b..095dc41952d 100644
--- a/distros/jazzy/mrpt-libtclap/default.nix
+++ b/distros/jazzy/mrpt-libtclap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-libtclap";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libtclap/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "ffaafba0d4dd7b4d97a8145ece8da13f658e2b9ed8db35b50ff3521b46370784";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/jazzy/mrpt_libtclap/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "904099d23e6ca29452ccef2383456ead44042ec452bd605f120b47fd90fd9e39";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-maps/default.nix b/distros/jazzy/mrpt-maps/default.nix
index 7414f443adb..395377f657b 100644
--- a/distros/jazzy/mrpt-maps/default.nix
+++ b/distros/jazzy/mrpt-maps/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, octomap, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-maps";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_maps/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b6a4af9bfe714350fb2d7e6723e0e51925b69ec0cd76434cd7ca944bb13f3987";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_maps/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "05654d859ee118957994c9dab9ecc4c7b9be321c5daa1c871716994ed366f43e";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen octomap python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-graphs mrpt-obs ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/mrpt-math/default.nix b/distros/jazzy/mrpt-math/default.nix
index 7de4695d989..bfae43b0e7b 100644
--- a/distros/jazzy/mrpt-math/default.nix
+++ b/distros/jazzy/mrpt-math/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, nanoflann, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-math";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_math/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "79d51e6c7e344e747f2a58cef84a2f4b6ec76bc4326631c39fedef4437ef1d69";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_math/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8f018aaa081a99d683999874420495cd55c0cf15faf0a29e62557534e3248568";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen nanoflann python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-io ];
   propagatedBuildInputs = [ mrpt-common mrpt-random mrpt-serialization mrpt-system ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/jazzy/mrpt-nav/default.nix b/distros/jazzy/mrpt-nav/default.nix
index a287a1c4d55..8e62d6b28f1 100644
--- a/distros/jazzy/mrpt-nav/default.nix
+++ b/distros/jazzy/mrpt-nav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-kinematics, mrpt-maps, mrpt-viz }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-nav";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_nav/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "8f55e4a5816ca44ca20a02e151e8c4c4a416f912d7709d4e0b79dcf92fcfe740";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_nav/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a53cff39caf706291c530ee144fd35df3de0e59ee7170ae54ebcc7987f90a4b9";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-obs/default.nix b/distros/jazzy/mrpt-obs/default.nix
index 5496524ac87..6d65aa4ebc1 100644
--- a/distros/jazzy/mrpt-obs/default.nix
+++ b/distros/jazzy/mrpt-obs/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-obs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_obs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5b171f8532f0ba53a5a73191e6c989e36ffc7b66907bb04242c383d99ac2dfc3";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_obs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "b2552efab798c28578225473e05096fab1ebc2f437bc006fc4237812385e340c";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen python3 python3Packages.pybind11 tinyxml-2 ];
   propagatedBuildInputs = [ mrpt-common mrpt-tfest mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/jazzy/mrpt-opengl/default.nix b/distros/jazzy/mrpt-opengl/default.nix
index 1babb5a122b..a98f9f28c84 100644
--- a/distros/jazzy/mrpt-opengl/default.nix
+++ b/distros/jazzy/mrpt-opengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, libGL, libGLU, mrpt-img, mrpt-poses, mrpt-viz }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-opengl";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_opengl/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ec6f8b9a12053659d27b2db67199a68714c8782f93b2412a329aa4341e9b1890";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_opengl/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "877251f4d3a9c5e84f165f0a8ae4af4fbd3e469546b64a211437769924ea01fa";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-poses/default.nix b/distros/jazzy/mrpt-poses/default.nix
index c69b8eb954d..a4f5dd73cd3 100644
--- a/distros/jazzy/mrpt-poses/default.nix
+++ b/distros/jazzy/mrpt-poses/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-bayes, mrpt-common, mrpt-io, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-poses";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_poses/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3fa1ef841e33f03f1edb9b4e170087403726d097ef560e0b7492aa99bdfa8738";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_poses/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "0d53bf9dbd10ce47cf3b8ccbdb869ed745fa8f2ba524e1069cc479a45ed18b7f";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-random/default.nix b/distros/jazzy/mrpt-random/default.nix
index 0286dfaea0e..50f884ec013 100644
--- a/distros/jazzy/mrpt-random/default.nix
+++ b/distros/jazzy/mrpt-random/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-random";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_random/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e94fa1649930e8100fd9eed1ce05c3be34fb13c6063a298a7c3b34139107362d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_random/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "29aa3d100fa50131a47941cf22219bf364b7a88bb074d7dc894206600e8bd4fa";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-rtti/default.nix b/distros/jazzy/mrpt-rtti/default.nix
index 87b4111c81f..69b615df23c 100644
--- a/distros/jazzy/mrpt-rtti/default.nix
+++ b/distros/jazzy/mrpt-rtti/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-rtti";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_rtti/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5317d58b6d8afe21cfd6d462f72d05abe4b54df16568dbbc5e4835e5891c0216";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_rtti/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d27d21c41a51d39ab162df87f34fa9cc9ff322fda0a472279ba78af979851f26";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-serialization/default.nix b/distros/jazzy/mrpt-serialization/default.nix
index b67ad4c24ac..c14267ae0e4 100644
--- a/distros/jazzy/mrpt-serialization/default.nix
+++ b/distros/jazzy/mrpt-serialization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-rtti, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-serialization";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_serialization/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e57db989efa065d2e9cfff81ea24cd834f473791a54ac083b8fb8ed753890ef1";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_serialization/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c85f53411deb8461dff65175d76f253fb499a77948d3581c6df98701bbaff5c9";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-slam/default.nix b/distros/jazzy/mrpt-slam/default.nix
index f4007f4a234..b4a3b5e844f 100644
--- a/distros/jazzy/mrpt-slam/default.nix
+++ b/distros/jazzy/mrpt-slam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-maps, mrpt-topography, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-slam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_slam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ccb71e599bb0a09ed8124ce65ad09c06bda9271bd739956d19ce3c9bb25cf2b2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_slam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ba46729f5e9113be8a38728a43adb5edd3838c4cce12b33dcd9a3c0d289614f7";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-system/default.nix b/distros/jazzy/mrpt-system/default.nix
index e4f1be90812..3548fc85046 100644
--- a/distros/jazzy/mrpt-system/default.nix
+++ b/distros/jazzy/mrpt-system/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-containers, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-system";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_system/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "325c62914437545a5a4cf7387c9d3fe3d72424b9ef91a4dae652dbd2c2c02649";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_system/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "97d5293a59e73666ff31a4831410d2680e4788f19591317e154a3c9a61c8b8f7";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-tfest/default.nix b/distros/jazzy/mrpt-tfest/default.nix
index afaf76d8b49..6d633b6cba3 100644
--- a/distros/jazzy/mrpt-tfest/default.nix
+++ b/distros/jazzy/mrpt-tfest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-tfest";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_tfest/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f894dfeb8261e79f1144f26b00b151dc9a48636acd0a43342f6c36a1df185e01";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_tfest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "de45cc7845416ada65051b04c2823b0ec61ec2c00aa67c7ea6204face188cde5";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-topography/default.nix b/distros/jazzy/mrpt-topography/default.nix
index c9acd8aed55..39d816ec0c8 100644
--- a/distros/jazzy/mrpt-topography/default.nix
+++ b/distros/jazzy/mrpt-topography/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-topography";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_topography/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f4d2363c3bbd4cf4a76d99c905c34c3c35a0a9758812a93ec910629a76df19c4";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_topography/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "83983daf127957328cd7df3eceb8110e365334432cb7550aa664c8003dac0ae3";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-typemeta/default.nix b/distros/jazzy/mrpt-typemeta/default.nix
index 46e2390d334..b0864314632 100644
--- a/distros/jazzy/mrpt-typemeta/default.nix
+++ b/distros/jazzy/mrpt-typemeta/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-typemeta";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_typemeta/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1c226b64cdaf20065070ee288f2d59eea33d6bfe694a0874d82cf51af9364726";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_typemeta/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1449daaa735004be51185bdcda53e467d4551112f411313e4595069d5506e946";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/mrpt-viz/default.nix b/distros/jazzy/mrpt-viz/default.nix
index 9c8e2765977..2155523f57a 100644
--- a/distros/jazzy/mrpt-viz/default.nix
+++ b/distros/jazzy/mrpt-viz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, mrpt-common, mrpt-img, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-jazzy-mrpt-viz";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_viz/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "47bc927443de045e18bb51d257c92cf23b6322c6233744ac4e610d6171ea1e39";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/jazzy/mrpt_viz/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "15a9eaaeddc3e28622f8b245509c934c1fd82d57d70fbe8cc22c4c5fff0818cf";
   };
 
   buildType = "cmake";
diff --git a/distros/jazzy/omni-wheel-drive-controller/default.nix b/distros/jazzy/omni-wheel-drive-controller/default.nix
index 2ca3d31dc4a..2e2b52d19c6 100644
--- a/distros/jazzy/omni-wheel-drive-controller/default.nix
+++ b/distros/jazzy/omni-wheel-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, eigen, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-omni-wheel-drive-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/omni_wheel_drive_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "3be76b4a3f000776e10b757d10817811d7ff90e82eb61bea992ba122378c68e9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/omni_wheel_drive_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "eb6c273d684527a0b0a79a2c422510e69f6834cbad4b5365e0aacf0626748be3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/parallel-gripper-controller/default.nix b/distros/jazzy/parallel-gripper-controller/default.nix
index 667269df5b2..3f8c89f685a 100644
--- a/distros/jazzy/parallel-gripper-controller/default.nix
+++ b/distros/jazzy/parallel-gripper-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, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-parallel-gripper-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/parallel_gripper_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "70f372ace61fa2f8f976e8fa3b4b36fa255de19fd65582042382fb2287966582";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/parallel_gripper_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "3ddaf5ddc022903bc3ad6f0d47867d74d9f000de51a0076fa2a594b353b9b181";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/pid-controller/default.nix b/distros/jazzy/pid-controller/default.nix
index 31a0e2b419a..9922d37d9da 100644
--- a/distros/jazzy/pid-controller/default.nix
+++ b/distros/jazzy/pid-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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-jazzy-pid-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/pid_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "5b9481addda87f7b44c836ffd5dc6d6cbaee1f97991ae6c52f89439c22c67c9d";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/pid_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "9d9423187daf389674b021557fc82dad388000240d65084923869cb72b4acbfd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/point-cloud-transport-py/default.nix b/distros/jazzy/point-cloud-transport-py/default.nix
index bb49866e824..8b9c24812f9 100644
--- a/distros/jazzy/point-cloud-transport-py/default.nix
+++ b/distros/jazzy/point-cloud-transport-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, pybind11-vendor, python-cmake-module, rclcpp, rpyutils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-point-cloud-transport-py";
-  version = "4.0.8-r1";
+  version = "4.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/jazzy/point_cloud_transport_py/4.0.8-1.tar.gz";
-    name = "4.0.8-1.tar.gz";
-    sha256 = "c9ae3066e045f211e0c218d244c725780f511673efefa9d8ec8a3f07deeab251";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/jazzy/point_cloud_transport_py/4.0.9-1.tar.gz";
+    name = "4.0.9-1.tar.gz";
+    sha256 = "f3e35fbb7467b000263cd7faa2f35106a1ad0a7af606556c2d05d88784ff9671";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/point-cloud-transport/default.nix b/distros/jazzy/point-cloud-transport/default.nix
index 54ab951b6b8..1edc1b0c409 100644
--- a/distros/jazzy/point-cloud-transport/default.nix
+++ b/distros/jazzy/point-cloud-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-ros, ament-lint-auto, ament-lint-common, message-filters, pluginlib, rclcpp, rclcpp-components, rcpputils, rmw, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-point-cloud-transport";
-  version = "4.0.8-r1";
+  version = "4.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/jazzy/point_cloud_transport/4.0.8-1.tar.gz";
-    name = "4.0.8-1.tar.gz";
-    sha256 = "6ad947b660f94c645763b6cdd0a6f922f84e1cf59b5027c715502260d40e529b";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/jazzy/point_cloud_transport/4.0.9-1.tar.gz";
+    name = "4.0.9-1.tar.gz";
+    sha256 = "5c842105de0e4b7293dedc7e8e7afa98f0d15efc2295e325842d7c0e14957816";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/pointcloud-conversions/default.nix b/distros/jazzy/pointcloud-conversions/default.nix
new file mode 100644
index 00000000000..17b5436535e
--- /dev/null
+++ b/distros/jazzy/pointcloud-conversions/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, pcl, pcl-conversions, pcl-ros, rclcpp, sensor-msgs, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, yaml-cpp-vendor }:
+buildRosPackage {
+  pname = "ros-jazzy-pointcloud-conversions";
+  version = "0.0.2-r1";
+
+  src = fetchurl {
+    url = "https://github.com/li9i/pointcloud-conversions-release/archive/release/jazzy/pointcloud_conversions/0.0.2-1.tar.gz";
+    name = "0.0.2-1.tar.gz";
+    sha256 = "c59d90241f02c2120e0af0bed17f2a1d625e6bee04e7f02302b8bc60fd9f23dc";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ pcl pcl-conversions pcl-ros rclcpp sensor-msgs std-srvs tf2 tf2-geometry-msgs tf2-ros yaml-cpp-vendor ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "ROS 2 utilities for PLY/XYZ/PointCloud2 conversion and TF2-based frame transforms: ply_to_xyz and xyz_to_ply transframers and a pointcloud_to_ply mesh reconstructor (PCL).";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/jazzy/pose-broadcaster/default.nix b/distros/jazzy/pose-broadcaster/default.nix
index 4758346375a..32b5b07ef0b 100644
--- a/distros/jazzy/pose-broadcaster/default.nix
+++ b/distros/jazzy/pose-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-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-pose-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/pose_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "f14a11e37c240847cf2e9ce8bc93e67fb406b0250ad1bda82f67e0d06943a39a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/pose_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "5858b9baf8a3bc408d1a0faa5927c69fa9c515946acf98fcf48a2e8e8158b75c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/position-controllers/default.nix b/distros/jazzy/position-controllers/default.nix
index 5db2091dd1c..8492044b960 100644
--- a/distros/jazzy/position-controllers/default.nix
+++ b/distros/jazzy/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-position-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/position_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "41fe15daba919036dd7eb6af63f0fa889c9f7907df9d9d82325e3eb149fd7ee6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/position_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "b101475de2fd444937a4ad363ad719cf7d1669c9020d779d16225a180d9fdc3a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/range-sensor-broadcaster/default.nix b/distros/jazzy/range-sensor-broadcaster/default.nix
index 22642074f29..af448c01ddf 100644
--- a/distros/jazzy/range-sensor-broadcaster/default.nix
+++ b/distros/jazzy/range-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-range-sensor-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/range_sensor_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "9e397322ac66c4077ed2ea760458b911d73fb6fc5db5ea837e130802f18a01f8";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/range_sensor_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "9977a099c530f2201a179904381db3e775517a4c4791e52ab868efffbd8a3a7d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/ros2-control-test-assets/default.nix b/distros/jazzy/ros2-control-test-assets/default.nix
index f4c536c0404..38f988e5e0f 100644
--- a/distros/jazzy/ros2-control-test-assets/default.nix
+++ b/distros/jazzy/ros2-control-test-assets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-jazzy-ros2-control-test-assets";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2_control_test_assets/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "83ec473d943ffaad3dea8b6904d8ad738e70af7eabe463975f47926d2dd83977";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2_control_test_assets/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "9c2cd07b7d443d37fd4b82fc3489df020b767387f99b614c23a3afd2099b13f5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/ros2-control/default.nix b/distros/jazzy/ros2-control/default.nix
index f29568c52f1..159166df362 100644
--- a/distros/jazzy/ros2-control/default.nix
+++ b/distros/jazzy/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-jazzy-ros2-control";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2_control/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "d396661a7283b0b042b7285b7699bf84fc6d98fb207073711584e402d7966bb1";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2_control/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "5206dfddf25f36a5c4d4d61da0a2e5d9da810ea87a694e0948536833b34a4d98";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/ros2-controllers-test-nodes/default.nix b/distros/jazzy/ros2-controllers-test-nodes/default.nix
index 22a66cd8704..7eaf14f70bb 100644
--- a/distros/jazzy/ros2-controllers-test-nodes/default.nix
+++ b/distros/jazzy/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, launch-ros, launch-testing-ros, python3Packages, rclpy, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-ros2-controllers-test-nodes";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ros2_controllers_test_nodes/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "956048b28e554af65ec7eefd59f099b8dfb5acf51a8c1726ff66d6a86ec4b94e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ros2_controllers_test_nodes/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "75a45cb2bb7c97eccfa238c499b93c2cc9f71623198dbedd62dcb83a41b6edb1";
   };
 
   buildType = "ament_python";
diff --git a/distros/jazzy/ros2-controllers/default.nix b/distros/jazzy/ros2-controllers/default.nix
index c39d8742648..0eca31f27f9 100644
--- a/distros/jazzy/ros2-controllers/default.nix
+++ b/distros/jazzy/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 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, chained-filter-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, gripper-controllers, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, mecanum-drive-controller, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, position-controllers, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, chained-filter-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, gripper-controllers, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, magnetometer-broadcaster, mecanum-drive-controller, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, position-controllers, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
 buildRosPackage {
   pname = "ros-jazzy-ros2-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ros2_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "ba73ae38ec9caca311a06b3834e33a3ef5ca8764cbd1c2de02d3976c1a91b0cf";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/ros2_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "a040b3410637b558a72f09af6c038fbacabe01c70802c1fc4ebca0ce545a9a93";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster gripper-controllers imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller mecanum-drive-controller omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster position-controllers range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster gripper-controllers imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller magnetometer-broadcaster mecanum-drive-controller omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster position-controllers range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/ros2controlcli/default.nix b/distros/jazzy/ros2controlcli/default.nix
index 4a9da429e2d..c976e3c9276 100644
--- a/distros/jazzy/ros2controlcli/default.nix
+++ b/distros/jazzy/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-jazzy-ros2controlcli";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2controlcli/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "b5d471042637d0d6ece37e32592cb8938a0a2dc644f3959cea80183ab1608570";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/ros2controlcli/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "3c03acc45563be9b6628aa2aa5ec435cdee0fcd21330910c0ecc4b1e525cfae7";
   };
 
   buildType = "ament_python";
diff --git a/distros/jazzy/rosbot-bringup/default.nix b/distros/jazzy/rosbot-bringup/default.nix
index 2a2f37dfff0..db731ccbdbf 100644
--- a/distros/jazzy/rosbot-bringup/default.nix
+++ b/distros/jazzy/rosbot-bringup/default.nix
@@ -2,19 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, launch, launch-pytest, launch-ros, nav-msgs, python3Packages, rclpy, rosbot-controller, rosbot-joy, rosbot-localization, rosbot-mavlink-bridge, rosbot-utils, sensor-msgs, tf-namespace-bridge }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-bringup";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_bringup/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "5ddcc5c0d2beac80910e862d262b534cabaf92daec6f814520a1b86f68478f94";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_bringup/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "93fd969c339a2388ef396bab7f35529aed4390d1c2a191e7e94f326601377112";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-pytest launch launch-pytest launch-ros nav-msgs python3Packages.pytest python3Packages.pyyaml rclpy sensor-msgs ];
+  propagatedBuildInputs = [ launch launch-ros rosbot-controller rosbot-joy rosbot-localization rosbot-mavlink-bridge rosbot-utils tf-namespace-bridge ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/rosbot-controller/default.nix b/distros/jazzy/rosbot-controller/default.nix
index 47894ebd06a..b6cf52e9685 100644
--- a/distros/jazzy/rosbot-controller/default.nix
+++ b/distros/jazzy/rosbot-controller/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, controller-manager, diff-drive-controller, imu-sensor-broadcaster, joint-state-broadcaster, launch, launch-ros, mecanum-drive-controller, nav2-common, position-controllers, python3Packages, ros2controlcli, rosbot-description, rosbot-moveit, rosbot-utils, udev, xacro }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, controller-manager, diff-drive-controller, husarion-mecanum-drive-controller, imu-sensor-broadcaster, joint-state-broadcaster, launch, launch-ros, nav2-common, position-controllers, python3Packages, ros2controlcli, rosbot-description, rosbot-hardware-interfaces, rosbot-moveit, rosbot-utils, udev, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-controller";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_controller/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "69fc6faf010d2b93ca7f014fa55facd68f5bcc0fca7416adac549ea29c4bd6ea";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_controller/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "3c1463c8bc823a4ec6b8a32cf5bb5f300255e03e7dedbf29ed056dd894f8e118";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  checkInputs = [ ament-cmake-pytest python3Packages.pytest rosbot-description xacro ];
-  propagatedBuildInputs = [ controller-manager diff-drive-controller imu-sensor-broadcaster joint-state-broadcaster launch launch-ros mecanum-drive-controller nav2-common position-controllers ros2controlcli rosbot-description rosbot-moveit rosbot-utils udev xacro ];
+  checkInputs = [ ament-cmake-pytest python3Packages.pytest python3Packages.pyyaml rosbot-description xacro ];
+  propagatedBuildInputs = [ controller-manager diff-drive-controller husarion-mecanum-drive-controller imu-sensor-broadcaster joint-state-broadcaster launch launch-ros nav2-common position-controllers ros2controlcli rosbot-description rosbot-hardware-interfaces rosbot-moveit rosbot-utils udev xacro ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/rosbot-description/default.nix b/distros/jazzy/rosbot-description/default.nix
index 5a9991d0816..a5f8963dad9 100644
--- a/distros/jazzy/rosbot-description/default.nix
+++ b/distros/jazzy/rosbot-description/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, husarion-components-description, joint-state-publisher, launch, launch-ros, open-manipulator-description, python3Packages, robot-state-publisher, rviz2, xacro }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, dynamixel-hardware-interface, husarion-components-description, joint-state-publisher, launch, launch-ros, open-manipulator-description, python3Packages, robot-state-publisher, rviz2, xacro }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-description";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_description/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "5af4b0e519305cb807ebf6a2799954ce6a5b1e448a5b312a988ae5796f9120c1";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_description/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "da510b311b35515b34c029797c4e4b8022323da785e76f27d0ea6057dd8e7c27";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
   checkInputs = [ ament-cmake-pytest python3Packages.pytest xacro ];
-  propagatedBuildInputs = [ husarion-components-description joint-state-publisher launch launch-ros open-manipulator-description robot-state-publisher rviz2 xacro ];
+  propagatedBuildInputs = [ dynamixel-hardware-interface husarion-components-description joint-state-publisher launch launch-ros open-manipulator-description robot-state-publisher rviz2 xacro ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/rosbot-gazebo/default.nix b/distros/jazzy/rosbot-gazebo/default.nix
index bdaae9275f2..69636a1f182 100644
--- a/distros/jazzy/rosbot-gazebo/default.nix
+++ b/distros/jazzy/rosbot-gazebo/default.nix
@@ -2,18 +2,22 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl,  }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, gz-ros2-control, husarion-gz-worlds, launch, launch-ros, python3Packages, ros-gz-bridge, ros-gz-sim, rosbot-controller, rosbot-description, rosbot-joy, rosbot-localization, rosbot-utils, rviz2, tf-namespace-bridge }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-gazebo";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_gazebo/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "6e8dd6bfaf24154cadc36f8c9d876234e49e038d3b1e7b222d6eaabc697433ce";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_gazebo/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "3c28f57e4db0696befcf9ca7881bb83ca048ca97331cc30685ebc845b4496bce";
   };
 
-  buildType = "ament_python";
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  checkInputs = [ ament-cmake-pytest python3Packages.pytest python3Packages.pyyaml rosbot-description ];
+  propagatedBuildInputs = [ gz-ros2-control husarion-gz-worlds launch launch-ros ros-gz-bridge ros-gz-sim rosbot-controller rosbot-joy rosbot-localization rosbot-utils rviz2 tf-namespace-bridge ];
+  nativeBuildInputs = [ ament-cmake ];
 
   meta = {
     description = "Gazebo simulation for ROSbot Series";
diff --git a/distros/jazzy/rosbot-hardware-interfaces/default.nix b/distros/jazzy/rosbot-hardware-interfaces/default.nix
index 68a18224046..ff64abfaeff 100644
--- a/distros/jazzy/rosbot-hardware-interfaces/default.nix
+++ b/distros/jazzy/rosbot-hardware-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, diff-drive-controller, hardware-interface, imu-sensor-broadcaster, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control, std-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-hardware-interfaces";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_hardware_interfaces/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "66f268195193d9dd1a34d3eb8b5fa39cc99632c4c34a5d2ea1a13c48606612e0";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_hardware_interfaces/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "35ce902ea050f2b46bc8add1ffa272387c3c77fb15329b11ba164ce87838d298";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/rosbot-joy/default.nix b/distros/jazzy/rosbot-joy/default.nix
index 98fecab73cf..40ccb626932 100644
--- a/distros/jazzy/rosbot-joy/default.nix
+++ b/distros/jazzy/rosbot-joy/default.nix
@@ -2,24 +2,25 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, control-msgs, geometry-msgs, joy, launch, launch-ros, moveit-msgs, moveit-ros-planning, moveit-ros-planning-interface, moveit-servo, rclcpp, sensor-msgs, teleop-twist-joy }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, joy, launch, launch-ros, python3Packages, teleop-twist-joy }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-joy";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_joy/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "cf4d26ce6db306f6518863d4bad5f4b8c29f037fadffca028dc75539289e9178";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_joy/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "f2a24b21350ae2d6ad62c386df2f77609ba203349da818d0f0bf96d9b5899f19";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ builtin-interfaces control-msgs geometry-msgs joy launch launch-ros moveit-msgs moveit-ros-planning moveit-ros-planning-interface moveit-servo rclcpp sensor-msgs teleop-twist-joy ];
+  checkInputs = [ ament-cmake-pytest python3Packages.pytest python3Packages.pyyaml ];
+  propagatedBuildInputs = [ joy launch launch-ros teleop-twist-joy ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
-    description = "The rosbot_joy package to handle joystick inputs for the rosbot and open manipulator";
+    description = "The rosbot_joy package to handle joystick inputs for the rosbot drive (via teleop_twist_joy).";
     license = with lib.licenses; [ asl20 ];
   };
 }
diff --git a/distros/jazzy/rosbot-localization/default.nix b/distros/jazzy/rosbot-localization/default.nix
index fe811922cf3..9884cc4d7dc 100644
--- a/distros/jazzy/rosbot-localization/default.nix
+++ b/distros/jazzy/rosbot-localization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, launch, launch-ros, robot-localization }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-localization";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_localization/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "623121880e271161f5dd89f107748e758bfe295aea4579f33bf316888e4a1150";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_localization/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "674f578fff3b9b54090b5002b44fea86f2b60546a72980e2e24aae4c9ed66212";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/rosbot-moveit/default.nix b/distros/jazzy/rosbot-moveit/default.nix
index cc1b42a7c8a..64863d7bb0c 100644
--- a/distros/jazzy/rosbot-moveit/default.nix
+++ b/distros/jazzy/rosbot-moveit/default.nix
@@ -2,20 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, controller-manager, joint-state-publisher, joint-state-publisher-gui, moveit-configs-utils, moveit-kinematics, moveit-planners, moveit-ros-move-group, moveit-ros-visualization, moveit-servo, moveit-setup-assistant, moveit-simple-controller-manager, rosbot-description, rosbot-joy, rviz-common, rviz-default-plugins, rviz2, tf2-ros, xacro }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, control-msgs, geometry-msgs, moveit-configs-utils, moveit-core, moveit-kinematics, moveit-msgs, moveit-planners, moveit-ros-move-group, moveit-ros-planning, moveit-ros-planning-interface, moveit-ros-visualization, moveit-servo, moveit-setup-assistant, moveit-simple-controller-manager, rclcpp, rclcpp-action, rosbot-description, rosbot-joy, rviz-common, rviz-default-plugins, rviz2, sensor-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-moveit";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_moveit/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "ae53a9a9e5138b0839475da9c7c184a7582cf6ba4d58b5c855e0fee203e49974";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_moveit/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "e7eb49613993e6e468d1da15c9c58c56bbaaaa5d75e67531a4548fb1cf9bc70c";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ controller-manager joint-state-publisher joint-state-publisher-gui moveit-configs-utils moveit-kinematics moveit-planners moveit-ros-move-group moveit-ros-visualization moveit-servo moveit-setup-assistant moveit-simple-controller-manager rosbot-description rosbot-joy rviz-common rviz-default-plugins rviz2 tf2-ros xacro ];
+  checkInputs = [ ament-cmake-pytest ];
+  propagatedBuildInputs = [ control-msgs geometry-msgs moveit-configs-utils moveit-core moveit-kinematics moveit-msgs moveit-planners moveit-ros-move-group moveit-ros-planning moveit-ros-planning-interface moveit-ros-visualization moveit-servo moveit-setup-assistant moveit-simple-controller-manager rclcpp rclcpp-action rosbot-description rosbot-joy rviz-common rviz-default-plugins rviz2 sensor-msgs trajectory-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/rosbot-utils/default.nix b/distros/jazzy/rosbot-utils/default.nix
index 49005093f46..88b47d13c0e 100644
--- a/distros/jazzy/rosbot-utils/default.nix
+++ b/distros/jazzy/rosbot-utils/default.nix
@@ -2,20 +2,22 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-pep257, laser-filters, launch-ros, python3Packages, pythonPackages, stm32flash, usbutils }:
+{ lib, buildRosPackage, fetchurl, alsaUtils, ament-cmake, ament-cmake-pytest, ament-cmake-python, generate-parameter-library, launch, launch-pytest, launch-ros, launch-testing, python3Packages, pythonPackages, rclcpp, rclpy, sensor-msgs, std-srvs, stm32flash, usbutils }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot-utils";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_utils/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "e4c9b9bb7b7d2fb60dd1a333b903e3cc3dcc976c095bab41c20824e8dc95e659";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot_utils/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "31d812bb581299aed4642cd9af4b9fd31a7fd5e9b68e6485e1dfa434b8002905";
   };
 
-  buildType = "ament_python";
-  checkInputs = [ ament-pep257 python3Packages.pytest ];
-  propagatedBuildInputs = [ laser-filters launch-ros python3Packages.argcomplete python3Packages.libgpiod python3Packages.pyftdi python3Packages.pyserial python3Packages.requests python3Packages.sh pythonPackages.pyudev stm32flash usbutils ];
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-cmake-pytest launch launch-pytest launch-ros launch-testing python3Packages.pytest python3Packages.pyyaml rclpy ];
+  propagatedBuildInputs = [ alsaUtils generate-parameter-library launch-ros python3Packages.argcomplete python3Packages.libgpiod python3Packages.pyftdi python3Packages.pyserial python3Packages.sh pythonPackages.pyudev rclcpp sensor-msgs std-srvs stm32flash usbutils ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
     description = "Utilities for ROSbot Series";
diff --git a/distros/jazzy/rosbot/default.nix b/distros/jazzy/rosbot/default.nix
index d6759b960f7..b568354d803 100644
--- a/distros/jazzy/rosbot/default.nix
+++ b/distros/jazzy/rosbot/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, rosbot-controller, rosbot-description, rosbot-hardware-interfaces, rosbot-joy, rosbot-localization, rosbot-moveit, rosbot-utils }:
 buildRosPackage {
   pname = "ros-jazzy-rosbot";
-  version = "0.18.6-r1";
+  version = "1.1.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot/0.18.6-1.tar.gz";
-    name = "0.18.6-1.tar.gz";
-    sha256 = "735bb8a6185e62980345fafc15a55f02980de732813f6d3b37a9f9be87a8df0b";
+    url = "https://github.com/ros2-gbp/rosbot_ros-release/archive/release/jazzy/rosbot/1.1.1-1.tar.gz";
+    name = "1.1.1-1.tar.gz";
+    sha256 = "03771a8378b25220e986946d366b123f37e5d36eb391a030316438e9a4a6c88d";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
+  propagatedBuildInputs = [ rosbot-controller rosbot-description rosbot-hardware-interfaces rosbot-joy rosbot-localization rosbot-moveit rosbot-utils ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/jazzy/rqt-controller-manager/default.nix b/distros/jazzy/rqt-controller-manager/default.nix
index 7e3fa4fa39d..9246852cee7 100644
--- a/distros/jazzy/rqt-controller-manager/default.nix
+++ b/distros/jazzy/rqt-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-jazzy-rqt-controller-manager";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/rqt_controller_manager/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "c958788bba0cc196c8a8e4f48138c64adb909058e17d0bde56be08aa136b23d3";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/rqt_controller_manager/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "25ee5e0ffb9ca85a67884d5c1fa23706d69006805e2bb18b8ff8036b5fc59ade";
   };
 
   buildType = "ament_python";
diff --git a/distros/jazzy/rqt-joint-trajectory-controller/default.nix b/distros/jazzy/rqt-joint-trajectory-controller/default.nix
index f63cbb0f51a..daf773557b8 100644
--- a/distros/jazzy/rqt-joint-trajectory-controller/default.nix
+++ b/distros/jazzy/rqt-joint-trajectory-controller/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, launch-testing, launch-testing-ros, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-rqt-joint-trajectory-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/rqt_joint_trajectory_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "759853cccd054431d94b6206d9271c5593a48f65818e497788c2bdd09aa7c790";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/rqt_joint_trajectory_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "935b2b826f1f51fc9a261ee9dcdc9bbf83df3633a7af77065aa9dabfa877fd12";
   };
 
   buildType = "ament_python";
-  checkInputs = [ python3Packages.pytest ];
+  checkInputs = [ launch-testing launch-testing-ros python3Packages.pytest ];
   propagatedBuildInputs = [ control-msgs controller-manager-msgs python-qt-binding python3Packages.rospkg qt-gui rclpy rqt-gui rqt-gui-py trajectory-msgs ];
 
   meta = {
diff --git a/distros/jazzy/smacc2-msgs/default.nix b/distros/jazzy/smacc2-msgs/default.nix
index 02aa6acbcb7..7bb5c1a32eb 100644
--- a/distros/jazzy/smacc2-msgs/default.nix
+++ b/distros/jazzy/smacc2-msgs/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/robosoft-ai/SMACC2-release/archive/release/jazzy/smacc2_msgs/3.1.0-2.tar.gz";
     name = "3.1.0-2.tar.gz";
-    sha256 = "7a53fa671064f0fdabe8b02ab2ef9f41cce102bf0d46c776f705da053588969b";
+    sha256 = "0ccfc046d539fdb9ccb36eb0a660df12a531abd50fc3b964ae5446b1d66bec2c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/smacc2/default.nix b/distros/jazzy/smacc2/default.nix
index dcb0db98ab8..531fba74973 100644
--- a/distros/jazzy/smacc2/default.nix
+++ b/distros/jazzy/smacc2/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/robosoft-ai/SMACC2-release/archive/release/jazzy/smacc2/3.1.0-2.tar.gz";
     name = "3.1.0-2.tar.gz";
-    sha256 = "f7f8ecdfd243b391a38bdc84b1a526446322917e80ca5e3b53ce1d103037989c";
+    sha256 = "594eee72bf4858afd6a4fffab615f13160ef5d34efea75ec9385e525d459e61e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/state-interfaces-broadcaster/default.nix b/distros/jazzy/state-interfaces-broadcaster/default.nix
index 225bed14b2b..ac38049afcb 100644
--- a/distros/jazzy/state-interfaces-broadcaster/default.nix
+++ b/distros/jazzy/state-interfaces-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-state-interfaces-broadcaster";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/state_interfaces_broadcaster/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "8cde427a44ed60e4cf8ba8cb530e44648858cc131357e372dd4bfa66450e0c95";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/state_interfaces_broadcaster/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "c5652ef287f3c136162e4d05122662c89d05e00b9172cc73f82214d8f0fcf8e2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/steering-controllers-library/default.nix b/distros/jazzy/steering-controllers-library/default.nix
index ba4bc559cd8..a0c5b6c4b65 100644
--- a/distros/jazzy/steering-controllers-library/default.nix
+++ b/distros/jazzy/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, 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-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-steering-controllers-library";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/steering_controllers_library/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "305952bd59ecee98d4ca01c703db53730ad0dec7f42df2c9b408d819b5fe3f01";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/steering_controllers_library/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "697c1032bd159885960b6fe47e5e71c4738163bdbe7ed0fe85c9caced196cd73";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/swri-console/default.nix b/distros/jazzy/swri-console/default.nix
index cc59d5ff588..a220f831b03 100644
--- a/distros/jazzy/swri-console/default.nix
+++ b/distros/jazzy/swri-console/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, qt5, rcl-interfaces, rclcpp, rmw, rosbag2-storage-mcap, rosbag2-transport, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-jazzy-swri-console";
-  version = "2.1.3-r1";
+  version = "2.1.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/jazzy/swri_console/2.1.3-1.tar.gz";
-    name = "2.1.3-1.tar.gz";
-    sha256 = "30fb40f0f7167f896a4f6bfd34cf0b0fb6b35031589892eb50cd557ee74105ab";
+    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/jazzy/swri_console/2.1.4-1.tar.gz";
+    name = "2.1.4-1.tar.gz";
+    sha256 = "1e80412851fc70d1b8e9de695d4e63b439c4cbb21c5817ae327ccbb53b22402f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/transmission-interface/default.nix b/distros/jazzy/transmission-interface/default.nix
index 323cc88990b..f3fe3cc28e7 100644
--- a/distros/jazzy/transmission-interface/default.nix
+++ b/distros/jazzy/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, hardware-interface, pluginlib, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-transmission-interface";
-  version = "4.45.2-r1";
+  version = "4.46.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/transmission_interface/4.45.2-1.tar.gz";
-    name = "4.45.2-1.tar.gz";
-    sha256 = "6341aa24de3bb5a95809d9efcda7a103275a899e1cadfa80ea10a2009d5a5b63";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/jazzy/transmission_interface/4.46.0-1.tar.gz";
+    name = "4.46.0-1.tar.gz";
+    sha256 = "724b5a5a881e2f7156895d569f5609a43a8c2f209af1974629aaee1f33adfded";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/tricycle-controller/default.nix b/distros/jazzy/tricycle-controller/default.nix
index 1ecf6ca1a55..a922b9d01b1 100644
--- a/distros/jazzy/tricycle-controller/default.nix
+++ b/distros/jazzy/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, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-tricycle-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/tricycle_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "7d2ade64acd60b919d77d0d191e193c2e7519bcf1615306e0f190f29e443290f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/tricycle_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "397443d7ebca12efd7cf1712ce6b1169277a2b2d9023d0ca8b67f2fd4aabdfcc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/tricycle-steering-controller/default.nix b/distros/jazzy/tricycle-steering-controller/default.nix
index b9a22b879c5..fcfd70e6d7e 100644
--- a/distros/jazzy/tricycle-steering-controller/default.nix
+++ b/distros/jazzy/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-jazzy-tricycle-steering-controller";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/tricycle_steering_controller/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "25d92e961d76274c1cdacaa9f40be40385b852a5e17c519308ed137a72b7c6e5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/tricycle_steering_controller/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "0a1d05f42634dfdf28c499c41681426b6c1b29a9da505b9322d5c9eb4a86eeb5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/ur-msgs/default.nix b/distros/jazzy/ur-msgs/default.nix
index 586e12f21b0..78e7dc31d3b 100644
--- a/distros/jazzy/ur-msgs/default.nix
+++ b/distros/jazzy/ur-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, control-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-jazzy-ur-msgs";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/jazzy/ur_msgs/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "2a411ec31712d9ab687cf3bef9776319d7e1660a6fa58f380cb7d859984d4783";
+    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/jazzy/ur_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "0a281d44c2f5fa660c7f96234ac0a33f2adb0fb6655431adfb885abc2b1d4773";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/jazzy/urinterfaces/default.nix b/distros/jazzy/urinterfaces/default.nix
new file mode 100644
index 00000000000..e0827326f70
--- /dev/null
+++ b/distros/jazzy/urinterfaces/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
+buildRosPackage {
+  pname = "ros-jazzy-urinterfaces";
+  version = "9.0.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/urinterfaces-release/archive/release/jazzy/urinterfaces/9.0.0-1.tar.gz";
+    name = "9.0.0-1.tar.gz";
+    sha256 = "1017721665b5ee9b3924ce86e0671695fc53d157422ba9912dab916b8a40c9a2";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake rosidl-default-generators ];
+  checkInputs = [ ament-lint-common ];
+  propagatedBuildInputs = [ action-msgs builtin-interfaces geometry-msgs rosidl-default-runtime sensor-msgs std-msgs ];
+  nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
+
+  meta = {
+    description = "A package containing ROS2 ur message definitions.";
+    license = with lib.licenses; [ bsd3 ];
+  };
+}
diff --git a/distros/jazzy/velocity-controllers/default.nix b/distros/jazzy/velocity-controllers/default.nix
index 06339a5eb58..089074bff2d 100644
--- a/distros/jazzy/velocity-controllers/default.nix
+++ b/distros/jazzy/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, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-jazzy-velocity-controllers";
-  version = "4.40.1-r1";
+  version = "4.41.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/velocity_controllers/4.40.1-1.tar.gz";
-    name = "4.40.1-1.tar.gz";
-    sha256 = "99500188a54a797de043264252a34628c0d86828e470ba894745ea5c1dc7ec26";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/jazzy/velocity_controllers/4.41.0-1.tar.gz";
+    name = "4.41.0-1.tar.gz";
+    sha256 = "84ea0384e785a388077af3564eacb10d10cf080cc200dc924833f38356adad81";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/ackermann-steering-controller/default.nix b/distros/kilted/ackermann-steering-controller/default.nix
index 801b889f2fc..e8deefc98af 100644
--- a/distros/kilted/ackermann-steering-controller/default.nix
+++ b/distros/kilted/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-kilted-ackermann-steering-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ackermann_steering_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "0ee4c196b7eeace8979910bb0cb0b160fcf144692536bab91840c11b20ed9182";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ackermann_steering_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "c0d85137e36ef7fe1d1b6432a0cbfc869c7046ebad1f1f0c10acd28168aa7733";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/admittance-controller/default.nix b/distros/kilted/admittance-controller/default.nix
index 08e96db556e..d8c1cda3859 100644
--- a/distros/kilted/admittance-controller/default.nix
+++ b/distros/kilted/admittance-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, geometry-msgs, hardware-interface, hardware-interface-testing, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, tinyxml-2, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kilted-admittance-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/admittance_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "899b1240c506b553b956cd51e9bead8c1e2197ca945309860d76141a321e09ed";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/admittance_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "662868cbeae5ebbd2355c9f8c3ba7bb051b8d1012f34437f176f70794bc7838c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/bicycle-steering-controller/default.nix b/distros/kilted/bicycle-steering-controller/default.nix
index 51379667243..bf4fc449ee1 100644
--- a/distros/kilted/bicycle-steering-controller/default.nix
+++ b/distros/kilted/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-kilted-bicycle-steering-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/bicycle_steering_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "9f9f495688f2bddd278f9327b3bec4c083c87efae2e066d688f42def5a5e124a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/bicycle_steering_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "9e728e00b2a169c35541ead514fbc49cf0894c0b93523ad6ce27aaa8e2e1e21d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/chained-filter-controller/default.nix b/distros/kilted/chained-filter-controller/default.nix
index 881520649d1..d65450d65f0 100644
--- a/distros/kilted/chained-filter-controller/default.nix
+++ b/distros/kilted/chained-filter-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, filters, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-chained-filter-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/chained_filter_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "42702450156804aa439e8e5d1f5d24f4a1b538d65330992fb26f912a7f817efa";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/chained_filter_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "e8669702a7761a9af8d3a3cd3ff02dd113f1da0d5ab65154c3d2a987a792accc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/compressed-depth-image-transport/default.nix b/distros/kilted/compressed-depth-image-transport/default.nix
index 1522aa5b86b..f928da4280a 100644
--- a/distros/kilted/compressed-depth-image-transport/default.nix
+++ b/distros/kilted/compressed-depth-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, cv-bridge, image-transport }:
 buildRosPackage {
   pname = "ros-kilted-compressed-depth-image-transport";
-  version = "5.1.2-r1";
+  version = "5.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/compressed_depth_image_transport/5.1.2-1.tar.gz";
-    name = "5.1.2-1.tar.gz";
-    sha256 = "d82dc5c4305ce56c255b432c8b059e1d022e2d9da4af94994edbe3707a683398";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/compressed_depth_image_transport/5.1.3-1.tar.gz";
+    name = "5.1.3-1.tar.gz";
+    sha256 = "f7815b1e87458038107cf5b2cc8fb23579c10e445c7277f261df8a3b8807ccf9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/compressed-image-transport/default.nix b/distros/kilted/compressed-image-transport/default.nix
index feb3889c1a2..f06f51fddf5 100644
--- a/distros/kilted/compressed-image-transport/default.nix
+++ b/distros/kilted/compressed-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport }:
 buildRosPackage {
   pname = "ros-kilted-compressed-image-transport";
-  version = "5.1.2-r1";
+  version = "5.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/compressed_image_transport/5.1.2-1.tar.gz";
-    name = "5.1.2-1.tar.gz";
-    sha256 = "87cc490ea871e64ef05d553ae7f0706e1d17cb4ec9e81033800ba2c269b34a11";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/compressed_image_transport/5.1.3-1.tar.gz";
+    name = "5.1.3-1.tar.gz";
+    sha256 = "210e205713b023dab368b2941e7485e022d38c215a0c529d4a3e98e655861f7d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/control-msgs/default.nix b/distros/kilted/control-msgs/default.nix
index 302d8ed6d61..01e59ed2ecb 100644
--- a/distros/kilted/control-msgs/default.nix
+++ b/distros/kilted/control-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, builtin-interfaces, diagnostic-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kilted-control-msgs";
-  version = "6.9.0-r1";
+  version = "6.10.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/kilted/control_msgs/6.9.0-1.tar.gz";
-    name = "6.9.0-1.tar.gz";
-    sha256 = "9aa6276909ad44256468be0985ec0f04e6576679957f6665d018fa52e557d1bd";
+    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/kilted/control_msgs/6.10.0-1.tar.gz";
+    name = "6.10.0-1.tar.gz";
+    sha256 = "5be11e9c03a8dbbc01aff68d28216814fbee3211ecaeded27cf5398f1eff2a87";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/controller-interface/default.nix b/distros/kilted/controller-interface/default.nix
index b925cd50823..e9fb3845028 100644
--- a/distros/kilted/controller-interface/default.nix
+++ b/distros/kilted/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, geometry-msgs, hardware-interface, pal-statistics, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-controller-interface";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_interface/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "91f999f9e0686ca97f155e265091c11ed78efcf343a87ef11692bb51d27803ef";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_interface/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "10f498e655e246a294f860a5ad46aff592c21bace8fb1d7a2a857ab3eee362dd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/controller-manager-msgs/default.nix b/distros/kilted/controller-manager-msgs/default.nix
index 7c7b9777210..24615b274ff 100644
--- a/distros/kilted/controller-manager-msgs/default.nix
+++ b/distros/kilted/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-controller-manager-msgs";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_manager_msgs/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "a36367f463687215db87f9cfa5e3a1f4a8d66a17f6193349fc34027bb8eaf740";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_manager_msgs/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "b4b12be5d08118abb259348c5f0a80c6048e5506793bcbf58882ecbbe4a99109";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/controller-manager/default.nix b/distros/kilted/controller-manager/default.nix
index b7041036b20..aff9650e493 100644
--- a/distros/kilted/controller-manager/default.nix
+++ b/distros/kilted/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-pytest, ament-cmake-python, backward-ros, controller-interface, controller-manager-msgs, diagnostic-updater, example-interfaces, fmt, generate-parameter-library, hardware-interface, hardware-interface-testing, launch, launch-ros, launch-testing, launch-testing-ros, libstatistics-collector, lifecycle-msgs, pluginlib, python3Packages, rcl-interfaces, rclcpp, rclpy, realtime-tools, robot-state-publisher, ros2-control-cmake, ros2-control-test-assets, ros2param, ros2pkg, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-controller-manager";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_manager/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "b4984f3766246e60d236cb676d9e2ea3e0f7d58822b1c2f29cea1704098b6fad";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/controller_manager/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "fe70f69a0bd53941135300131f333ddc3e0a6baa0ec87de5cbdbf0f8210279b1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/diff-drive-controller/default.nix b/distros/kilted/diff-drive-controller/default.nix
index 309084b0fe9..035e1c56c20 100644
--- a/distros/kilted/diff-drive-controller/default.nix
+++ b/distros/kilted/diff-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-diff-drive-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/diff_drive_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "91cc3581db650f835dc0091133603f3b13ed2bfdc6aa536ea2b659aafd5151c0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/diff_drive_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "c59d2dcd47c1aa6b77307408b878dd70448982ac3a55292a308bfdfe096a550d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/effort-controllers/default.nix b/distros/kilted/effort-controllers/default.nix
index 8c4857b04cf..bcc51a8740c 100644
--- a/distros/kilted/effort-controllers/default.nix
+++ b/distros/kilted/effort-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-effort-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/effort_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "6ec8ca8dd06f224bca1c8c4c53b5332fd0c5478d9d157c055b61c342577acdc0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/effort_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "6fb3c0f2d422b1c653a1d46c14136c8b28b95312820c59a7f6f96d3493693ae3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/force-torque-sensor-broadcaster/default.nix b/distros/kilted/force-torque-sensor-broadcaster/default.nix
index 0171bb35dc7..47950cea721 100644
--- a/distros/kilted/force-torque-sensor-broadcaster/default.nix
+++ b/distros/kilted/force-torque-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, filters, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-kilted-force-torque-sensor-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/force_torque_sensor_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "b436eb2128a1f97b9c4d7f7df706cfe4ce2f6821d9588957712dad8a6b78ed79";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/force_torque_sensor_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "7d417ace21d64b3cc80a2e3e4dbae238d39f230f0c13da58036840ce332203a0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/forward-command-controller/default.nix b/distros/kilted/forward-command-controller/default.nix
index 003f32c445c..bf1d7cf07c7 100644
--- a/distros/kilted/forward-command-controller/default.nix
+++ b/distros/kilted/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-forward-command-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/forward_command_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "7a5449fc05c1afa358f57e3b5b7c14acc4033868d7fc2a5d9d2d25ed7d15f1a5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/forward_command_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "60b9201f54651129ad7a744a9ba9f51d994725f15bdcca229f01f8e3d8794b7c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/generated.nix b/distros/kilted/generated.nix
index b472733e1af..9e1802e0fbc 100644
--- a/distros/kilted/generated.nix
+++ b/distros/kilted/generated.nix
@@ -1358,6 +1358,8 @@ self: super: {
 
  magnetic-model = self.callPackage ./magnetic-model {};
 
+ magnetometer-broadcaster = self.callPackage ./magnetometer-broadcaster {};
+
  magnetometer-compass = self.callPackage ./magnetometer-compass {};
 
  magnetometer-pipeline = self.callPackage ./magnetometer-pipeline {};
diff --git a/distros/kilted/gpio-controllers/default.nix b/distros/kilted/gpio-controllers/default.nix
index b666f56bfbc..7d009af01a5 100644
--- a/distros/kilted/gpio-controllers/default.nix
+++ b/distros/kilted/gpio-controllers/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-gpio-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/gpio_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "e303bf9f4f24daf0407d7d325429d2a46134cdfc2cb55d18ce25eaeb37fc03a1";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/gpio_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "be57cd30e567413f4f2edad714d10f78c53fd0086da2d57085f0a195a517bd38";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/gps-sensor-broadcaster/default.nix b/distros/kilted/gps-sensor-broadcaster/default.nix
index 4b95d65f315..761e095a260 100644
--- a/distros/kilted/gps-sensor-broadcaster/default.nix
+++ b/distros/kilted/gps-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kilted-gps-sensor-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/gps_sensor_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "2691638ce7ed0859e5fb4459265aad7fc8fb4ab6d20db0c912e4db0a8710012c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/gps_sensor_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "84f879e611b28fe955923f7b2e5838731463459d8805316421953e6b5eaff6ae";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/hardware-interface-testing/default.nix b/distros/kilted/hardware-interface-testing/default.nix
index 7dab5daccf9..2f7249d2e02 100644
--- a/distros/kilted/hardware-interface-testing/default.nix
+++ b/distros/kilted/hardware-interface-testing/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, fmt, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-hardware-interface-testing";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/hardware_interface_testing/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "27fb232c45b471d59cf69d104aa28f0fa1be61cfd003c1b026a1a22522157a2a";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/hardware_interface_testing/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "043efea9edcaf5aef75f28acb622d7c1811c5689234c3459e5d57ef12a47b654";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/hardware-interface/default.nix b/distros/kilted/hardware-interface/default.nix
index e03a8bf0e19..fb215838a1e 100644
--- a/distros/kilted/hardware-interface/default.nix
+++ b/distros/kilted/hardware-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, control-msgs, fmt, joint-limits, lifecycle-msgs, pal-statistics, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sdformat-urdf, tinyxml2-vendor, urdf }:
 buildRosPackage {
   pname = "ros-kilted-hardware-interface";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/hardware_interface/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "032f8a025391e2aed30cdac79de1e7afba774fbeb9a2949f2991a6555aaba320";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/hardware_interface/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "e3c0c83706e83684d0c5da534777e81c34e778c3b7b3211c3422be00c21edc5e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/image-transport-plugins/default.nix b/distros/kilted/image-transport-plugins/default.nix
index c9d517f0605..720c3c86fc3 100644
--- a/distros/kilted/image-transport-plugins/default.nix
+++ b/distros/kilted/image-transport-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, compressed-depth-image-transport, compressed-image-transport, theora-image-transport, zstd-image-transport }:
 buildRosPackage {
   pname = "ros-kilted-image-transport-plugins";
-  version = "5.1.2-r1";
+  version = "5.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/image_transport_plugins/5.1.2-1.tar.gz";
-    name = "5.1.2-1.tar.gz";
-    sha256 = "f81ec12e95b2ca037f4a80b0295f5625c4f1646af57a62908033f3f24beabe5c";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/image_transport_plugins/5.1.3-1.tar.gz";
+    name = "5.1.3-1.tar.gz";
+    sha256 = "7ffa37d57e0d9196eb94f4213546c656bf0a8589ed78d26490130a037864d020";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/imu-sensor-broadcaster/default.nix b/distros/kilted/imu-sensor-broadcaster/default.nix
index 10ad32d20ea..df5ab6dbf00 100644
--- a/distros/kilted/imu-sensor-broadcaster/default.nix
+++ b/distros/kilted/imu-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, eigen, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-kilted-imu-sensor-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/imu_sensor_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "5c3f72eb7d5fd0a3d73b0a501b3e400b4203d4575c1f20e896ff78568543fc06";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/imu_sensor_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "353f293d470adbb5930820f813abdefaa0d220190fd966b959fc3630e9b89e31";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/joint-limits/default.nix b/distros/kilted/joint-limits/default.nix
index 77bbec7f94b..b248e837d82 100644
--- a/distros/kilted/joint-limits/default.nix
+++ b/distros/kilted/joint-limits/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, fmt, generate-parameter-library, launch-ros, launch-testing-ament-cmake, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-kilted-joint-limits";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/joint_limits/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "1b3f55c751d71ac7a89f304cc4b8f792cc026bec32c528f5077e1f853e48fba7";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/joint_limits/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "3ce21cdf863a04c93ee23793f0fab042b8e5ce695fd9635a4d363c8bde7d2354";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/joint-state-broadcaster/default.nix b/distros/kilted/joint-state-broadcaster/default.nix
index baa8cd71b5c..07c32d9fd4b 100644
--- a/distros/kilted/joint-state-broadcaster/default.nix
+++ b/distros/kilted/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
 buildRosPackage {
   pname = "ros-kilted-joint-state-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/joint_state_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "8985e1b7969b5d157c87e5d0b0ecfba9b0d56df4f86834cb963874a702b32838";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/joint_state_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "640ac5845c568cd92b8fdb673ab9ecf10cb09914d8e2944e558d3417c418de58";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/joint-trajectory-controller/default.nix b/distros/kilted/joint-trajectory-controller/default.nix
index aaaf30a5e37..e2be8b82906 100644
--- a/distros/kilted/joint-trajectory-controller/default.nix
+++ b/distros/kilted/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, rsl, tl-expected-nixpkgs, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-kilted-joint-trajectory-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/joint_trajectory_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "9122a4c5fe312e89f546d182ba9ee5dec8153370a684c1246511b9f44c4d8aa5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/joint_trajectory_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "9f9bffb4b1b50234873b35139e618ab0daf6db66251eeb4666765efc8992c26c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/jrl-cmakemodules/default.nix b/distros/kilted/jrl-cmakemodules/default.nix
index fe212ba1fc7..6c195faf64f 100644
--- a/distros/kilted/jrl-cmakemodules/default.nix
+++ b/distros/kilted/jrl-cmakemodules/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, doxygen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, catch2, cmake, doxygen, eigen, git, matio, pkg-config, python3Packages, simde }:
 buildRosPackage {
   pname = "ros-kilted-jrl-cmakemodules";
-  version = "1.1.2-r1";
+  version = "2.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/kilted/jrl_cmakemodules/1.1.2-1.tar.gz";
-    name = "1.1.2-1.tar.gz";
-    sha256 = "25906bca9f46972e1af1d12383f6771ec2a3dc311332bf9cd78cf3dd12149732";
+    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/kilted/jrl_cmakemodules/2.0.0-1.tar.gz";
+    name = "2.0.0-1.tar.gz";
+    sha256 = "1d7debde9a6e192d9252d13348d69f1f091606f25eede1a9aa5ceee172188a7a";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake ];
+  checkInputs = [ boost catch2 eigen git matio python3Packages.nanobind python3Packages.numpy python3Packages.pytest python3Packages.typing-extensions simde ];
   propagatedBuildInputs = [ doxygen pkg-config ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/launch-ros/default.nix b/distros/kilted/launch-ros/default.nix
index f4f498052d2..128ae4e7641 100644
--- a/distros/kilted/launch-ros/default.nix
+++ b/distros/kilted/launch-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, composition-interfaces, launch, lifecycle-msgs, osrf-pycommon, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-kilted-launch-ros";
-  version = "0.28.5-r1";
+  version = "0.28.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/launch_ros/0.28.5-1.tar.gz";
-    name = "0.28.5-1.tar.gz";
-    sha256 = "f4db55b75ff5120aa76131550f45c2414c6ff70c78f928dd2cb6fa4005c93789";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/launch_ros/0.28.6-1.tar.gz";
+    name = "0.28.6-1.tar.gz";
+    sha256 = "d804dfc5781d5c810837996485c78aaeed040c25c323166d63411c480d0e0ad0";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/launch-testing-ros/default.nix b/distros/kilted/launch-testing-ros/default.nix
index 0122d2170d3..2e3c9c80aef 100644
--- a/distros/kilted/launch-testing-ros/default.nix
+++ b/distros/kilted/launch-testing-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch-ros, launch-testing, python3Packages, rclpy, rmw-test-fixture-implementation, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-launch-testing-ros";
-  version = "0.28.5-r1";
+  version = "0.28.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/launch_testing_ros/0.28.5-1.tar.gz";
-    name = "0.28.5-1.tar.gz";
-    sha256 = "9ce714d6acf8a52e44e28e551309d4d15c5cd6e2bf5c0cd141101d04de1a5b6f";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/launch_testing_ros/0.28.6-1.tar.gz";
+    name = "0.28.6-1.tar.gz";
+    sha256 = "db48ce85c1d8d5065040823b364a30b9656cbfef9e43822cf6bcaafaa78319ef";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/magnetometer-broadcaster/default.nix b/distros/kilted/magnetometer-broadcaster/default.nix
new file mode 100644
index 00000000000..b79c3598abf
--- /dev/null
+++ b/distros/kilted/magnetometer-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 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, eigen, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-kilted-magnetometer-broadcaster";
+  version = "5.16.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/magnetometer_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "5a439c096e89aa83de7afa56069eef0aba8ac53d536458139f07b569020417e6";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ros2-control-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface eigen generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Controller to publish readings of a magnetometer.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/kilted/mecanum-drive-controller/default.nix b/distros/kilted/mecanum-drive-controller/default.nix
index 8247233dfa8..a4514f7a31b 100644
--- a/distros/kilted/mecanum-drive-controller/default.nix
+++ b/distros/kilted/mecanum-drive-controller/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-mecanum-drive-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/mecanum_drive_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "a5f33307a68ed415ef32ec80496d404a38f4fc166f69ed316cce2d226fc3e1d7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/mecanum_drive_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "ccc96b1ae0b7a4bf5b18da946d7732cf5afcd88ab2e14f6d375d3b772d7af20a";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake generate-parameter-library ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros control-msgs controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools std-srvs tf2 tf2-geometry-msgs tf2-msgs ];
+  propagatedBuildInputs = [ backward-ros control-msgs control-toolbox controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools std-srvs tf2 tf2-geometry-msgs tf2-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/kilted/message-filters/default.nix b/distros/kilted/message-filters/default.nix
index f1fe70579cf..c050e8d9c68 100644
--- a/distros/kilted/message-filters/default.nix
+++ b/distros/kilted/message-filters/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-cmake-ros, ament-lint-auto, ament-lint-common, builtin-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rcutils, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-message-filters";
-  version = "7.1.10-r1";
+  version = "7.1.11-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/kilted/message_filters/7.1.10-1.tar.gz";
-    name = "7.1.10-1.tar.gz";
-    sha256 = "47e53319001bb45505b5e303d12c3d76a158efbc788eeccf7215a4f26edd7088";
+    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/kilted/message_filters/7.1.11-1.tar.gz";
+    name = "7.1.11-1.tar.gz";
+    sha256 = "5a4d480e19ce157204cf9e5e8571bd79622f19cc41962e55c56371b5957def93";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/motion-primitives-controllers/default.nix b/distros/kilted/motion-primitives-controllers/default.nix
index f4836da98b9..b455614c559 100644
--- a/distros/kilted/motion-primitives-controllers/default.nix
+++ b/distros/kilted/motion-primitives-controllers/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, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-kilted-motion-primitives-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/motion_primitives_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "b3d362dcbafe6affb47f2d2868c864981389967b73c3ff3a9e6e3bf9b56a28ea";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/motion_primitives_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "0894058c9dfddba37a830466da85bd7ff30f0127d25f2eaba3c5fbbb5982709b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/mrpt-apps-cli/default.nix b/distros/kilted/mrpt-apps-cli/default.nix
index dd316c2fca5..9813e0c3574 100644
--- a/distros/kilted/mrpt-apps-cli/default.nix
+++ b/distros/kilted/mrpt-apps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-libapps-cli }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-apps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_apps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b2a30cb177d6bc5407d29617b55a616f172a52d9d0a045896962b31bda3461db";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_apps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1ceb18919e8fade74f4fb259be813cd29f1ae10ba7dcb921c97bb8ddfbaff434";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-apps-gui/default.nix b/distros/kilted/mrpt-apps-gui/default.nix
index 28806b8470a..4a308cfa412 100644
--- a/distros/kilted/mrpt-apps-gui/default.nix
+++ b/distros/kilted/mrpt-apps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-graphslam, mrpt-kinematics, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-apps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_apps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c268f7baa8ad06590d4e3768e712e0eff949aa698c7be50d413f431a05c9f64b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_apps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e0dee150af6edd599864331c2f1092c6584be3e764eb48ab441d86c1fbcd7422";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-apps/default.nix b/distros/kilted/mrpt-apps/default.nix
index 99bc25eca24..57221aefee9 100644
--- a/distros/kilted/mrpt-apps/default.nix
+++ b/distros/kilted/mrpt-apps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libapps, mrpt-libnav, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-apps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_apps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "739a1f6dad24aa59432fe09d7479ac9b77ac75a979ec42ed32b576a4b8a27ff9";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_apps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "0bab33916ccdaaebf3d5d9ecd72d8d453cbfe4b19379aebcc19f25393a4af327";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-bayes/default.nix b/distros/kilted/mrpt-bayes/default.nix
index d135c1faf9c..504d266bb27 100644
--- a/distros/kilted/mrpt-bayes/default.nix
+++ b/distros/kilted/mrpt-bayes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-config, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-bayes";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_bayes/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4a2c8cebce63a247b32544eeb404af6f2fcfc5eec5dd011b250a2bf4871c89f1";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_bayes/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e444650dbfaa7df3abe354996df8b506dfd0eac9575ef2968baa607ae719e3e9";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-common/default.nix b/distros/kilted/mrpt-common/default.nix
index 427ae38e54b..59cca992c69 100644
--- a/distros/kilted/mrpt-common/default.nix
+++ b/distros/kilted/mrpt-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, gtest }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-common";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_common/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "97d922a04b50c06220a4f72ccce32ce8307bb5366ec90c1f9c640468459e1b7e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_common/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "23d433903bb72d5ef5fa1f52e9875ca66682b02703a67eff92496c90a137e68d";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-comms/default.nix b/distros/kilted/mrpt-comms/default.nix
index dcd568381f6..9469fc839fb 100644
--- a/distros/kilted/mrpt-comms/default.nix
+++ b/distros/kilted/mrpt-comms/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libftdi1, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-comms";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_comms/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e0b2a13a7ec298c2a775551bada6aa050611e57fe82837733e375c622e52f9d6";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_comms/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f423a7a7a639cbe8f47b0586423ecdb641cbbf2f88230b654dfda4a0f5c8f751";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libftdi1 python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-poses ];
   propagatedBuildInputs = [ mrpt-common mrpt-io ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/kilted/mrpt-config/default.nix b/distros/kilted/mrpt-config/default.nix
index 5fe3f7b52a1..36341633eea 100644
--- a/distros/kilted/mrpt-config/default.nix
+++ b/distros/kilted/mrpt-config/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-expr, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, _unresolved_libsimpleini-dev, cmake, icu, mrpt-common, mrpt-expr, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-config";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_config/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "83b099a1acf0cafdd013e12bb5be19b6b4e10b45128e1298136b09a1407f6459";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_config/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "37f28407cde81870c5b36e427f130463d1abed90c1702e72b8cc99bf4e7c4c42";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ _unresolved_libsimpleini-dev cmake icu python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-expr ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/mrpt-containers/default.nix b/distros/kilted/mrpt-containers/default.nix
index d2d9d15a82a..2c89cbd9973 100644
--- a/distros/kilted/mrpt-containers/default.nix
+++ b/distros/kilted/mrpt-containers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libfyaml, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-containers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_containers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7deb18520c715fbaadbe3d8fac496045de2df80976d44be34250bd0823b4a136";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_containers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3ac5dbce165d31caf4af8bf7707f92dac4337647d187ad4a3170327cdc3a2b08";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libfyaml python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-core mrpt-typemeta ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/mrpt-core/default.nix b/distros/kilted/mrpt-core/default.nix
index 7bb2aa1dafd..4651cb2e1ed 100644
--- a/distros/kilted/mrpt-core/default.nix
+++ b/distros/kilted/mrpt-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-core";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_core/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "d811f6cf584b8ca53a073dc811c7b8fd5a45d95bdb7c48aada6963ff5108b213";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_core/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ce7fd59e40202745bd0b50508fe7792953c419524c2d01511cbfb31b24b1f672";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-data/default.nix b/distros/kilted/mrpt-data/default.nix
index 6eb887d6b0f..26898b373e1 100644
--- a/distros/kilted/mrpt-data/default.nix
+++ b/distros/kilted/mrpt-data/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-data";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_data/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "760a08e1cf90b05a28c8ecd8a4f0090117a98a44c3ffdb95c587d53e17ae2607";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_data/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3a68ee179adefd5991137a0bade5a41b0e0963a44bc568827566545b230ef152";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-examples-cpp/default.nix b/distros/kilted/mrpt-examples-cpp/default.nix
index 72d059acf7e..8b41129ae1c 100644
--- a/distros/kilted/mrpt-examples-cpp/default.nix
+++ b/distros/kilted/mrpt-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, glfw3, mrpt-common, mrpt-data, mrpt-graphslam, mrpt-gui, mrpt-imgui, mrpt-libapps-cli, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-examples-cpp";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_examples_cpp/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "750843ae6c4e0270110928016a4ef76ea72a7db504bd06016bcfc6d14cb88826";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_examples_cpp/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "08d7532a5af11189255fc52646fa16a3ce72241a37e28cf81491fd51f347f1f7";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-expr/default.nix b/distros/kilted/mrpt-expr/default.nix
index 3df26ff56e2..437aeb883ee 100644
--- a/distros/kilted/mrpt-expr/default.nix
+++ b/distros/kilted/mrpt-expr/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-expr";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_expr/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "301913d76eae77ab0e016ed86c37ad21a86f508d244c1e9da4d14974cff005c7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_expr/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7f6552eec0e7e62e2f7d57feec6342582411cd925203fcb1d543e5cb5f85aaf7";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-graphs/default.nix b/distros/kilted/mrpt-graphs/default.nix
index b79fb0f0f2d..692d18fba8f 100644
--- a/distros/kilted/mrpt-graphs/default.nix
+++ b/distros/kilted/mrpt-graphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-poses, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-graphs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_graphs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "86274ef324de06794d0217d1dc3042d58de6787beddefd73041d3d7325b8786a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_graphs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d08ba4ac3b6bcedebce85bc839a707ba6b2d0b734e56464e4552a106f8d0dd40";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-graphslam/default.nix b/distros/kilted/mrpt-graphslam/default.nix
index 0c9309b265c..acfd9cb3d7e 100644
--- a/distros/kilted/mrpt-graphslam/default.nix
+++ b/distros/kilted/mrpt-graphslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-slam }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-graphslam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_graphslam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b768c83167be2b1c3443fe76c0df4cc71f481ab287e305d8f3307da58c9ef4f2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_graphslam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "03e4a9e18259e07bc9aebd992d6b9a24de924d5c307cdcc6fc19fbc3f04b2e39";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-gui/default.nix b/distros/kilted/mrpt-gui/default.nix
index 5fd9106facb..d1cf7f90e2e 100644
--- a/distros/kilted/mrpt-gui/default.nix
+++ b/distros/kilted/mrpt-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, libGL, libGLU, libxrandr, libxxf86vm, mrpt-opengl, python3, python3Packages, qt5, wxGTK32 }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "62fd6610fda2f7a6e7a3222e9405d2e05efcf34ad9d467c240eb4bfe7d0c8670";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "9833791826dfb20e316775f8d79811007cc4272e4b0469bf3d37b8670c80e466";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-hwdrivers/default.nix b/distros/kilted/mrpt-hwdrivers/default.nix
index ddda9e691fc..d34694013c7 100644
--- a/distros/kilted/mrpt-hwdrivers/default.nix
+++ b/distros/kilted/mrpt-hwdrivers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-comms, mrpt-maps, mrpt-viz }:
+{ lib, buildRosPackage, fetchurl, cmake, ffmpeg, libdc1394, libpcap, libusb1, mrpt-comms, mrpt-maps, mrpt-viz, openni2 }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-hwdrivers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_hwdrivers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "01dd9ab3e55efa377d3cd942e2ec6720df3a0845eaf0de36e8fd0f185bf38403";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_hwdrivers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7cd6708989c7e449d5ebf71c9bcb89063d900d9552de9325a7b3157209085171";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake ];
+  buildInputs = [ cmake ffmpeg libdc1394 libpcap libusb1 openni2 ];
   propagatedBuildInputs = [ mrpt-comms mrpt-maps mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/mrpt-img/default.nix b/distros/kilted/mrpt-img/default.nix
index b968bf58e9b..70f79139c2d 100644
--- a/distros/kilted/mrpt-img/default.nix
+++ b/distros/kilted/mrpt-img/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, mrpt-common, mrpt-config, mrpt-io, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-img";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_img/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "02f3dcb871bbab5c8ca86933737871819e9004d707a6785c893db961e52160d7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_img/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "af139a5aca2b63c4f7311c3df778331e2640fdb57565ad25075caf2362cdf71d";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-imgui/default.nix b/distros/kilted/mrpt-imgui/default.nix
index bcb3922db49..c651497814e 100644
--- a/distros/kilted/mrpt-imgui/default.nix
+++ b/distros/kilted/mrpt-imgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-opengl }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-imgui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_imgui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e71735a27c1465577a99b90e08e5c33a14a6b827dc7009c899e552722f89c54a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_imgui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "55cd80a57a7d4f4ca44abc3364338e73ca2d9cbdbc7a77e0d761642a7c482213";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-io/default.nix b/distros/kilted/mrpt-io/default.nix
index 5f9074206f6..2dfe0f7f080 100644
--- a/distros/kilted/mrpt-io/default.nix
+++ b/distros/kilted/mrpt-io/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages, zstd }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-io";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_io/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f8e6b5f788a10a5d6a9df00abb4ed00e1c22d5a4e35a96d717bbb6d373e251b9";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_io/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7d27298f2a11f11d1170b3147a745d6579eaaef8fe77490214422be94ca67a06";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-kinematics/default.nix b/distros/kilted/mrpt-kinematics/default.nix
index 3b6077523e3..e19015bff88 100644
--- a/distros/kilted/mrpt-kinematics/default.nix
+++ b/distros/kilted/mrpt-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-kinematics";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_kinematics/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9a377e64ec18e0fc7680b614c51a7e21908ef4d5a7b7c7cd690d22cb8586a43e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_kinematics/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "69abc5b02c734765e698a061c95e2157647bb1b00f5b6dc1b2612ef2f88a7e4b";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libapps-cli/default.nix b/distros/kilted/mrpt-libapps-cli/default.nix
index 72fd9c80300..60c4a19cf99 100644
--- a/distros/kilted/mrpt-libapps-cli/default.nix
+++ b/distros/kilted/mrpt-libapps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cli11, cmake, mrpt-hwdrivers, mrpt-slam, mrpt-topography }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libapps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_libapps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "04978234f5502d195dc2ce71fd4aa6c2bbd115b18a19362327a0d8fe4c0ead28";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_libapps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "01ccf6245e2b290902689b02513a6124bd1a5214cf38fdd46ef8c46cb8ad5733";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libapps-gui/default.nix b/distros/kilted/mrpt-libapps-gui/default.nix
index 03791dd71f5..fbd0fca15a7 100644
--- a/distros/kilted/mrpt-libapps-gui/default.nix
+++ b/distros/kilted/mrpt-libapps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-libapps-cli, wxGTK32 }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libapps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_libapps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b9ceb7c5c861ff700cffe09303e7b6ede2efea7221c712f628a5bbeb19defd93";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_libapps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "5a953f60d6fbe7d1f652c324b5bb90510acffc73790540b838bb97079ddfdb4f";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libapps/default.nix b/distros/kilted/mrpt-libapps/default.nix
index 238246af7a6..a6e163a888e 100644
--- a/distros/kilted/mrpt-libapps/default.nix
+++ b/distros/kilted/mrpt-libapps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libhwdrivers, mrpt-libmaps, mrpt-libslam, mrpt-libtclap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libapps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libapps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "2f0e97372422f8ee46d9139fe48ef378bf1f6ebd3663c117cd4e279aef34e6d0";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libapps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "19736c42f37f0794d701e55ff97a4991f7fe8267fd56c3cea34dad555a5cd508";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libbase/default.nix b/distros/kilted/mrpt-libbase/default.nix
index 6175b97f892..d01ed3dd8ad 100644
--- a/distros/kilted/mrpt-libbase/default.nix
+++ b/distros/kilted/mrpt-libbase/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, onetbb, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib, zstd }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libbase";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libbase/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "35f935aefc3395902a0414792142705a6fefeb4b9accdddec86bdf58192a5432";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libbase/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "0010dc56706efedfe3a531e1a421ba7468f5587aaa9a48ff2aa1f4465f75add4";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libgui/default.nix b/distros/kilted/mrpt-libgui/default.nix
index 228053f3f2a..bbdc23693d3 100644
--- a/distros/kilted/mrpt-libgui/default.nix
+++ b/distros/kilted/mrpt-libgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libgui";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libgui/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "24c1bdec10ed035e17cf7aef1e73f2f271c3873e4db8a3148c91b28908a6b085";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libgui/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "ddd2fe1ea7072529168289380e1d9ea7b4cea8a51abb3845b303c73864a877e8";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libhwdrivers/default.nix b/distros/kilted/mrpt-libhwdrivers/default.nix
index d5821b87e65..f97054e7e81 100644
--- a/distros/kilted/mrpt-libhwdrivers/default.nix
+++ b/distros/kilted/mrpt-libhwdrivers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libmaps, mrpt-libslam, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libhwdrivers";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libhwdrivers/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "9faab5dae8a3b3d2dac07f6880cb1039eeff1afcc361f292626e6be9d3699d4f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libhwdrivers/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "2fd58d3fa8a681d23077f499c88d886e38ebfbea8fe8eaee638fc0ab5a1a77c9";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libmaps/default.nix b/distros/kilted/mrpt-libmaps/default.nix
index a3d307c6332..a5b13c76ae0 100644
--- a/distros/kilted/mrpt-libmaps/default.nix
+++ b/distros/kilted/mrpt-libmaps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libobs, octomap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libmaps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libmaps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d162f0ea3658afc34a0e4d22923dea5a5d98a41148fcc2b1468cf86412442ea2";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libmaps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "0233c7a75f3f85beda2ec0ca8ab6d6c9f5455ca3cc6874a681c9e6354b183147";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libmath/default.nix b/distros/kilted/mrpt-libmath/default.nix
index b7bb9564f3b..dad4abc21ed 100644
--- a/distros/kilted/mrpt-libmath/default.nix
+++ b/distros/kilted/mrpt-libmath/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libmath";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libmath/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "a2d65a64171c86389ff038247f9aa33208da2efa56f4a3b9850dc39bb2a338d9";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libmath/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "99becdc52e191673da7d77f9df5f4e614b35a3d2c36e957b8b1c279bd44231b1";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libnav/default.nix b/distros/kilted/mrpt-libnav/default.nix
index 94355ccca5b..81bd4ac8291 100644
--- a/distros/kilted/mrpt-libnav/default.nix
+++ b/distros/kilted/mrpt-libnav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libnav";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libnav/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "78ecdda8179f20d11ffbbc0a0f6946c313bb533c650b63ab14fbf68c79cf4b1b";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libnav/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "9e040b38c3d6eb84b75e234aacabd9d70c4af7b12c7033cd5d7ef5e5a0de4178";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libobs/default.nix b/distros/kilted/mrpt-libobs/default.nix
index 581cbaf8f2d..313f3fcea23 100644
--- a/distros/kilted/mrpt-libobs/default.nix
+++ b/distros/kilted/mrpt-libobs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libobs";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libobs/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "6ed70ffa4b2d7b0371602efb362738ec48938dd93221ad7f241b1bca8406ffb6";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libobs/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e44f5467ae6e328f5c7d4ca03b209a4138d858c92739aceadb4eec252406efdf";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libopengl/default.nix b/distros/kilted/mrpt-libopengl/default.nix
index 2af178ce24a..e64055b018d 100644
--- a/distros/kilted/mrpt-libopengl/default.nix
+++ b/distros/kilted/mrpt-libopengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libopengl";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libopengl/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "477c6859c43df6c8dd47b19fdb8f3fbd59b7f8b8efd584fbb2bdc1d457336685";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libopengl/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "6f6d84a2c6d536440d5937b3f99fd86daac99111a297cb25bddb62e3eaad3340";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libposes/default.nix b/distros/kilted/mrpt-libposes/default.nix
index 4d16ebd5865..913a535f4de 100644
--- a/distros/kilted/mrpt-libposes/default.nix
+++ b/distros/kilted/mrpt-libposes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libmath, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libposes";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libposes/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "e424ad9a0176a3c46fd149af3c9fd14e6b52a9c6ac41fa59153ec93eac467e72";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libposes/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "6c665300107631bcb363ac462ea05ecb3dfc383dd992db4cd77305da68811245";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libslam/default.nix b/distros/kilted/mrpt-libslam/default.nix
index 7b81add3ba1..574f7ec42ff 100644
--- a/distros/kilted/mrpt-libslam/default.nix
+++ b/distros/kilted/mrpt-libslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, onetbb, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libslam";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libslam/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "b393e4e6a78d8975fc935f1bc336a13a963f8b9c36d19066e69cad930df7b45b";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libslam/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "a4a985f3459a799efeba3794059e74bcf1cd5cd02aa64777cfcc5d3bdeada414";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-libtclap/default.nix b/distros/kilted/mrpt-libtclap/default.nix
index 4ca8aa98e42..d6a2eb86024 100644
--- a/distros/kilted/mrpt-libtclap/default.nix
+++ b/distros/kilted/mrpt-libtclap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-libtclap";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libtclap/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "3fd1ae5e8739c88038c0ff7d0ac4fe6e95b8ae4c2b1b59553ffba0d1d22304d2";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/kilted/mrpt_libtclap/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "b5979dacb73007668730c2c596be95da5ec154efaaaae8d56ecc4dd8747dc290";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-maps/default.nix b/distros/kilted/mrpt-maps/default.nix
index d04425939af..78dfd7c166b 100644
--- a/distros/kilted/mrpt-maps/default.nix
+++ b/distros/kilted/mrpt-maps/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, octomap, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-maps";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_maps/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "b80747330c7b94d24521a5b8ba5321c9f9c3e56da3c5a07de19bae4ff78e68e8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_maps/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f8d07337c15b0e870cf733cd208231321d63f6cc4573d0f7b3867b97280c1a22";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen octomap python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-graphs mrpt-obs ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/mrpt-math/default.nix b/distros/kilted/mrpt-math/default.nix
index eba52fa2385..95b1e564c1c 100644
--- a/distros/kilted/mrpt-math/default.nix
+++ b/distros/kilted/mrpt-math/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, nanoflann, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-math";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_math/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e2b6b527f03520ae017bb949a3cb019546658c463f9f788d78ed8e63c4d134d9";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_math/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "fbd3b665b63b867f25414a1f11495cd75398d5bd952516eee58818c84228a522";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen nanoflann python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-io ];
   propagatedBuildInputs = [ mrpt-common mrpt-random mrpt-serialization mrpt-system ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/kilted/mrpt-nav/default.nix b/distros/kilted/mrpt-nav/default.nix
index 8885e6c236f..d1cbd2de553 100644
--- a/distros/kilted/mrpt-nav/default.nix
+++ b/distros/kilted/mrpt-nav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-kinematics, mrpt-maps, mrpt-viz }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-nav";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_nav/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4d9d66acbbb2612e8f56b94b919e9089310b6165900e4efe0279f92cff706d2c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_nav/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "073bbd23884d6ba72f103b0e1db7c6498e4377543eeaea22bfd20fb370746e23";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-obs/default.nix b/distros/kilted/mrpt-obs/default.nix
index 64d6b4c1808..95955647baa 100644
--- a/distros/kilted/mrpt-obs/default.nix
+++ b/distros/kilted/mrpt-obs/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-obs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_obs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4e8519afbc1482e2813d1654579ba953ecd69fd62fbaea3bcb5be62c9d5f5739";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_obs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "755264ff77326b3474eb1e76dc971aa65e3edde97e05df45eb13c2c5f05a724b";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen python3 python3Packages.pybind11 tinyxml-2 ];
   propagatedBuildInputs = [ mrpt-common mrpt-tfest mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/kilted/mrpt-opengl/default.nix b/distros/kilted/mrpt-opengl/default.nix
index 8c6bef813d5..d4c75cb3fc9 100644
--- a/distros/kilted/mrpt-opengl/default.nix
+++ b/distros/kilted/mrpt-opengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, libGL, libGLU, mrpt-img, mrpt-poses, mrpt-viz }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-opengl";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_opengl/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1a68837791ece6339c93547c1f5aed05a5551d147751c39e6ce308bb9ae95c78";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_opengl/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "0036de9941d7dc76b46e7546c5eb3cfc7459331d3f205555cfc289d0bc148427";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-poses/default.nix b/distros/kilted/mrpt-poses/default.nix
index 2b23c49a50e..9a6b683dece 100644
--- a/distros/kilted/mrpt-poses/default.nix
+++ b/distros/kilted/mrpt-poses/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-bayes, mrpt-common, mrpt-io, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-poses";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_poses/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "6cf92ad7418afedcce2656cdf2d95d422e62002a76516d4dfbfe093e91765e9c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_poses/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "aa02937b8b4653c0f36009d5215d294032e9eeaa59fbcd9c62fccff5c34d0277";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-random/default.nix b/distros/kilted/mrpt-random/default.nix
index d9fd604bfa3..939bb55ab04 100644
--- a/distros/kilted/mrpt-random/default.nix
+++ b/distros/kilted/mrpt-random/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-random";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_random/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c29cc1a989e3a50810d3682079b5bbee0a151617d20a8c9c536bfb7b546f64d7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_random/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "878f0f5293531a60d96e193dc6f22b7d411f1027825c3a5a4ed83836f232f6b9";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-rtti/default.nix b/distros/kilted/mrpt-rtti/default.nix
index 68f1d35de26..322f5000296 100644
--- a/distros/kilted/mrpt-rtti/default.nix
+++ b/distros/kilted/mrpt-rtti/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-rtti";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_rtti/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3ce00106d5a8bb7c4854222e47e0675391dda2229ad68f9793221a3261ef8b8d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_rtti/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "744ad5c1fd21289c1bb61c192245d5e99015f6794f3b12c889881b2f656f294f";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-serialization/default.nix b/distros/kilted/mrpt-serialization/default.nix
index e9382909d4f..ae63d9b4e19 100644
--- a/distros/kilted/mrpt-serialization/default.nix
+++ b/distros/kilted/mrpt-serialization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-rtti, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-serialization";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_serialization/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f16a7cc91781455eab5927ebff1fe3fa02826d2614d0c06d672621c093e88e1a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_serialization/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "823c5620ac05fb5d0ba0e745f68bbb15ebc646f6e71d0bd994a27ce3514f2fce";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-slam/default.nix b/distros/kilted/mrpt-slam/default.nix
index 60334a2fc59..799e86504af 100644
--- a/distros/kilted/mrpt-slam/default.nix
+++ b/distros/kilted/mrpt-slam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-maps, mrpt-topography, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-slam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_slam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f99d435b28f644c440ee7a9c41337766635c00e485b1ee868c0e802070cab8f2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_slam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8831802db4425282e589f59138687f571eb7dde211b7c7bf78c18de7e0437278";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-system/default.nix b/distros/kilted/mrpt-system/default.nix
index 12441cb7f44..18ec592ff21 100644
--- a/distros/kilted/mrpt-system/default.nix
+++ b/distros/kilted/mrpt-system/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-containers, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-system";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_system/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "eb7bdd44304fb4b3185c03a7fcfe11e0f932d3d8b11d6a25912b7dd99140524b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_system/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8b1d4b26d8f0a1ff287006e215cacb48c639f30598097c6ade3bedcaa575d11b";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-tfest/default.nix b/distros/kilted/mrpt-tfest/default.nix
index 64061de1ba2..9ab5b16240f 100644
--- a/distros/kilted/mrpt-tfest/default.nix
+++ b/distros/kilted/mrpt-tfest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-tfest";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_tfest/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "efbe6a42ceb8c154d7a837701597e045ab048ab29bfb112a3e5739df50005c4a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_tfest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "450e6159330f691ec1472eca88eb4fa1731ed56fffccfd3a33f8fad9444cb793";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-topography/default.nix b/distros/kilted/mrpt-topography/default.nix
index e18f0aeba65..b8aa0d7f260 100644
--- a/distros/kilted/mrpt-topography/default.nix
+++ b/distros/kilted/mrpt-topography/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-topography";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_topography/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "a85ee8b2bcbebea9402f8eca5b2c147fc314f2d184be1fe62d7ef072aac49cac";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_topography/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "5af7dc1fb34edd30e823fa087c8e518817138d7ebc024b5cdee009ce3c9a4715";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-typemeta/default.nix b/distros/kilted/mrpt-typemeta/default.nix
index 2903e7bcadc..ef6a4cd0e76 100644
--- a/distros/kilted/mrpt-typemeta/default.nix
+++ b/distros/kilted/mrpt-typemeta/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-typemeta";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_typemeta/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5b1e93c1b07e1d34e43c6502a746d7ce67614551dc98707f5c00d321e43d383b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_typemeta/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3a9cae3e17be2c3586687b59a8e0a104e47194c55643a9ea3b632e64d50917f3";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/mrpt-viz/default.nix b/distros/kilted/mrpt-viz/default.nix
index ea4929007f7..8b06284b224 100644
--- a/distros/kilted/mrpt-viz/default.nix
+++ b/distros/kilted/mrpt-viz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, mrpt-common, mrpt-img, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-mrpt-viz";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_viz/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c6be84fdd0d261188790c516405a53b88ed9c99b2eb00080db1916662bf2865a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/kilted/mrpt_viz/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e3f501c9a3a69fdc47f84324b91b2681baa12a2ec0cbd15fd38288c593407451";
   };
 
   buildType = "cmake";
diff --git a/distros/kilted/omni-wheel-drive-controller/default.nix b/distros/kilted/omni-wheel-drive-controller/default.nix
index 054e3c61efa..2e37e50a9d5 100644
--- a/distros/kilted/omni-wheel-drive-controller/default.nix
+++ b/distros/kilted/omni-wheel-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, eigen, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-omni-wheel-drive-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/omni_wheel_drive_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "9284bf7dad3c0c79926fb84cb5d68b18ce6ae4a20a6ee6ea2de646377dc440de";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/omni_wheel_drive_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "376480a65fe41b9dd184986f85f78d89ac35bf27e47e9a31b62233a485df0ae6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/parallel-gripper-controller/default.nix b/distros/kilted/parallel-gripper-controller/default.nix
index e6a8d445980..08dd25789a4 100644
--- a/distros/kilted/parallel-gripper-controller/default.nix
+++ b/distros/kilted/parallel-gripper-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, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-parallel-gripper-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/parallel_gripper_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "c1aa06464f32f784404cd9d10b3c095bd8409d56761032d63222b2ca7bb79baa";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/parallel_gripper_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "da9d88f0cd0b5198de4781080783a836b35c5c05d0c38da03dc86e06e8abe2f4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/pid-controller/default.nix b/distros/kilted/pid-controller/default.nix
index 318bf82e29c..2e741edc89b 100644
--- a/distros/kilted/pid-controller/default.nix
+++ b/distros/kilted/pid-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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-kilted-pid-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/pid_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "dfb578fa5ec7479326782546b7a02356178ac42a7b483b28bb3b40c150bd3aa5";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/pid_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "c5328c28f3d257d8ccdf4cec6697c69f186bbb1286ac4c292c218a47ca51a07a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/point-cloud-transport-py/default.nix b/distros/kilted/point-cloud-transport-py/default.nix
index 907e2d2b057..fb832ee2e96 100644
--- a/distros/kilted/point-cloud-transport-py/default.nix
+++ b/distros/kilted/point-cloud-transport-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, pybind11-vendor, python3, rclcpp, rpyutils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kilted-point-cloud-transport-py";
-  version = "5.1.7-r1";
+  version = "5.1.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/kilted/point_cloud_transport_py/5.1.7-1.tar.gz";
-    name = "5.1.7-1.tar.gz";
-    sha256 = "d7379e8f0b6a40c92d03342d95330f2a86b16c2c827f73939890fe2af4c29678";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/kilted/point_cloud_transport_py/5.1.8-1.tar.gz";
+    name = "5.1.8-1.tar.gz";
+    sha256 = "173c2ddc38c87d6ca007c3bcc17f795faaad4648db0afa0cc026a94873fcdb3e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/point-cloud-transport/default.nix b/distros/kilted/point-cloud-transport/default.nix
index 2aaefbb7e6a..f37bbab6362 100644
--- a/distros/kilted/point-cloud-transport/default.nix
+++ b/distros/kilted/point-cloud-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-ros, ament-lint-auto, ament-lint-common, message-filters, pluginlib, rclcpp, rclcpp-components, rcpputils, rmw, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kilted-point-cloud-transport";
-  version = "5.1.7-r1";
+  version = "5.1.8-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/kilted/point_cloud_transport/5.1.7-1.tar.gz";
-    name = "5.1.7-1.tar.gz";
-    sha256 = "14c290f3f6ee8a19533899d0ca6ebe5e0fd15befba6967ad428916c7b42037e1";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/kilted/point_cloud_transport/5.1.8-1.tar.gz";
+    name = "5.1.8-1.tar.gz";
+    sha256 = "12f215159fb771d56d3ee546577f6e402c5c46273e8003f143036fb9f2ea9dfb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/pose-broadcaster/default.nix b/distros/kilted/pose-broadcaster/default.nix
index f971ecfd009..a390e387332 100644
--- a/distros/kilted/pose-broadcaster/default.nix
+++ b/distros/kilted/pose-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-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-pose-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/pose_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "28db54a2d2b455e16a417f6715f9af6c7a266e92bfa21717dab57568aa1d88bb";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/pose_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "0197505bd6e04c2ebd6808c5c99feb2fd9a8de6655452771f69edf5d3f140d27";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/position-controllers/default.nix b/distros/kilted/position-controllers/default.nix
index 81109c30f00..076413afa97 100644
--- a/distros/kilted/position-controllers/default.nix
+++ b/distros/kilted/position-controllers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-manager, forward-command-controller, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-position-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/position_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "755bb5070a57790961e3e3f5fc2a2ee9330b3971853b1b2a209a082df9dc4028";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/position_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "896233b1ea0b909aa8f0897e5acbde957a785e4c7b4ce3b82a0934d71bae358c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/range-sensor-broadcaster/default.nix b/distros/kilted/range-sensor-broadcaster/default.nix
index 38e64b08655..c249182cac0 100644
--- a/distros/kilted/range-sensor-broadcaster/default.nix
+++ b/distros/kilted/range-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-kilted-range-sensor-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/range_sensor_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "cc948cc45c786e0c7234816e72f764b7b7bf2d0ae1b78874ac82300859d7195f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/range_sensor_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "1201b767eb2079ec4826f3342dfb9bc35974fdcc55142015f08d0b428bd2f33b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rclcpp-action/default.nix b/distros/kilted/rclcpp-action/default.nix
index aa2e26036ad..ce75cfa6938 100644
--- a/distros/kilted/rclcpp-action/default.nix
+++ b/distros/kilted/rclcpp-action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, mimick-vendor, performance-test-fixture, rcl, rcl-action, rclcpp, rcpputils, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-kilted-rclcpp-action";
-  version = "29.5.8-r1";
+  version = "29.5.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_action/29.5.8-1.tar.gz";
-    name = "29.5.8-1.tar.gz";
-    sha256 = "e819d620f89c25acc110ef9479d4c2f526505031decdcfaac0db6a4508e7d499";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_action/29.5.9-1.tar.gz";
+    name = "29.5.9-1.tar.gz";
+    sha256 = "d57bd38ef95a4d39f6cd2b13fa1a38a7da2054426fa0c4d9337481b09eecf8e1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rclcpp-components/default.nix b/distros/kilted/rclcpp-components/default.nix
index 2e0b2b9c991..0b0870b9556 100644
--- a/distros/kilted/rclcpp-components/default.nix
+++ b/distros/kilted/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-kilted-rclcpp-components";
-  version = "29.5.8-r1";
+  version = "29.5.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_components/29.5.8-1.tar.gz";
-    name = "29.5.8-1.tar.gz";
-    sha256 = "a3ad3a496c39fcc8a1578c968cd464bedfb6036b9eedaaf09f6917d6524f7b11";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_components/29.5.9-1.tar.gz";
+    name = "29.5.9-1.tar.gz";
+    sha256 = "6c44979692bb64df9c29f1d5ce7da4e6a9838790b9da1c7b32302a4c37f0cc47";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rclcpp-lifecycle/default.nix b/distros/kilted/rclcpp-lifecycle/default.nix
index 0180bae91e9..d8875d47922 100644
--- a/distros/kilted/rclcpp-lifecycle/default.nix
+++ b/distros/kilted/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-kilted-rclcpp-lifecycle";
-  version = "29.5.8-r1";
+  version = "29.5.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_lifecycle/29.5.8-1.tar.gz";
-    name = "29.5.8-1.tar.gz";
-    sha256 = "732d32915aee283eb4117ce6178c5cd3195f42ae4f6ba424bb4b13d31034e67a";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp_lifecycle/29.5.9-1.tar.gz";
+    name = "29.5.9-1.tar.gz";
+    sha256 = "b221a6719888b055013a7c7ad7290c21f14e65e94f7b381d00203024dba7190d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rclcpp/default.nix b/distros/kilted/rclcpp/default.nix
index d7723852e03..0a98ab07499 100644
--- a/distros/kilted/rclcpp/default.nix
+++ b/distros/kilted/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-c, rosidl-runtime-cpp, rosidl-typesupport-c, rosidl-typesupport-cpp, statistics-msgs, test-msgs, tracetools }:
 buildRosPackage {
   pname = "ros-kilted-rclcpp";
-  version = "29.5.8-r1";
+  version = "29.5.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp/29.5.8-1.tar.gz";
-    name = "29.5.8-1.tar.gz";
-    sha256 = "b777ffd20de30bd2c3e0c2a2b6d6d66e07ee797cf2da662c94eadfec81a92e69";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/kilted/rclcpp/29.5.9-1.tar.gz";
+    name = "29.5.9-1.tar.gz";
+    sha256 = "d7546e89abcd8d1bc7b84f5bb2bf7454232770b12cee9d3abd4bfd515cfa5cbe";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rclpy/default.nix b/distros/kilted/rclpy/default.nix
index ab3e28e55d1..1ad953a2444 100644
--- a/distros/kilted/rclpy/default.nix
+++ b/distros/kilted/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, python3, python3Packages, 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, service-msgs, test-msgs, type-description-interfaces, unique-identifier-msgs }:
 buildRosPackage {
   pname = "ros-kilted-rclpy";
-  version = "9.1.5-r1";
+  version = "9.1.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/kilted/rclpy/9.1.5-1.tar.gz";
-    name = "9.1.5-1.tar.gz";
-    sha256 = "05083ccdb0b4506304006886193edf0076515236de4e091d6eb4a64ad45a7ad6";
+    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/kilted/rclpy/9.1.6-1.tar.gz";
+    name = "9.1.6-1.tar.gz";
+    sha256 = "1e9ae5f3af08512d5d18d83fadf5152e39c087f40cd5333cf50c622a5f98cb60";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rcpputils/default.nix b/distros/kilted/rcpputils/default.nix
index 6aa1f6da056..0d35fe9dd05 100644
--- a/distros/kilted/rcpputils/default.nix
+++ b/distros/kilted/rcpputils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros-core, ament-cmake-uncrustify, ament-cmake-xmllint, rcutils }:
 buildRosPackage {
   pname = "ros-kilted-rcpputils";
-  version = "2.13.5-r1";
+  version = "2.13.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/kilted/rcpputils/2.13.5-1.tar.gz";
-    name = "2.13.5-1.tar.gz";
-    sha256 = "52b91d4cef7617aa1c81e48a4858709aa32f4dc58303466e4ca23eac4e06c78b";
+    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/kilted/rcpputils/2.13.6-1.tar.gz";
+    name = "2.13.6-1.tar.gz";
+    sha256 = "91d1c0e474f9502363eacf38fd1d1585d875896c45561a27ff5dc5705c3cf48c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rcutils/default.nix b/distros/kilted/rcutils/default.nix
index 0fc4b2fa4fe..80053d1d7ab 100644
--- a/distros/kilted/rcutils/default.nix
+++ b/distros/kilted/rcutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, launch, launch-testing, launch-testing-ament-cmake, mimick-vendor, osrf-testing-tools-cpp, performance-test-fixture, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-rcutils";
-  version = "6.9.10-r1";
+  version = "6.9.11-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/kilted/rcutils/6.9.10-1.tar.gz";
-    name = "6.9.10-1.tar.gz";
-    sha256 = "2a31bbb76c7c1cdff14994ccfb043ccbd1ed45a4f6509ff57321c119d921b25e";
+    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/kilted/rcutils/6.9.11-1.tar.gz";
+    name = "6.9.11-1.tar.gz";
+    sha256 = "73a92aa435e89729c4d2b3062dd6ab87d6b9e9e0f134fcd979a3cfac17b1ea36";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/ros2-control-test-assets/default.nix b/distros/kilted/ros2-control-test-assets/default.nix
index 2b2e8833741..1c4b060d56c 100644
--- a/distros/kilted/ros2-control-test-assets/default.nix
+++ b/distros/kilted/ros2-control-test-assets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake }:
 buildRosPackage {
   pname = "ros-kilted-ros2-control-test-assets";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2_control_test_assets/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "70f05cbcf6140c266ee949944674c950e5f3973d2b4c1f836f96bb80d917e7f3";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2_control_test_assets/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "7ce662483c89106955322fea52910767f816c07012c21c1e8104a7c8664ff309";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/ros2-control/default.nix b/distros/kilted/ros2-control/default.nix
index 59d7522a699..73734ca87c9 100644
--- a/distros/kilted/ros2-control/default.nix
+++ b/distros/kilted/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-kilted-ros2-control";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2_control/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "3474ff4d8352f17e1885ea25a7d38c850dbcf06f447add37b31e1e7679a059c6";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2_control/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "ca9a251fd346e2b7498367addf9993c7af48c3bc661214dfa550d70aefc869ea";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/ros2-controllers-test-nodes/default.nix b/distros/kilted/ros2-controllers-test-nodes/default.nix
index ab014358902..60330cd8c83 100644
--- a/distros/kilted/ros2-controllers-test-nodes/default.nix
+++ b/distros/kilted/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, launch-ros, launch-testing-ros, python3Packages, rclpy, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kilted-ros2-controllers-test-nodes";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ros2_controllers_test_nodes/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "c3e23ea5229396ec31530670cf1906c7670a628b2b5d9f6c00a977c20545840d";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ros2_controllers_test_nodes/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "338d072a8f9fc600b803916f58f04f68137780f7507ec03e6fbb22c29352b0ca";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/ros2-controllers/default.nix b/distros/kilted/ros2-controllers/default.nix
index 2e881b5e94f..c90e9e35672 100644
--- a/distros/kilted/ros2-controllers/default.nix
+++ b/distros/kilted/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 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, chained-filter-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, position-controllers, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, chained-filter-controller, diff-drive-controller, effort-controllers, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, magnetometer-broadcaster, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, position-controllers, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller, velocity-controllers }:
 buildRosPackage {
   pname = "ros-kilted-ros2-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ros2_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "ab4f89460b0b391a846b56023ab02b3372281025269929fd99a79cca228d5ad7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/ros2_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "f09c5c5b382c58f26878958a0de27208063f66e8e9bb3227b56dd7be592a7c64";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster position-controllers range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller effort-controllers force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller magnetometer-broadcaster mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster position-controllers range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller velocity-controllers ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/kilted/ros2controlcli/default.nix b/distros/kilted/ros2controlcli/default.nix
index a724ef866f0..7a2c281a19c 100644
--- a/distros/kilted/ros2controlcli/default.nix
+++ b/distros/kilted/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-kilted-ros2controlcli";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2controlcli/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "b08187ef6d522ed219e4520438beda20bfd7fc1cc821276b449ee7f8edc3dafa";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/ros2controlcli/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "cac8e354bb87df1276066adc2906a29e11c25840e73ebe02149690f3c317597d";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/ros2launch/default.nix b/distros/kilted/ros2launch/default.nix
index 67cff976c70..742d0ce1d0c 100644
--- a/distros/kilted/ros2launch/default.nix
+++ b/distros/kilted/ros2launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-ros, launch-xml, launch-yaml, python3Packages, ros2cli, ros2pkg }:
 buildRosPackage {
   pname = "ros-kilted-ros2launch";
-  version = "0.28.5-r1";
+  version = "0.28.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/ros2launch/0.28.5-1.tar.gz";
-    name = "0.28.5-1.tar.gz";
-    sha256 = "2150ea508e5548fc7052adabadea96d1ef1ba67487621aa80f50162fbc08e5f5";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/kilted/ros2launch/0.28.6-1.tar.gz";
+    name = "0.28.6-1.tar.gz";
+    sha256 = "2e85a3fbcb82c163182f2d91e54ce52392233e25df0ac75d7566a819bf15e0d2";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/rosidl-adapter/default.nix b/distros/kilted/rosidl-adapter/default.nix
index 9b76d7fb87d..ce335d9a31b 100644
--- a/distros/kilted/rosidl-adapter/default.nix
+++ b/distros/kilted/rosidl-adapter/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-core, ament-cmake-mypy, ament-cmake-pytest, ament-lint-auto, ament-lint-common, python3, python3Packages, rosidl-cli }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-adapter";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_adapter/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "12aeddd6afbea9cf295ae4cc39f344a15ed474ad86fcae384fd76df423e7d64b";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_adapter/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "94286134c1a514c24014d5217af9499603ae8e9f3471c381da9c096a88792cc9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-cli/default.nix b/distros/kilted/rosidl-cli/default.nix
index 0ef7e5930eb..c0d344250cf 100644
--- a/distros/kilted/rosidl-cli/default.nix
+++ b/distros/kilted/rosidl-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-mypy, ament-pep257, ament-xmllint, python3Packages }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-cli";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_cli/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "e64ad3471de9604d85be1d8e27c5fd3098df938f21768ac72773d952cf45ef93";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_cli/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "70c982a929b9d0b7e186780c62d8f033ed0fe2a8ec767a47042e223bd2042478";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/rosidl-cmake/default.nix b/distros/kilted/rosidl-cmake/default.nix
index 00ffd6c3ce5..94f59c63182 100644
--- a/distros/kilted/rosidl-cmake/default.nix
+++ b/distros/kilted/rosidl-cmake/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, python3Packages, rosidl-pycommon }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-cmake";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_cmake/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "7637df80180d27fb47bea514b4d86c162a3694bddecd7fa830bc38090d04e3f5";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_cmake/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "16df98f6baa388ca5e55da2971f05f9b33c8bfa6052e51955b584c41176d4d3d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-generator-c/default.nix b/distros/kilted/rosidl-generator-c/default.nix
index f9146cde5b2..b76e38ff3f2 100644
--- a/distros/kilted/rosidl-generator-c/default.nix
+++ b/distros/kilted/rosidl-generator-c/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-core, ament-cmake-python, ament-cmake-ros-core, ament-index-python, ament-lint-auto, ament-lint-common, python3, rcutils, rosidl-cli, rosidl-cmake, rosidl-generator-type-description, rosidl-parser, rosidl-pycommon, rosidl-typesupport-interface }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-generator-c";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_c/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "21720bd3e7846a3bb79c2f5d437510a6853d38349c21f022f428d010069c5b9b";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_c/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "8aa778970ba2e870bf8f0610f1412d9eed7c4243d4ba0635a6dd13fe962c1413";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-generator-cpp/default.nix b/distros/kilted/rosidl-generator-cpp/default.nix
index 7c71f1bcd92..91ddad6c0ec 100644
--- a/distros/kilted/rosidl-generator-cpp/default.nix
+++ b/distros/kilted/rosidl-generator-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-core, ament-index-python, ament-lint-auto, ament-lint-common, python3, rosidl-cli, rosidl-cmake, rosidl-generator-c, rosidl-generator-type-description, rosidl-parser, rosidl-pycommon, rosidl-runtime-cpp }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-generator-cpp";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_cpp/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "c67209edc67e12a19c522875b99f9f125d67289cb46b6cf34d2f7b1082992f3c";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_cpp/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "4f59969141e13d0a53390ba2c98959d978b17ba428f5f63f1c1833a8602f7db7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-generator-type-description/default.nix b/distros/kilted/rosidl-generator-type-description/default.nix
index 12a0eb81f85..278771a2ca4 100644
--- a/distros/kilted/rosidl-generator-type-description/default.nix
+++ b/distros/kilted/rosidl-generator-type-description/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-pytest, ament-cmake-python, ament-cmake-ros-core, ament-index-python, ament-lint-auto, ament-lint-common, python3, rosidl-cli, rosidl-parser }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-generator-type-description";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_type_description/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "28f66972c3683f04dd46806fb6d95173fb4d5236acf428d2eb4ec94f9e30500b";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_generator_type_description/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "988c6273542959e0434f997ef15f77aca081b64a40c3ec3f13ded533a339a3bf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-parser/default.nix b/distros/kilted/rosidl-parser/default.nix
index 5ef7c70607a..8c2dd724828 100644
--- a/distros/kilted/rosidl-parser/default.nix
+++ b/distros/kilted/rosidl-parser/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-mypy, ament-cmake-pytest, ament-lint-auto, ament-lint-common, python3Packages, rosidl-adapter }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-parser";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_parser/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "dbcb1be01362ca5a73f6c57f4836e65dbd2da3cb2874b6410bf080756d9063ca";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_parser/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "3d2c655475bcd337e56f82f93af59011f090c1452bb5fe1a3301f65da94c580c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-pycommon/default.nix b/distros/kilted/rosidl-pycommon/default.nix
index 73647e868f6..93df57c0d95 100644
--- a/distros/kilted/rosidl-pycommon/default.nix
+++ b/distros/kilted/rosidl-pycommon/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-mypy, ament-pep257, ament-xmllint, python3Packages, rosidl-parser }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-pycommon";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_pycommon/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "2022980287cd90cfc6a657fcf630bf2fa7f9aea64fa5eb4c8e4d5c59a88ebff5";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_pycommon/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "ca611ddb8c98ac014785760b7dbb76e63c7e46d23cf95e8e056c2b01ad8bd4df";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/rosidl-runtime-c/default.nix b/distros/kilted/rosidl-runtime-c/default.nix
index d608fa685ab..e5adff41527 100644
--- a/distros/kilted/rosidl-runtime-c/default.nix
+++ b/distros/kilted/rosidl-runtime-c/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, performance-test-fixture, rcutils, rosidl-typesupport-interface }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-runtime-c";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_runtime_c/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "0543e1ff3ae5cd206b42f29aba03e705bcf5887123da83f15986ff474b5d23d2";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_runtime_c/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "a5fbfee4aa30e6dae6a218927854fdd86d40115796eb48cfc7cc932cc5eda55a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-runtime-cpp/default.nix b/distros/kilted/rosidl-runtime-cpp/default.nix
index 31f0e844a82..06591c0063a 100644
--- a/distros/kilted/rosidl-runtime-cpp/default.nix
+++ b/distros/kilted/rosidl-runtime-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, performance-test-fixture, rosidl-runtime-c }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-runtime-cpp";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_runtime_cpp/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "37848a9eeb6552214092ab78d8850f8a10fb5389835f5ad31a2d9977245c57e6";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_runtime_cpp/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "67adc90a793097a38c04a6edc99aef6a37f00a63628078082d1cb4a15c3abf64";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-typesupport-interface/default.nix b/distros/kilted/rosidl-typesupport-interface/default.nix
index e909192eae0..4dae85b4999 100644
--- a/distros/kilted/rosidl-typesupport-interface/default.nix
+++ b/distros/kilted/rosidl-typesupport-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-typesupport-interface";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_interface/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "b7975eb45e32699f174bdc7bc68d80eb7ae3cbf0e50937548929b08f9d5eaf93";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_interface/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "037736ad249e8c45f08c3b3b2849f844bfac7ad645faefa17d6900e8b4df841a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-typesupport-introspection-c/default.nix b/distros/kilted/rosidl-typesupport-introspection-c/default.nix
index b2e403cf3dd..f0e4a37c1fe 100644
--- a/distros/kilted/rosidl-typesupport-introspection-c/default.nix
+++ b/distros/kilted/rosidl-typesupport-introspection-c/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-ros-core, ament-index-python, ament-lint-auto, ament-lint-common, python3, rosidl-cli, rosidl-cmake, rosidl-generator-c, rosidl-parser, rosidl-pycommon, rosidl-runtime-c, rosidl-typesupport-interface }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-typesupport-introspection-c";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_introspection_c/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "2f3b30ebf07f797af0e0a82d4e525f50c23b33643a1098d03403c22a2f1b06f0";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_introspection_c/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "abe259b48522493d59943e01fc7415ad7658b99212c6439ef2b319512b4bd94a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rosidl-typesupport-introspection-cpp/default.nix b/distros/kilted/rosidl-typesupport-introspection-cpp/default.nix
index c0e7c64ae0b..f7f1c15ce3f 100644
--- a/distros/kilted/rosidl-typesupport-introspection-cpp/default.nix
+++ b/distros/kilted/rosidl-typesupport-introspection-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-ros-core, ament-index-python, ament-lint-auto, ament-lint-common, python3, rosidl-cli, rosidl-cmake, rosidl-generator-c, rosidl-generator-cpp, rosidl-parser, rosidl-pycommon, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-interface, rosidl-typesupport-introspection-c }:
 buildRosPackage {
   pname = "ros-kilted-rosidl-typesupport-introspection-cpp";
-  version = "4.9.6-r1";
+  version = "4.9.7-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_introspection_cpp/4.9.6-1.tar.gz";
-    name = "4.9.6-1.tar.gz";
-    sha256 = "01bae498087f0453dc5780cc33dab243c1ced9c083a74a5b394082aafe6f8f5b";
+    url = "https://github.com/ros2-gbp/rosidl-release/archive/release/kilted/rosidl_typesupport_introspection_cpp/4.9.7-1.tar.gz";
+    name = "4.9.7-1.tar.gz";
+    sha256 = "0a740952b533af1165073ef5a0bd03ba135351eb1c343bff822c997c0e13de96";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/rqt-controller-manager/default.nix b/distros/kilted/rqt-controller-manager/default.nix
index 7d0dacd17e2..b71ebd759f6 100644
--- a/distros/kilted/rqt-controller-manager/default.nix
+++ b/distros/kilted/rqt-controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-kilted-rqt-controller-manager";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/rqt_controller_manager/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "b9475b6a9f5889f42f82805a93eb34ee20d0396061a1b6d496161a144c9fe39b";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/rqt_controller_manager/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "3d363153b60dd5348c6d656993932785ca7f764e00c1426a86fd75e8cdc9ba07";
   };
 
   buildType = "ament_python";
diff --git a/distros/kilted/rqt-joint-trajectory-controller/default.nix b/distros/kilted/rqt-joint-trajectory-controller/default.nix
index a5cfefbf294..133184053a7 100644
--- a/distros/kilted/rqt-joint-trajectory-controller/default.nix
+++ b/distros/kilted/rqt-joint-trajectory-controller/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
+{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, launch-testing, launch-testing-ros, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kilted-rqt-joint-trajectory-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/rqt_joint_trajectory_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "18be0b6deda77e86b928116ddc8c58ddf138f22e2df9da7bb788e5bf74f1b3d0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/rqt_joint_trajectory_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "a488ca5f6bd04c31131451236bb894a0590fa23f8e0f07fffa87cfe36eb32515";
   };
 
   buildType = "ament_python";
-  checkInputs = [ python3Packages.pytest ];
+  checkInputs = [ launch-testing launch-testing-ros python3Packages.pytest ];
   propagatedBuildInputs = [ control-msgs controller-manager-msgs python-qt-binding python3Packages.rospkg qt-gui rclpy rqt-gui rqt-gui-py trajectory-msgs ];
 
   meta = {
diff --git a/distros/kilted/state-interfaces-broadcaster/default.nix b/distros/kilted/state-interfaces-broadcaster/default.nix
index faf38e46232..0707cdfdeee 100644
--- a/distros/kilted/state-interfaces-broadcaster/default.nix
+++ b/distros/kilted/state-interfaces-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-state-interfaces-broadcaster";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/state_interfaces_broadcaster/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "4c1f4efa948c019744484909811f053de14ff24197128ec73ad9a25a97d7bc7a";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/state_interfaces_broadcaster/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "b34f99228d51ba81c9299ab98a8e8192d8eeb1221fe01794477c58fbf066cffe";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/steering-controllers-library/default.nix b/distros/kilted/steering-controllers-library/default.nix
index 4c5e455ed5e..7ed179c96e0 100644
--- a/distros/kilted/steering-controllers-library/default.nix
+++ b/distros/kilted/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, 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-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-steering-controllers-library";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/steering_controllers_library/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "3fdc84a08831e9d72f443326aff407a0ecd7f1e1c834b47b8cd428e9208bcfd0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/steering_controllers_library/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "27e170b435c8ebd9c57dd9b2efd6c65f99c656875ebd0bd6a6072dc2179bc2ae";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/swri-console/default.nix b/distros/kilted/swri-console/default.nix
index da574933c14..fdd48ad2cab 100644
--- a/distros/kilted/swri-console/default.nix
+++ b/distros/kilted/swri-console/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, qt5, rcl-interfaces, rclcpp, rmw, rosbag2-storage-mcap, rosbag2-transport, rosidl-default-generators, rosidl-default-runtime }:
 buildRosPackage {
   pname = "ros-kilted-swri-console";
-  version = "2.1.3-r1";
+  version = "2.1.4-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/kilted/swri_console/2.1.3-1.tar.gz";
-    name = "2.1.3-1.tar.gz";
-    sha256 = "3c9fe5802e80a889d3604e053d0666f6fe056161bd08589ef431d02297ddbd1b";
+    url = "https://github.com/ros2-gbp/swri_console-release/archive/release/kilted/swri_console/2.1.4-1.tar.gz";
+    name = "2.1.4-1.tar.gz";
+    sha256 = "a68f1dd95183d776a1b8a4a6aea9b8489ce4d06d944286e45925923b18377930";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/theora-image-transport/default.nix b/distros/kilted/theora-image-transport/default.nix
index e763ad9f730..db8c567d630 100644
--- a/distros/kilted/theora-image-transport/default.nix
+++ b/distros/kilted/theora-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, libogg, libtheora, opencv, pkg-config, pluginlib, rclcpp, rcutils, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-kilted-theora-image-transport";
-  version = "5.1.2-r1";
+  version = "5.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/theora_image_transport/5.1.2-1.tar.gz";
-    name = "5.1.2-1.tar.gz";
-    sha256 = "8a9faea1853f3fd2d650cae1c7395ce19d3becfdb9e55508be3a107c1b082d62";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/theora_image_transport/5.1.3-1.tar.gz";
+    name = "5.1.3-1.tar.gz";
+    sha256 = "8418e25f52c33866894c7efed778a74593869d19f510ada4643151f671f865fc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/transmission-interface/default.nix b/distros/kilted/transmission-interface/default.nix
index 22c3d2cd0a9..c1c485e3e1f 100644
--- a/distros/kilted/transmission-interface/default.nix
+++ b/distros/kilted/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, hardware-interface, pluginlib, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-transmission-interface";
-  version = "5.14.2-r1";
+  version = "5.15.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/transmission_interface/5.14.2-1.tar.gz";
-    name = "5.14.2-1.tar.gz";
-    sha256 = "5f669574d4ae4cc4a59651ff07d347a4607508352ef90a7fae8eaca27618d3eb";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/kilted/transmission_interface/5.15.0-1.tar.gz";
+    name = "5.15.0-1.tar.gz";
+    sha256 = "9283acc9fcba95a7fba6e8cbfeadcfae0e37c34c5d0ef55ebecae3a67f515a8a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/tricycle-controller/default.nix b/distros/kilted/tricycle-controller/default.nix
index 9586041f344..f2a5868de78 100644
--- a/distros/kilted/tricycle-controller/default.nix
+++ b/distros/kilted/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, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-kilted-tricycle-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/tricycle_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "c6f23ff8d5733b01b07ca0481a22053e4341a1f7ae9b36caef1100b333a438e4";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/tricycle_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "5d26131855dffaaee4c76e2053edc756311c9ccaa17e64af44842d855a0bf7a8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/tricycle-steering-controller/default.nix b/distros/kilted/tricycle-steering-controller/default.nix
index 6d76decabcf..17b969074a8 100644
--- a/distros/kilted/tricycle-steering-controller/default.nix
+++ b/distros/kilted/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-kilted-tricycle-steering-controller";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/tricycle_steering_controller/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "3e7ba1a6bea74439f2e6f04f19fe7d7f0fbc46b46c06ed716e7bfa08258389d7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/tricycle_steering_controller/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "fc0b8bb1be4562262b1eecb545af2a3323687248a6496627c798c9c4ebc228d1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/ur-msgs/default.nix b/distros/kilted/ur-msgs/default.nix
index 646ff5626f4..5b9a263ba49 100644
--- a/distros/kilted/ur-msgs/default.nix
+++ b/distros/kilted/ur-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, control-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-kilted-ur-msgs";
-  version = "2.5.0-r1";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/kilted/ur_msgs/2.5.0-1.tar.gz";
-    name = "2.5.0-1.tar.gz";
-    sha256 = "76272f3565a122a153c5b9faaad831abd0c242b3ffc9e31c6c9ad1b86d56cf5a";
+    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/kilted/ur_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "116dce75553abeb52d64c401e3c2b7234712aa0395e3cc15937369fb6149fed2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/velocity-controllers/default.nix b/distros/kilted/velocity-controllers/default.nix
index 6071d140f6b..ef608ed5d52 100644
--- a/distros/kilted/velocity-controllers/default.nix
+++ b/distros/kilted/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, hardware-interface-testing, pluginlib, rclcpp, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-kilted-velocity-controllers";
-  version = "5.15.1-r1";
+  version = "5.16.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/velocity_controllers/5.15.1-1.tar.gz";
-    name = "5.15.1-1.tar.gz";
-    sha256 = "5772a599bef3bc84bcb93aabb5ab38e1c68173756a8ee855b7b439ebe179b339";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/kilted/velocity_controllers/5.16.0-1.tar.gz";
+    name = "5.16.0-1.tar.gz";
+    sha256 = "3cc1cf8bf04e9340bf1a5bb70075077db11137f590d1d5b72f14c7f15cbb992c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/kilted/zstd-image-transport/default.nix b/distros/kilted/zstd-image-transport/default.nix
index 559b02dcc32..0a56c3670e5 100644
--- a/distros/kilted/zstd-image-transport/default.nix
+++ b/distros/kilted/zstd-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, image-transport, zlib }:
 buildRosPackage {
   pname = "ros-kilted-zstd-image-transport";
-  version = "5.1.2-r1";
+  version = "5.1.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/zstd_image_transport/5.1.2-1.tar.gz";
-    name = "5.1.2-1.tar.gz";
-    sha256 = "f9d1a149808e9aecd3c20deaac6d63d2e07bbb353712293df957631f59100bc6";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/kilted/zstd_image_transport/5.1.3-1.tar.gz";
+    name = "5.1.3-1.tar.gz";
+    sha256 = "2e84fb8e8203ff09427637be7829e6cfa3e5d31fa060efe388df063dbfa67683";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/ackermann-steering-controller/default.nix b/distros/lyrical/ackermann-steering-controller/default.nix
index 56808c2cda2..e6b034175bb 100644
--- a/distros/lyrical/ackermann-steering-controller/default.nix
+++ b/distros/lyrical/ackermann-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-lyrical-ackermann-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ackermann_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "ee708f606cbed8d9ff428b81c2ef1efa88bf5912a8585fab57e51b1cbcf1341f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ackermann_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "f44d2a4f7c8fd4b50d84e61d1fb20e191fa0c811d6cf4c1427e5efd2c69116f0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/admittance-controller/default.nix b/distros/lyrical/admittance-controller/default.nix
index 0c53a686ded..313e97d7d78 100644
--- a/distros/lyrical/admittance-controller/default.nix
+++ b/distros/lyrical/admittance-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, geometry-msgs, hardware-interface, hardware-interface-testing, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, tinyxml-2, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-admittance-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/admittance_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "ee1aa381fcd4c0576477274f469aaff5141f771ca2a1a3eefb53f183a9f6326e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/admittance_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c663f95875c95be2c7521d2ec7f2f6ba8b294f25cc28d3c89cf1dcb26dcfbe03";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/bicycle-steering-controller/default.nix b/distros/lyrical/bicycle-steering-controller/default.nix
index cbade6c7243..8a8c4399b6e 100644
--- a/distros/lyrical/bicycle-steering-controller/default.nix
+++ b/distros/lyrical/bicycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-lyrical-bicycle-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/bicycle_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "6854992fef987510ff44b0cf3ab17ad0feea97c8c0e1897f98c3795b53d7b1f3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/bicycle_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "db9c9ddb92d58addae046ada5fb448cbcedbfe9e326f2b8c8f9ec4207e20f040";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/chained-filter-controller/default.nix b/distros/lyrical/chained-filter-controller/default.nix
index 2ce0eef09c1..df4e2bfbf30 100644
--- a/distros/lyrical/chained-filter-controller/default.nix
+++ b/distros/lyrical/chained-filter-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, filters, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-chained-filter-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/chained_filter_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "9cf91f1d387e296e317e9a0cc6e502cb2cb169ac840414c9de1c9b889a7497ac";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/chained_filter_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "25f4170e5b2a0e8510a768296fd669992b10cd59f1fd48b6d84f8244437603bf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/compressed-depth-image-transport/default.nix b/distros/lyrical/compressed-depth-image-transport/default.nix
index f963eb8145f..b65abc38de4 100644
--- a/distros/lyrical/compressed-depth-image-transport/default.nix
+++ b/distros/lyrical/compressed-depth-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, opencv, pluginlib, rcl-interfaces, rclcpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-compressed-depth-image-transport";
-  version = "6.2.5-r1";
+  version = "6.2.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/compressed_depth_image_transport/6.2.5-1.tar.gz";
-    name = "6.2.5-1.tar.gz";
-    sha256 = "01df40b847a4865101aed85c78279277f822aa793235c7b0bd8251115d5f3bbd";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/compressed_depth_image_transport/6.2.6-1.tar.gz";
+    name = "6.2.6-1.tar.gz";
+    sha256 = "db6a9a9dea9332aac11788a78ea100f30aff7cc472c2138e1bd16339aa22723c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/compressed-image-transport/default.nix b/distros/lyrical/compressed-image-transport/default.nix
index c091c761ee0..2ccb61fd293 100644
--- a/distros/lyrical/compressed-image-transport/default.nix
+++ b/distros/lyrical/compressed-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport }:
 buildRosPackage {
   pname = "ros-lyrical-compressed-image-transport";
-  version = "6.2.5-r1";
+  version = "6.2.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/compressed_image_transport/6.2.5-1.tar.gz";
-    name = "6.2.5-1.tar.gz";
-    sha256 = "ba2eb2a029817cbb2c9441bdbaafc2531d3e5cdbd6d0ca947b7b6ca970382684";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/compressed_image_transport/6.2.6-1.tar.gz";
+    name = "6.2.6-1.tar.gz";
+    sha256 = "44c9c5dfe6715f3cb5fa701da86c4b6b94d74ddfe66a8f61939aff23fa2a1079";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/control-msgs/default.nix b/distros/lyrical/control-msgs/default.nix
index 23e56275cb9..a95e88ca3fe 100644
--- a/distros/lyrical/control-msgs/default.nix
+++ b/distros/lyrical/control-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, builtin-interfaces, diagnostic-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-control-msgs";
-  version = "6.9.0-r3";
+  version = "6.10.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/lyrical/control_msgs/6.9.0-3.tar.gz";
-    name = "6.9.0-3.tar.gz";
-    sha256 = "f4a02026d6f4debc0695c548a100ff1f42a2f30e30d73c715e0097b2938faddb";
+    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/lyrical/control_msgs/6.10.0-1.tar.gz";
+    name = "6.10.0-1.tar.gz";
+    sha256 = "37c15af9a1dada5b0da1d562db9dc090c2e7729e36041fb80db631ee4c9e1a0c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/controller-interface/default.nix b/distros/lyrical/controller-interface/default.nix
index 166c7830975..60fc8497762 100644
--- a/distros/lyrical/controller-interface/default.nix
+++ b/distros/lyrical/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, geometry-msgs, hardware-interface, pal-statistics, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-controller-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "e25b7f353eb83439070cd502644792b35e2a6e91bebd6b16d2535b53f035cf76";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "9f44ecc0812277f043c17d52a7cac06a4a1855ccfbab52ba666f00ac6b17c392";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/controller-manager-msgs/default.nix b/distros/lyrical/controller-manager-msgs/default.nix
index a3a032183d7..c89a35dddc0 100644
--- a/distros/lyrical/controller-manager-msgs/default.nix
+++ b/distros/lyrical/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-controller-manager-msgs";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_manager_msgs/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "f858cbaea7121525a1d4fc089219c09eba7c305720477a18ea92190421b96f6b";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_manager_msgs/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "90c745d82859aa41465cf8a1268205598631fe8f9a49ca258515dc1ffd1f1e99";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/controller-manager/default.nix b/distros/lyrical/controller-manager/default.nix
index 185a523f1bf..18f1e5e54b3 100644
--- a/distros/lyrical/controller-manager/default.nix
+++ b/distros/lyrical/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-pytest, ament-cmake-python, backward-ros, controller-interface, controller-manager-msgs, diagnostic-updater, example-interfaces, fmt, generate-parameter-library, hardware-interface, hardware-interface-testing, launch, launch-ros, launch-testing, launch-testing-ros, libstatistics-collector, lifecycle-msgs, pluginlib, python3Packages, rcl-interfaces, rclcpp, rclpy, realtime-tools, robot-state-publisher, ros2-control-cmake, ros2-control-test-assets, ros2param, ros2pkg, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-controller-manager";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_manager/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "cfb55a4e6a0bc56e4afd810174ee9fd1b7417539e0355f250caa98ce95c2a27c";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/controller_manager/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c3ecfb83e2ec4bf4e48e169139c5a3921eaa066e45bab490f1d850716e44f1c5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/crazyflie-description/default.nix b/distros/lyrical/crazyflie-description/default.nix
new file mode 100644
index 00000000000..4bcde756934
--- /dev/null
+++ b/distros/lyrical/crazyflie-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-lyrical-crazyflie-description";
+  version = "1.0.5-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_description/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "92ceee20b38477da4e7bb5cb6bd66e156d8c5f6a6fa00b258e7bb4ad7a3f74c6";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "URDF and mesh assets for the Crazyflie robot";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/lyrical/crazyflie-examples/default.nix b/distros/lyrical/crazyflie-examples/default.nix
index 397650c7996..96f1572060a 100644
--- a/distros/lyrical/crazyflie-examples/default.nix
+++ b/distros/lyrical/crazyflie-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-py, geometry-msgs, nav-msgs, python3Packages, rclpy, sensor-msgs, tf-transformations, tf2-ros }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie-examples";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_examples/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "b5ac63464bc2c2645dba2e66a1a16e496de760464f32c174eb105e168d881b1a";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_examples/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "17c752debe27555802e9fa1d9e2b20a0d9694f744e8da8133f8ad67360d29738";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/crazyflie-interfaces/default.nix b/distros/lyrical/crazyflie-interfaces/default.nix
index dca87835fc4..1930178a3a4 100644
--- a/distros/lyrical/crazyflie-interfaces/default.nix
+++ b/distros/lyrical/crazyflie-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie-interfaces";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_interfaces/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "a6dd7d99660d53b070f831cea4a434dcec3e5e2828ea0a4f71a1a842fba6f11c";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_interfaces/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "c77533b50e3be27de1b272bb8360ff24ef22a15efb052149d3cc09880314ed77";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/crazyflie-py/default.nix b/distros/lyrical/crazyflie-py/default.nix
index 23ec2fea4e6..29030108c91 100644
--- a/distros/lyrical/crazyflie-py/default.nix
+++ b/distros/lyrical/crazyflie-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "fc63a40653898e3dcee90c79642402fd80ee531ac1d5da5601b3c3125099db49";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "5acbb3a4dd5df63bf3de23368f3a3faa93ed905efc242fc2d3fb1bfb0931eaa2";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/crazyflie-server-py/default.nix b/distros/lyrical/crazyflie-server-py/default.nix
index c09179f6d10..df8f74fdeb8 100644
--- a/distros/lyrical/crazyflie-server-py/default.nix
+++ b/distros/lyrical/crazyflie-server-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, crazyflie-interfaces, geometry-msgs, motion-capture-tracking-interfaces, nav-msgs, python3Packages, rcl-interfaces, rclpy, sensor-msgs, std-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie-server-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_server_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "325569872256d91ea69cdbdec70f7e710e7cebe974e08a56d1a80477ac5bb58a";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_server_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "8adf6a03d21277beec294100c915f84ad7e667dcfb837d23b4e5bd41d4161b8f";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/crazyflie-sim/default.nix b/distros/lyrical/crazyflie-sim/default.nix
index e421c87d6f9..60fb7e70e4b 100644
--- a/distros/lyrical/crazyflie-sim/default.nix
+++ b/distros/lyrical/crazyflie-sim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie-sim";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_sim/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "dc6ec2fc17498aa912679faea69a0ac96b87af79b73c8220f3433a69c57590e4";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie_sim/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "46cb176b21c03d8084f6fc5de648b11207d3e21a3e36e97abd2300f43e6f75cb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/crazyflie/default.nix b/distros/lyrical/crazyflie/default.nix
index 7192384b367..db267298bbf 100644
--- a/distros/lyrical/crazyflie/default.nix
+++ b/distros/lyrical/crazyflie/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-description, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-lyrical-crazyflie";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "307a9cdb4ad07da62a28980cda7bfae14a3553cc07fe471e2239142cc0c9606c";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/lyrical/crazyflie/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "2dd8b3f0a6f3a784881e69e4e5a0a091eba0710cb0b5b49c8a09aee6e7873ab5";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ boost crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
+  propagatedBuildInputs = [ boost crazyflie-description crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/lyrical/data-tamer-tools/default.nix b/distros/lyrical/data-tamer-tools/default.nix
index e4474ec72c1..13480573a65 100644
--- a/distros/lyrical/data-tamer-tools/default.nix
+++ b/distros/lyrical/data-tamer-tools/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-clang-format, ament-cmake-cppcheck, ament-cmake-gtest, ament-cmake-lint-cmake, ament-index-cpp, ament-lint, backward-ros, data-tamer-cpp, data-tamer-msgs, foxglove-sdk-vendor, geographic-msgs, mcap-vendor, nlohmann_json, protobuf, rcl-interfaces, rclcpp, rclcpp-components, rclcpp-lifecycle, rosidl-default-generators, sensor-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-clang-format, ament-cmake-cppcheck, ament-cmake-gtest, ament-cmake-lint-cmake, ament-index-cpp, ament-lint, data-tamer-cpp, data-tamer-msgs, foxglove-sdk-vendor, geographic-msgs, geometry-msgs, mcap-vendor, nlohmann_json, protobuf, rcl-interfaces, rclcpp, rclcpp-components, rclcpp-lifecycle, rosidl-default-generators, sensor-msgs, tf2-msgs, visualization-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-data-tamer-tools";
-  version = "0.4.0-r3";
+  version = "0.10.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/data_tamer_tools-release/archive/release/lyrical/data_tamer_tools/0.4.0-3.tar.gz";
-    name = "0.4.0-3.tar.gz";
-    sha256 = "424dcad2663023345dc94f5bfdcc4cffb029023d33ef5106942a6113a7c7bfbc";
+    url = "https://github.com/ros2-gbp/data_tamer_tools-release/archive/release/lyrical/data_tamer_tools/0.10.0-1.tar.gz";
+    name = "0.10.0-1.tar.gz";
+    sha256 = "4dced33b5aac1848789c6cad19e93e559b043998e54df62c3d49159f997b6235";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake rosidl-default-generators ];
   checkInputs = [ ament-cmake-clang-format ament-cmake-cppcheck ament-cmake-gtest ament-cmake-lint-cmake ament-index-cpp ament-lint ];
-  propagatedBuildInputs = [ backward-ros data-tamer-cpp data-tamer-msgs foxglove-sdk-vendor geographic-msgs mcap-vendor nlohmann_json protobuf rcl-interfaces rclcpp rclcpp-components rclcpp-lifecycle sensor-msgs ];
+  propagatedBuildInputs = [ data-tamer-cpp data-tamer-msgs foxglove-sdk-vendor geographic-msgs geometry-msgs mcap-vendor nlohmann_json protobuf rcl-interfaces rclcpp rclcpp-components rclcpp-lifecycle sensor-msgs tf2-msgs visualization-msgs ];
   nativeBuildInputs = [ ament-cmake rosidl-default-generators ];
 
   meta = {
diff --git a/distros/lyrical/diff-drive-controller/default.nix b/distros/lyrical/diff-drive-controller/default.nix
index ac9e198e354..407b86b271e 100644
--- a/distros/lyrical/diff-drive-controller/default.nix
+++ b/distros/lyrical/diff-drive-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, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-diff-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/diff_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "aa8d770be7008840ed219512a654ccc9c67f4fa48de27270f36baea2d2bcd4e9";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/diff_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "e955256de103908c156ed689010209acbfc0325719a46fac2ad13a215766060e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/fastdds/default.nix b/distros/lyrical/fastdds/default.nix
index 9e705af49b3..eb6d35c721f 100644
--- a/distros/lyrical/fastdds/default.nix
+++ b/distros/lyrical/fastdds/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, asio, cmake, fastcdr, foonathan-memory-vendor, openssl, python3, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-lyrical-fastdds";
-  version = "3.6.1-r3";
+  version = "3.6.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/fastdds-release/archive/release/lyrical/fastdds/3.6.1-3.tar.gz";
-    name = "3.6.1-3.tar.gz";
-    sha256 = "8890ffe2fbfeeff860c4b9294d5d545bfc63cd4df51e1d0707397b9a72ba3fd4";
+    url = "https://github.com/ros2-gbp/fastdds-release/archive/release/lyrical/fastdds/3.6.2-1.tar.gz";
+    name = "3.6.2-1.tar.gz";
+    sha256 = "3b04d9a502c27b76967ca61264c3bd7bc8c569ec4e8b515499c7206e979c448b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/force-torque-sensor-broadcaster/default.nix b/distros/lyrical/force-torque-sensor-broadcaster/default.nix
index 787f12d87b4..3a37471e506 100644
--- a/distros/lyrical/force-torque-sensor-broadcaster/default.nix
+++ b/distros/lyrical/force-torque-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, filters, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-lyrical-force-torque-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/force_torque_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "aa3d270d44cac9eaa6272a84d82e469d1a27bb2ceb489cea888b57b0eb3b1e4f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/force_torque_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "ac3e5e2943e03f6bbf97e8e3d6b6636c2bcaf0d5843b229fcd7b09be449f78d2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/forward-command-controller/default.nix b/distros/lyrical/forward-command-controller/default.nix
index 52093ca1f32..fa581a6c3cd 100644
--- a/distros/lyrical/forward-command-controller/default.nix
+++ b/distros/lyrical/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-forward-command-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/forward_command_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "d2c50ddd59ff0af571d26d7727fdb3b3d2549d0098efb5f882626562221f041e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/forward_command_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "f32ddc7840a93089e7051679ab086dace1eced81213f3baec9a5ac7a7f65bafb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/generated.nix b/distros/lyrical/generated.nix
index 6dc8ae40dd9..b9a0ca4ddca 100644
--- a/distros/lyrical/generated.nix
+++ b/distros/lyrical/generated.nix
@@ -446,6 +446,8 @@ self: super: {
 
  crazyflie = self.callPackage ./crazyflie {};
 
+ crazyflie-description = self.callPackage ./crazyflie-description {};
+
  crazyflie-examples = self.callPackage ./crazyflie-examples {};
 
  crazyflie-interfaces = self.callPackage ./crazyflie-interfaces {};
@@ -910,6 +912,8 @@ self: super: {
 
  gtsam2mrpt-serial = self.callPackage ./gtsam2mrpt-serial {};
 
+ gurumdds-cmake-module = self.callPackage ./gurumdds-cmake-module {};
+
  gz-cmake-vendor = self.callPackage ./gz-cmake-vendor {};
 
  gz-common-vendor = self.callPackage ./gz-common-vendor {};
@@ -1240,6 +1244,8 @@ self: super: {
 
  magnetic-model = self.callPackage ./magnetic-model {};
 
+ magnetometer-broadcaster = self.callPackage ./magnetometer-broadcaster {};
+
  magnetometer-compass = self.callPackage ./magnetometer-compass {};
 
  magnetometer-pipeline = self.callPackage ./magnetometer-pipeline {};
@@ -1916,6 +1922,8 @@ self: super: {
 
  point-cloud-transport-tutorial = self.callPackage ./point-cloud-transport-tutorial {};
 
+ pointcloud-conversions = self.callPackage ./pointcloud-conversions {};
+
  pointcloud-to-laserscan = self.callPackage ./pointcloud-to-laserscan {};
 
  polygon-demos = self.callPackage ./polygon-demos {};
@@ -2218,6 +2226,8 @@ self: super: {
 
  rmw-fastrtps-shared-cpp = self.callPackage ./rmw-fastrtps-shared-cpp {};
 
+ rmw-gurumdds-cpp = self.callPackage ./rmw-gurumdds-cpp {};
+
  rmw-implementation = self.callPackage ./rmw-implementation {};
 
  rmw-implementation-cmake = self.callPackage ./rmw-implementation-cmake {};
diff --git a/distros/lyrical/gpio-controllers/default.nix b/distros/lyrical/gpio-controllers/default.nix
index f2eabad7370..e7017360d16 100644
--- a/distros/lyrical/gpio-controllers/default.nix
+++ b/distros/lyrical/gpio-controllers/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-gpio-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/gpio_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "764df5c3eee8e319c365bd6fe7476bfe452228f83ed77f923a992fc71ce2f0a2";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/gpio_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c935250f94c3138805c99d3f8b509d000b43617bdc8e8daf237cf7655470c37b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/gps-sensor-broadcaster/default.nix b/distros/lyrical/gps-sensor-broadcaster/default.nix
index 49c46739951..6773d0d9087 100644
--- a/distros/lyrical/gps-sensor-broadcaster/default.nix
+++ b/distros/lyrical/gps-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-gps-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/gps_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "9e47f6573be1cbbb6eebc058ea5b6c13061c63165eac93de1aed6578b64c559e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/gps_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c323636cc4d4aacc55f285cdff6fa8b96f5e747c48c740cb47c148751b2e23bc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/gurumdds-cmake-module/default.nix b/distros/lyrical/gurumdds-cmake-module/default.nix
new file mode 100644
index 00000000000..37f45bedab8
--- /dev/null
+++ b/distros/lyrical/gurumdds-cmake-module/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, _unresolved_gurumdds-3, ament-cmake, ament-lint-auto, ament-lint-common }:
+buildRosPackage {
+  pname = "ros-lyrical-gurumdds-cmake-module";
+  version = "7.0.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/rmw_gurumdds-release/archive/release/lyrical/gurumdds_cmake_module/7.0.0-1.tar.gz";
+    name = "7.0.0-1.tar.gz";
+    sha256 = "dfa16ab5d125e481e87fa1f18cf64a7915ed67be562660d4ab6bbe35dfb09a38";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ _unresolved_gurumdds-3.2 ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Provide CMake module to find GurumNetworks GurumDDS.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/lyrical/hardware-interface-testing/default.nix b/distros/lyrical/hardware-interface-testing/default.nix
index d632ad8d7dc..3ddb2372451 100644
--- a/distros/lyrical/hardware-interface-testing/default.nix
+++ b/distros/lyrical/hardware-interface-testing/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, fmt, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-hardware-interface-testing";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/hardware_interface_testing/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "95705c96ccdc18ef8c30e7973dc6201755a030c835edc1b681e3d6cbe57a28f7";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/hardware_interface_testing/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "0e043d1b695bd80c1b71324894834cb6f6c6104cee493fe5e301a1fd4467e582";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/hardware-interface/default.nix b/distros/lyrical/hardware-interface/default.nix
index 4819ea02240..62dfb4c01fa 100644
--- a/distros/lyrical/hardware-interface/default.nix
+++ b/distros/lyrical/hardware-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, control-msgs, fmt, joint-limits, lifecycle-msgs, pal-statistics, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sdformat-urdf, tinyxml-2, urdf }:
 buildRosPackage {
   pname = "ros-lyrical-hardware-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/hardware_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "78b124d5a9140659a2aa0ae310e7093ce95ca7077a20fd79a038e5c6b4e879b0";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/hardware_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "139046e15a91f5368968592a4ebf8970a66002e35c97cf9f9c539c1ac661ab3b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/image-transport-plugins/default.nix b/distros/lyrical/image-transport-plugins/default.nix
index 74742f4fd96..cfc50182068 100644
--- a/distros/lyrical/image-transport-plugins/default.nix
+++ b/distros/lyrical/image-transport-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, compressed-depth-image-transport, compressed-image-transport, theora-image-transport, zstd-image-transport }:
 buildRosPackage {
   pname = "ros-lyrical-image-transport-plugins";
-  version = "6.2.5-r1";
+  version = "6.2.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/image_transport_plugins/6.2.5-1.tar.gz";
-    name = "6.2.5-1.tar.gz";
-    sha256 = "a10d382334d5fb99427e296c2c772847322bc26abf1067398dc9825a27e617a6";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/image_transport_plugins/6.2.6-1.tar.gz";
+    name = "6.2.6-1.tar.gz";
+    sha256 = "377bc0f0a57aba2247a514a606bfcc58c0888178781d6a85e7ec3c520f1247f3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/imu-sensor-broadcaster/default.nix b/distros/lyrical/imu-sensor-broadcaster/default.nix
index 3cd8d248638..3c6e6c47012 100644
--- a/distros/lyrical/imu-sensor-broadcaster/default.nix
+++ b/distros/lyrical/imu-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, controller-interface, controller-manager, eigen, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-imu-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/imu_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "a1b912a181839f301b6209adee6702d7d2fb5f649113ae13914368b67692314d";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/imu_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "440a3dce74c4a35f4643ca5af08e641cebb9f866123f87e3a146ae083b7984e0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/joint-limits/default.nix b/distros/lyrical/joint-limits/default.nix
index 7eb22585528..b7510b98c78 100644
--- a/distros/lyrical/joint-limits/default.nix
+++ b/distros/lyrical/joint-limits/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, fmt, generate-parameter-library, launch-ros, launch-testing-ament-cmake, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-lyrical-joint-limits";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/joint_limits/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "ed921380f60cf51325aa16c7867b27b65b906a1b9190eeb022da353a8f347807";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/joint_limits/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "640e0e58bbb1bf27917e97ee8a300ee4e79b1954fa0d795853cd89194e0a9af9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/joint-state-broadcaster/default.nix b/distros/lyrical/joint-state-broadcaster/default.nix
index ac1de63e19e..1c602290663 100644
--- a/distros/lyrical/joint-state-broadcaster/default.nix
+++ b/distros/lyrical/joint-state-broadcaster/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
 buildRosPackage {
   pname = "ros-lyrical-joint-state-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/joint_state_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "3d0208452b4f7d3eaad732eb609d67b08f41691e9c9d1ec94f382e6ccb33d8c3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/joint_state_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "7207426473aaabbea66090053b05ee2c8e643da34a8cb46810614bb77fcd3f45";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros builtin-interfaces control-msgs controller-interface generate-parameter-library pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs urdf ];
+  propagatedBuildInputs = [ backward-ros builtin-interfaces controller-interface generate-parameter-library pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs urdf ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/lyrical/joint-trajectory-controller/default.nix b/distros/lyrical/joint-trajectory-controller/default.nix
index 0dc5152c724..4c576893f97 100644
--- a/distros/lyrical/joint-trajectory-controller/default.nix
+++ b/distros/lyrical/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, rsl, tl-expected-nixpkgs, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-lyrical-joint-trajectory-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/joint_trajectory_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "7c7d2cb379e1b4670fb2d10de1a00bb536aee64a0a1dff989410f252d37121d2";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/joint_trajectory_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "a3c716c4af449c5f33c05e8e9ca4364e1e605a24ab66b2020fbeaca29347e2e2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/jrl-cmakemodules/default.nix b/distros/lyrical/jrl-cmakemodules/default.nix
index a8e343d44ba..b3e437dd51e 100644
--- a/distros/lyrical/jrl-cmakemodules/default.nix
+++ b/distros/lyrical/jrl-cmakemodules/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, doxygen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, catch2, cmake, doxygen, eigen, git, matio, pkg-config, python3Packages, simde }:
 buildRosPackage {
   pname = "ros-lyrical-jrl-cmakemodules";
-  version = "1.1.2-r3";
+  version = "2.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/lyrical/jrl_cmakemodules/1.1.2-3.tar.gz";
-    name = "1.1.2-3.tar.gz";
-    sha256 = "b8f9abde3ea607e033f4c8758facd9ffb75a2299a1bc69c695345342445760e8";
+    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/lyrical/jrl_cmakemodules/2.0.0-1.tar.gz";
+    name = "2.0.0-1.tar.gz";
+    sha256 = "7c15c3435231ccf0c503390208150c280926c469337e57dd60e2eb97aec24fe3";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake ];
+  checkInputs = [ boost catch2 eigen git matio python3Packages.nanobind python3Packages.numpy python3Packages.pytest python3Packages.typing-extensions simde ];
   propagatedBuildInputs = [ doxygen pkg-config ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/launch-ros/default.nix b/distros/lyrical/launch-ros/default.nix
index 45a57687504..e0dba3bc9b7 100644
--- a/distros/lyrical/launch-ros/default.nix
+++ b/distros/lyrical/launch-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, composition-interfaces, launch, lifecycle-msgs, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-lyrical-launch-ros";
-  version = "0.29.8-r1";
+  version = "0.29.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/launch_ros/0.29.8-1.tar.gz";
-    name = "0.29.8-1.tar.gz";
-    sha256 = "f83ce381d5a72c5d237ec5f7c1603a4af5ef1aa7109b65b53055d8f39068c8c4";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/launch_ros/0.29.9-1.tar.gz";
+    name = "0.29.9-1.tar.gz";
+    sha256 = "659934059127922bbf29de8d8cf85ac359ddad9612335f0855989ece6fdd49d3";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/launch-testing-ros/default.nix b/distros/lyrical/launch-testing-ros/default.nix
index 76874170e10..2fda3db34f9 100644
--- a/distros/lyrical/launch-testing-ros/default.nix
+++ b/distros/lyrical/launch-testing-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch-ros, launch-testing, python3Packages, rclpy, rmw-test-fixture-implementation, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-launch-testing-ros";
-  version = "0.29.8-r1";
+  version = "0.29.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/launch_testing_ros/0.29.8-1.tar.gz";
-    name = "0.29.8-1.tar.gz";
-    sha256 = "e4662d73b970574a1bd1c10ce1fc998717a35728c9f3aea21ff0e385a4623cad";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/launch_testing_ros/0.29.9-1.tar.gz";
+    name = "0.29.9-1.tar.gz";
+    sha256 = "9e9b8bf85980f739ea2acfd06574f4eb9301ddbe45a724eb328396d34b7d883e";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/magnetometer-broadcaster/default.nix b/distros/lyrical/magnetometer-broadcaster/default.nix
new file mode 100644
index 00000000000..c1ccb8b546d
--- /dev/null
+++ b/distros/lyrical/magnetometer-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 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, eigen, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-lyrical-magnetometer-broadcaster";
+  version = "6.8.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/magnetometer_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "2f9dc2b6518998ffdb8637b058ffdc5b66b17a96e2544006d2628efc643b330f";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ros2-control-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface eigen generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Controller to publish readings of a magnetometer.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/lyrical/mecanum-drive-controller/default.nix b/distros/lyrical/mecanum-drive-controller/default.nix
index 8840ec28c9c..04782b2db34 100644
--- a/distros/lyrical/mecanum-drive-controller/default.nix
+++ b/distros/lyrical/mecanum-drive-controller/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-mecanum-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/mecanum_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "436259b0cc9c957c1453367cb4f58cdce9da49fc44cbddbdf833d1b0e664f8a1";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/mecanum_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "53297a1fb460e43463962d294189a5206e033fc34635d31f92b5c647909231c9";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake generate-parameter-library ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros control-msgs controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools tf2 tf2-geometry-msgs tf2-msgs ];
+  propagatedBuildInputs = [ backward-ros control-msgs control-toolbox controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools tf2 tf2-geometry-msgs tf2-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/lyrical/message-filters/default.nix b/distros/lyrical/message-filters/default.nix
index b80c4cb73f3..9478223bc8b 100644
--- a/distros/lyrical/message-filters/default.nix
+++ b/distros/lyrical/message-filters/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-cmake-ros, ament-lint-auto, ament-lint-common, builtin-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rcutils, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-message-filters";
-  version = "7.4.1-r1";
+  version = "7.4.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/lyrical/message_filters/7.4.1-1.tar.gz";
-    name = "7.4.1-1.tar.gz";
-    sha256 = "ed08c73e507407bc90829aa455b1e866f68c2434ec3ce72d422cf334e5ca6542";
+    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/lyrical/message_filters/7.4.2-1.tar.gz";
+    name = "7.4.2-1.tar.gz";
+    sha256 = "af422a0736692858f6a74d845d052d0884ee5a5f069ad97040a59c0bc7e9fa6e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/motion-capture-tracking-interfaces/default.nix b/distros/lyrical/motion-capture-tracking-interfaces/default.nix
index 6b3d68a3051..9fe33b347d0 100644
--- a/distros/lyrical/motion-capture-tracking-interfaces/default.nix
+++ b/distros/lyrical/motion-capture-tracking-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-motion-capture-tracking-interfaces";
-  version = "1.0.8-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/lyrical/motion_capture_tracking_interfaces/1.0.8-1.tar.gz";
-    name = "1.0.8-1.tar.gz";
-    sha256 = "6049a04a1b26db3894522134188d599b072b537333cb4787a4f629b5c25aa648";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/lyrical/motion_capture_tracking_interfaces/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "bbd89a562ba555629c268fbaef7bc107142b5cca30a4f681d111d06450c8fdc3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/motion-capture-tracking/default.nix b/distros/lyrical/motion-capture-tracking/default.nix
index 49a33111fdc..9e0d51094d9 100644
--- a/distros/lyrical/motion-capture-tracking/default.nix
+++ b/distros/lyrical/motion-capture-tracking/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, motion-capture-tracking-interfaces, pcl, rclcpp, sensor-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-lyrical-motion-capture-tracking";
-  version = "1.0.8-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/lyrical/motion_capture_tracking/1.0.8-1.tar.gz";
-    name = "1.0.8-1.tar.gz";
-    sha256 = "b7af437679ac5e678993e8b8648d3cf3f5a790cbf5543fa6930f0e78bc2ea869";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/lyrical/motion_capture_tracking/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "9c3ab58d448110498aefeece7333eb6345fbc58e2d034a0429b01381d75221d7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/motion-primitives-controllers/default.nix b/distros/lyrical/motion-primitives-controllers/default.nix
index 7e97a5e6410..ecb8a00d9d1 100644
--- a/distros/lyrical/motion-primitives-controllers/default.nix
+++ b/distros/lyrical/motion-primitives-controllers/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, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-lyrical-motion-primitives-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/motion_primitives_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "9001e192a7b24463f5318468dc59e6fc50be18eb149b784add685b7fc28354e8";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/motion_primitives_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "11825197d594742a62f12078e9c3a0524bc123cfdc408cd109ccf737c549d53b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/mrpt-apps-cli/default.nix b/distros/lyrical/mrpt-apps-cli/default.nix
index ca76030fb1d..02e40611774 100644
--- a/distros/lyrical/mrpt-apps-cli/default.nix
+++ b/distros/lyrical/mrpt-apps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-libapps-cli }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-apps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_apps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "422ad260fb0eba2bd6b433275a03c93e52e7fa3c590750723c36e4e61c62b0fc";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_apps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "eb21572dd22ef046d397970e46cf2146d3d82d4446eb574d044f82bff042de51";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-apps-gui/default.nix b/distros/lyrical/mrpt-apps-gui/default.nix
index 3e72867ca6f..73b57cb2da9 100644
--- a/distros/lyrical/mrpt-apps-gui/default.nix
+++ b/distros/lyrical/mrpt-apps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-graphslam, mrpt-kinematics, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-apps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_apps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "567afb9425dca1ad69f2c3bcbb35471642e3043fb1bcbe030998c3db281fd89e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_apps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "cd58e860bd6507f1020d9be26d725db256aa2f0b4512fd6e8220f28237a9015b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-apps/default.nix b/distros/lyrical/mrpt-apps/default.nix
index 556e21569d0..4ca63e5016b 100644
--- a/distros/lyrical/mrpt-apps/default.nix
+++ b/distros/lyrical/mrpt-apps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libapps, mrpt-libnav, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-apps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_apps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "6f6dbc35b853b4ba59140b2904816344157defbecd6d4525d918b5a9e7a02cf5";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_apps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "8f5e41a25a9889077bee2e70c93a4eb2c0dd29f8eeef2dfe426c12ffd413e642";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-bayes/default.nix b/distros/lyrical/mrpt-bayes/default.nix
index 2ce5f4df79e..2104f625534 100644
--- a/distros/lyrical/mrpt-bayes/default.nix
+++ b/distros/lyrical/mrpt-bayes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-config, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-bayes";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_bayes/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7d79fbff81411ea3b17cfe8c6dd844ed24655676542dd645aa909e6cacc41928";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_bayes/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "436c59b615e29b82e0550e851380639c4ab801c739516d7292b610131d763f93";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-common/default.nix b/distros/lyrical/mrpt-common/default.nix
index ea43161a496..8672fea0db5 100644
--- a/distros/lyrical/mrpt-common/default.nix
+++ b/distros/lyrical/mrpt-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, gtest }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-common";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_common/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "630d5454b87da6600d17c97989021c5cc8687e6cfcc355a2e6620c2cd010567b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_common/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c9987a0bc7919cfd6aa130cacc9a15f34126e7d011e0c35124197a33adc45206";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-comms/default.nix b/distros/lyrical/mrpt-comms/default.nix
index ec6e480c73a..a6e66ea4c78 100644
--- a/distros/lyrical/mrpt-comms/default.nix
+++ b/distros/lyrical/mrpt-comms/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libftdi1, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-comms";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_comms/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "368a8449e401cf71cfb4c5eafe9d98bbdf09520fc9d59feeb3ac0d6db764f1c7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_comms/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "2d6de8d1042482487104c327d308a406105f157939a1c8ba503a3029036c39e4";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libftdi1 python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-poses ];
   propagatedBuildInputs = [ mrpt-common mrpt-io ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/lyrical/mrpt-config/default.nix b/distros/lyrical/mrpt-config/default.nix
index b6452771825..9576f88ff34 100644
--- a/distros/lyrical/mrpt-config/default.nix
+++ b/distros/lyrical/mrpt-config/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-expr, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, _unresolved_libsimpleini-dev, cmake, icu, mrpt-common, mrpt-expr, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-config";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_config/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "eaf0820fc90371e8e4050705375d0d8827b4a23fe207f6077e62936ab471382a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_config/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "b63c7eb4ea4304a744e96693b5a85e97182dd981c0c7929bc4f6ef6baf777a20";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ _unresolved_libsimpleini-dev cmake icu python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-expr ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/mrpt-containers/default.nix b/distros/lyrical/mrpt-containers/default.nix
index af643a4d8e8..98571a3f0e0 100644
--- a/distros/lyrical/mrpt-containers/default.nix
+++ b/distros/lyrical/mrpt-containers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libfyaml, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-containers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_containers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "0743e891bec663b121d764aebbf94c43f2db07c04df227d9592addcb5c0b3a5f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_containers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a090b3e35c5d2b7664d955b71f9dbb7f0daf4dcf4992955bbb4f2ea8f53aaea8";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libfyaml python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-core mrpt-typemeta ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/mrpt-core/default.nix b/distros/lyrical/mrpt-core/default.nix
index 583cf846ab6..52ecc98926c 100644
--- a/distros/lyrical/mrpt-core/default.nix
+++ b/distros/lyrical/mrpt-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-core";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_core/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "d180b13fa68b5b04a974503deaae58599eef45eacbd379cb8b1b674f069c0609";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_core/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c03eeaadd50c34fb695b4d2966af6b1404704d080f555fce87634ead350b4b24";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-data/default.nix b/distros/lyrical/mrpt-data/default.nix
index 2dba5f1963c..b2b5880c4e6 100644
--- a/distros/lyrical/mrpt-data/default.nix
+++ b/distros/lyrical/mrpt-data/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-data";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_data/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "8b024bbfb1842b97449962fed63390e8ab0e2063e6899992c1a3f2e6bc700c02";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_data/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a20050bf9a384f4837b46c7192f898fc56324e2dde87b7fa176ae2cd2a16bb01";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-examples-cpp/default.nix b/distros/lyrical/mrpt-examples-cpp/default.nix
index 67f38b84a3e..73ff3c437e6 100644
--- a/distros/lyrical/mrpt-examples-cpp/default.nix
+++ b/distros/lyrical/mrpt-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, glfw3, mrpt-common, mrpt-data, mrpt-graphslam, mrpt-gui, mrpt-imgui, mrpt-libapps-cli, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-examples-cpp";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_examples_cpp/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1fd830092c794d769fade71ad3fbfa0a7e6e7dab5f0bff3ad37a9b8caa39459d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_examples_cpp/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d3a70f82aa8a2d857d07f3a2521a63aa8b2dff710216d65b4a2783b8ead77873";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-expr/default.nix b/distros/lyrical/mrpt-expr/default.nix
index 367257bdc40..8e3c8b85ea1 100644
--- a/distros/lyrical/mrpt-expr/default.nix
+++ b/distros/lyrical/mrpt-expr/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-expr";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_expr/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ae85de19cdccd4426f70e77a6cfeee9ba5f2050452f19ab2354dc1a13c8f3d7a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_expr/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3cefb9dd80829ad172fc4f07ca1cf502bb2167285c32e729f26f69b4768dcdcf";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-graphs/default.nix b/distros/lyrical/mrpt-graphs/default.nix
index b9e15f286dd..612c020423e 100644
--- a/distros/lyrical/mrpt-graphs/default.nix
+++ b/distros/lyrical/mrpt-graphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-poses, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-graphs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_graphs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5cfc27b048e9221cd4fb517ce8e1ece80a2cbfd179319e2ca57a6c86cff28b38";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_graphs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f49de00238fc9e287bc965a7423af60f9e1ad2c13265a80d98bc0e698a1c5576";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-graphslam/default.nix b/distros/lyrical/mrpt-graphslam/default.nix
index ccf5bb27908..05299e75437 100644
--- a/distros/lyrical/mrpt-graphslam/default.nix
+++ b/distros/lyrical/mrpt-graphslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-slam }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-graphslam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_graphslam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c76a4b91b301592b6403c33352d06724dc2c1e7aafd417074c5e1f2e758b0cfa";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_graphslam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "edd491eb82f6be11ae1e715d88bc34d7db499d25acff27856fbc81999fcba0cd";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-gui/default.nix b/distros/lyrical/mrpt-gui/default.nix
index 5aed2602870..f5a0e09fe48 100644
--- a/distros/lyrical/mrpt-gui/default.nix
+++ b/distros/lyrical/mrpt-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, libGL, libGLU, libxrandr, libxxf86vm, mrpt-opengl, python3, python3Packages, qt5, wxGTK32 }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f072aad43495f16634507309e554caa34fae054f655ef64ad66c4827bc0c2603";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "1dec68e91282eedbd642b2d57d1c3ae9726a3a83646452df0f2e9343cacffd1a";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-hwdrivers/default.nix b/distros/lyrical/mrpt-hwdrivers/default.nix
index 4ef50a5f983..23b9bf9dd97 100644
--- a/distros/lyrical/mrpt-hwdrivers/default.nix
+++ b/distros/lyrical/mrpt-hwdrivers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-comms, mrpt-maps, mrpt-viz }:
+{ lib, buildRosPackage, fetchurl, cmake, ffmpeg, libdc1394, libpcap, libusb1, mrpt-comms, mrpt-maps, mrpt-viz, openni2 }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-hwdrivers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_hwdrivers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "089ca447888e0c6e65d623d6ac01b3b52c978bb15cda0361e5f4ec7eb0ccd269";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_hwdrivers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "461453e4e6e7a1460f838d2b12f7360415cb4a77df79ff787d91fc6d5c696e99";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake ];
+  buildInputs = [ cmake ffmpeg libdc1394 libpcap libusb1 openni2 ];
   propagatedBuildInputs = [ mrpt-comms mrpt-maps mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/mrpt-img/default.nix b/distros/lyrical/mrpt-img/default.nix
index bdeb28c2915..47c597c1efd 100644
--- a/distros/lyrical/mrpt-img/default.nix
+++ b/distros/lyrical/mrpt-img/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, mrpt-common, mrpt-config, mrpt-io, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-img";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_img/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "98d3ff1e8cbace3f49ba65edbb3f6446feb1ee32c88e07a72313b042f810abd8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_img/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "5cf4245de2ce2cf5b080450b981cfe406adae436f06dfe71a89b78336b0245f7";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-imgui/default.nix b/distros/lyrical/mrpt-imgui/default.nix
index 99a74954727..c29b6d9d5d3 100644
--- a/distros/lyrical/mrpt-imgui/default.nix
+++ b/distros/lyrical/mrpt-imgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-opengl }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-imgui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_imgui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "aaf4d8a8b92fa4141989adffc7303e4778ed85fa3b5c1c622c6c0019b1529352";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_imgui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "076ed7e2e173bb074605732f287f678d6317e01314d3db9b631ccb7c2264a5bf";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-io/default.nix b/distros/lyrical/mrpt-io/default.nix
index 241111e1b33..a10041ec81a 100644
--- a/distros/lyrical/mrpt-io/default.nix
+++ b/distros/lyrical/mrpt-io/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages, zstd }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-io";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_io/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4d0cdbfc17194a4ef1938802d970fc3aa184af7c26b0c07c529780e181f74f05";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_io/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "95fee32d428e38723516c708811853c04b685d9edaecf4886c0e87904d32ecf1";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-kinematics/default.nix b/distros/lyrical/mrpt-kinematics/default.nix
index c8a159ae7bd..8cf9308649c 100644
--- a/distros/lyrical/mrpt-kinematics/default.nix
+++ b/distros/lyrical/mrpt-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-kinematics";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_kinematics/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "09d1216bbb9ea6a65bf81357a0c7f63078ff4c5f42e798f3e88a72216089af06";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_kinematics/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "fc2e1accb8fd046a7c70a6b928f1b8d47d3d80cb08702be5d70ea7c92b63b3e9";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libapps-cli/default.nix b/distros/lyrical/mrpt-libapps-cli/default.nix
index 1bc63d4dfef..a8d9c73dda3 100644
--- a/distros/lyrical/mrpt-libapps-cli/default.nix
+++ b/distros/lyrical/mrpt-libapps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cli11, cmake, mrpt-hwdrivers, mrpt-slam, mrpt-topography }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libapps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_libapps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7068720b140dd70d7d3e8c59ac8fa46ce1e3404c61820bf63db3772b88fcb962";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_libapps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a99960ba0ccfa24ce32b8b342bdde9765b9372cc643ada97dc5b5dedd583470d";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libapps-gui/default.nix b/distros/lyrical/mrpt-libapps-gui/default.nix
index e677c42ce16..a44997a2676 100644
--- a/distros/lyrical/mrpt-libapps-gui/default.nix
+++ b/distros/lyrical/mrpt-libapps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-libapps-cli, wxGTK32 }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libapps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_libapps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "dd593919c073886b2cbf23dfeb0e98d4bd1b823074bd39e03611df886cff6c88";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_libapps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a18a2bebf5cf0453a1d2055c8ade96e989c68a26c46ab009b351c1252c610f1b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libapps/default.nix b/distros/lyrical/mrpt-libapps/default.nix
index 235d8bd7696..03f6d32c03b 100644
--- a/distros/lyrical/mrpt-libapps/default.nix
+++ b/distros/lyrical/mrpt-libapps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libhwdrivers, mrpt-libmaps, mrpt-libslam, mrpt-libtclap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libapps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libapps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "ebfe2f7a78a412d5079258cc020a7cd807c0c43413ca105c11d50919b4f34722";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libapps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "336198cafab550d72619851fe18e1ce6b815ff55a4b193977f3ed5529ad719b5";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libbase/default.nix b/distros/lyrical/mrpt-libbase/default.nix
index 7feb346d701..efd93a709b2 100644
--- a/distros/lyrical/mrpt-libbase/default.nix
+++ b/distros/lyrical/mrpt-libbase/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, onetbb, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib, zstd }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libbase";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libbase/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d457dbab327579094ca797ed4739d0b3fc36a2ddc917d695b8f4ad8bdf711440";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libbase/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "83b6a71fa71b2385438183ad777c89c483b55d9d33b4abed1bcfa71d60b5d4ee";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libgui/default.nix b/distros/lyrical/mrpt-libgui/default.nix
index cb6ecda74d5..bc584e70295 100644
--- a/distros/lyrical/mrpt-libgui/default.nix
+++ b/distros/lyrical/mrpt-libgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libgui";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libgui/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "85c3b39505505da619356ade7dc881059e410cb4eb3948ad09ee974e6035c7f9";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libgui/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e2817fd8bb2c8f65a5b3e84f65e71467ab7e089f05dc11c2e16e0fcc2b03d7f8";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libhwdrivers/default.nix b/distros/lyrical/mrpt-libhwdrivers/default.nix
index 2dbec0f7de8..eaca8d237fe 100644
--- a/distros/lyrical/mrpt-libhwdrivers/default.nix
+++ b/distros/lyrical/mrpt-libhwdrivers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libmaps, mrpt-libslam, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libhwdrivers";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libhwdrivers/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "87a23e10e1beb1c3fe547b2f4b2f693d2ce62c8501267a92ec116c22899758cb";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libhwdrivers/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "1ae2269af7d0650852ba2e6b0e9c41a5c476c0be987fb647e9782067e0854f8b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libmaps/default.nix b/distros/lyrical/mrpt-libmaps/default.nix
index a339b333ec4..886bcbbadcd 100644
--- a/distros/lyrical/mrpt-libmaps/default.nix
+++ b/distros/lyrical/mrpt-libmaps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libobs, octomap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libmaps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libmaps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "7f78bf0cb78ec4a2b95ce7e59fb6078c66a6da30d62d94261a5d47cfae34f1ae";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libmaps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "5ee2f9055611287338359c30283dcfe62acae996e789196fd6ca897eeb8d96f0";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libmath/default.nix b/distros/lyrical/mrpt-libmath/default.nix
index 1e017b09963..28eb06ac234 100644
--- a/distros/lyrical/mrpt-libmath/default.nix
+++ b/distros/lyrical/mrpt-libmath/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libmath";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libmath/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "5e43c19d902ee40c34c9b4c7412e35742a846feeca3c97a6ec53cfaa40964f69";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libmath/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "1f28a62041f69e93852b73b28f57056101bdf9d2af65e0d420fd0a618aa36075";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libnav/default.nix b/distros/lyrical/mrpt-libnav/default.nix
index 3573be45f77..cbda6788384 100644
--- a/distros/lyrical/mrpt-libnav/default.nix
+++ b/distros/lyrical/mrpt-libnav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libnav";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libnav/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "71e0f397bb41c98e92373d20c2d8d02d299dbb5012fa1ca4089e74194f6d317b";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libnav/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "93e2252c5b96e3335473f063ecc24f5dec5549a44f5990875608c0ed71c923be";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libobs/default.nix b/distros/lyrical/mrpt-libobs/default.nix
index db0fffca5d2..336f6b2eee2 100644
--- a/distros/lyrical/mrpt-libobs/default.nix
+++ b/distros/lyrical/mrpt-libobs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libobs";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libobs/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "5b00b29aa328a8938b627e313708001f27dd8e8d01c0ccce6018aed8149fd9d9";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libobs/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "ebdf59b5b54c7ecea9c373e7b69f6a309e14a65b52139c510682a1c801edd9ed";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libopengl/default.nix b/distros/lyrical/mrpt-libopengl/default.nix
index 2b4edaf3b5c..bc342a306db 100644
--- a/distros/lyrical/mrpt-libopengl/default.nix
+++ b/distros/lyrical/mrpt-libopengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libopengl";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libopengl/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "f4497b6fa323153179fcd1826f6e1db4dc76e08413d95eee0e0498271a9ccea9";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libopengl/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "03c5a48cf4090a9144f0bc655dec5a6139b380a2c4563d4b4a1a18393483980d";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libposes/default.nix b/distros/lyrical/mrpt-libposes/default.nix
index 0d3a889f3c7..2bd3f9b7448 100644
--- a/distros/lyrical/mrpt-libposes/default.nix
+++ b/distros/lyrical/mrpt-libposes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libmath, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libposes";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libposes/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "ef8bac455cbfaf2ea74c1b4ddb1f67f097f6662fb3901e1add05277bd67d0790";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libposes/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "9d43ab2f42c76995dde708a462de541f83cfbc70c648de5cad79916ddd2aba6b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libslam/default.nix b/distros/lyrical/mrpt-libslam/default.nix
index 3382f2478dc..c4dc84b071a 100644
--- a/distros/lyrical/mrpt-libslam/default.nix
+++ b/distros/lyrical/mrpt-libslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, onetbb, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libslam";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libslam/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "b88aef2d0ae972b6c48fa526f67ec828ae5edd7c6193d8ad08de9ab612de5c43";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libslam/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e827b8294732e6cd528ad44bf826293ab2afc2c4646f35ae00c2406610b87dac";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-libtclap/default.nix b/distros/lyrical/mrpt-libtclap/default.nix
index 84745b13b17..5689fb16e48 100644
--- a/distros/lyrical/mrpt-libtclap/default.nix
+++ b/distros/lyrical/mrpt-libtclap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-libtclap";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libtclap/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "dc97073815a7cf6ff9a9a143efa88db9db6b334eaefd21a7b78794d9f315bb2a";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/lyrical/mrpt_libtclap/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "33757f3777fa5d17ccb21ab102b8a74175730f56ca7e1ef938395009f36747c2";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-maps/default.nix b/distros/lyrical/mrpt-maps/default.nix
index e256cc361a9..ef61e5e3c64 100644
--- a/distros/lyrical/mrpt-maps/default.nix
+++ b/distros/lyrical/mrpt-maps/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, octomap, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-maps";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_maps/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "86fcd2308006c898a09a28cfa0fbc9e04b828729566eb948c09ec598f4d864e1";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_maps/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8bad0f2ae74be31d394c47a30494dd1ed64531b8799f5aefb2e96355173f914a";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen octomap python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-graphs mrpt-obs ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/mrpt-math/default.nix b/distros/lyrical/mrpt-math/default.nix
index 9c6864031c2..c5dfa4d0f00 100644
--- a/distros/lyrical/mrpt-math/default.nix
+++ b/distros/lyrical/mrpt-math/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, nanoflann, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-math";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_math/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "139ccfdf6d90ab868203b6f1e2e0ef8a36ea82df20bd55b5f0d05ade6df5936a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_math/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "61430b799209e5ad7d05e726752502a22294929db62fca3c74e853ec10f0a2bf";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen nanoflann python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-io ];
   propagatedBuildInputs = [ mrpt-common mrpt-random mrpt-serialization mrpt-system ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/lyrical/mrpt-nav/default.nix b/distros/lyrical/mrpt-nav/default.nix
index 51471b53351..4e3589b0ee3 100644
--- a/distros/lyrical/mrpt-nav/default.nix
+++ b/distros/lyrical/mrpt-nav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-kinematics, mrpt-maps, mrpt-viz }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-nav";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_nav/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "d6d5421d6a4fdd232e162e60bdc026ff962630518138ea66d7090178b943e537";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_nav/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e3485fee13218727093b48611d21b38a2f82deaad3d1a89c9c949396f1411550";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-obs/default.nix b/distros/lyrical/mrpt-obs/default.nix
index 71b399f06f6..fbfd071e33d 100644
--- a/distros/lyrical/mrpt-obs/default.nix
+++ b/distros/lyrical/mrpt-obs/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-obs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_obs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "07064f98de8bd35fbdf6b657de4302ab7ca48db668f5f45e2f53f87a5dbee3a8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_obs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ff50cca0b795736648186c170bbcd8163a575dc1b78a10a4f4131edb72617a3c";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen python3 python3Packages.pybind11 tinyxml-2 ];
   propagatedBuildInputs = [ mrpt-common mrpt-tfest mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/lyrical/mrpt-opengl/default.nix b/distros/lyrical/mrpt-opengl/default.nix
index 2ad1c785267..23b876f5798 100644
--- a/distros/lyrical/mrpt-opengl/default.nix
+++ b/distros/lyrical/mrpt-opengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, libGL, libGLU, mrpt-img, mrpt-poses, mrpt-viz }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-opengl";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_opengl/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c7219b4e02f74c3e025583b2906dfdfdbee8f3c72291bc582570a3f2a179d0dc";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_opengl/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "bc32341dc34c831e727c4309e876510a828b39f4130cf01faed534dd447c3870";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-poses/default.nix b/distros/lyrical/mrpt-poses/default.nix
index c8748590e36..f08f2f41cf7 100644
--- a/distros/lyrical/mrpt-poses/default.nix
+++ b/distros/lyrical/mrpt-poses/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-bayes, mrpt-common, mrpt-io, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-poses";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_poses/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1a6a7515ecb370e027892087f3bdfb88b00780f733321e755d0e533452df73d8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_poses/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a02a7c17eb82edaa31b8463e425c103580c1e58558286d70e844d8d0e784b5af";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-random/default.nix b/distros/lyrical/mrpt-random/default.nix
index 437ac24aca1..d6d488e55a7 100644
--- a/distros/lyrical/mrpt-random/default.nix
+++ b/distros/lyrical/mrpt-random/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-random";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_random/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "5e1b831d376bd5a2affbb6f3f8ee21674ed0b1d0226fe751d7d5b68e90c8c2bb";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_random/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "01991f45f149e69904a2d72761539f830a29d5b09c3de82096a6f2c2fe1cc926";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-rtti/default.nix b/distros/lyrical/mrpt-rtti/default.nix
index caf434afdc4..145ffb30349 100644
--- a/distros/lyrical/mrpt-rtti/default.nix
+++ b/distros/lyrical/mrpt-rtti/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-rtti";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_rtti/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f695404748f71f50ef805a54c8957383c8c20fe5955455fb63c87bdc61b2f902";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_rtti/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "40669a96ed2c98783e893afd51ce19a1a245327bd5a44b8e0ca6a8a45f190e1d";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-serialization/default.nix b/distros/lyrical/mrpt-serialization/default.nix
index aaf2073b44c..f17fa3ae8a9 100644
--- a/distros/lyrical/mrpt-serialization/default.nix
+++ b/distros/lyrical/mrpt-serialization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-rtti, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-serialization";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_serialization/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "55365b1198f206a6ac95771cc708161b79e8e6a6339bd3c852bd82e04ea5e4e8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_serialization/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f5f38799a8a062f08f21f53d293cc4cdf23f1bc9108ae683dde9a578721f3d4f";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-slam/default.nix b/distros/lyrical/mrpt-slam/default.nix
index 2114309dd9b..d0faa7ca949 100644
--- a/distros/lyrical/mrpt-slam/default.nix
+++ b/distros/lyrical/mrpt-slam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-maps, mrpt-topography, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-slam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_slam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "099c3c7bdfd4f2d8e09668559769864bc66c5b38b71fb756b4c417d68f415d3a";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_slam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f4334e37874096bae75cd4fb99f78d0655a7e7772686945b68337ef9088d876d";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-system/default.nix b/distros/lyrical/mrpt-system/default.nix
index ad44e1e1a20..9c9c649a854 100644
--- a/distros/lyrical/mrpt-system/default.nix
+++ b/distros/lyrical/mrpt-system/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-containers, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-system";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_system/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "529d896dfca7990fe8cee00c8af4fd72afeb7cabb3ba2454d224a008246b812c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_system/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "80e2a321e55c7abc67260bf08fe01abfb11d99279a3bcfeb9ead58502e42e8c9";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-tfest/default.nix b/distros/lyrical/mrpt-tfest/default.nix
index 8f86de6d961..5297421f278 100644
--- a/distros/lyrical/mrpt-tfest/default.nix
+++ b/distros/lyrical/mrpt-tfest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-tfest";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_tfest/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "6025196b4e19d1ffb8b5101a182c5e073ba3a7269bebeb7fcf99727e98d3b6fd";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_tfest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "0e208c61d9374c04bbf8267234878f675bd34f6626534434c16db98013bb4a55";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-topography/default.nix b/distros/lyrical/mrpt-topography/default.nix
index 96568da11a8..f869663b8ec 100644
--- a/distros/lyrical/mrpt-topography/default.nix
+++ b/distros/lyrical/mrpt-topography/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-topography";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_topography/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "1001918b66eee652cc502244711bce9ab0157d5c7b5140e1917a0bbb9ccfd0ed";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_topography/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "8d9cd6cd918b53859f924738ec064fb0ebedafabba9685609fa3d3cdab68b17b";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-typemeta/default.nix b/distros/lyrical/mrpt-typemeta/default.nix
index e25cfc6a6cf..0a91920ca95 100644
--- a/distros/lyrical/mrpt-typemeta/default.nix
+++ b/distros/lyrical/mrpt-typemeta/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-typemeta";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_typemeta/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "91899758284a78bba1a476a1f7cec729be5df2bd7d64aade9661cba76c58ec40";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_typemeta/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "22a656bc3b8fd3790e76d07c6279358f276efa40b2a2114a95311ad1be47f131";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/mrpt-viz/default.nix b/distros/lyrical/mrpt-viz/default.nix
index c2a61368ff6..895f38683cb 100644
--- a/distros/lyrical/mrpt-viz/default.nix
+++ b/distros/lyrical/mrpt-viz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, mrpt-common, mrpt-img, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-lyrical-mrpt-viz";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_viz/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "e61f3fa328299c09297f3f7c8217d5bcb57272c93bf1f36431eea5480ba17599";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/lyrical/mrpt_viz/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "db565b8dc215d1d8d5cee253fad3fcdf5371423067a7aafb465a3134db4c2763";
   };
 
   buildType = "cmake";
diff --git a/distros/lyrical/omni-wheel-drive-controller/default.nix b/distros/lyrical/omni-wheel-drive-controller/default.nix
index 622e9febb40..916bfcf86b7 100644
--- a/distros/lyrical/omni-wheel-drive-controller/default.nix
+++ b/distros/lyrical/omni-wheel-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, eigen, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-omni-wheel-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/omni_wheel_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "b79e3b49161b020433ce53cbe50ae6ae0499225daf9bb80ce22679fcb13bbcbc";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/omni_wheel_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "5ff9e32ca9141bbc458412543b6aa98fc7d05fd514b408db3801e5e18f8d39db";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/parallel-gripper-controller/default.nix b/distros/lyrical/parallel-gripper-controller/default.nix
index f5d8b4d201d..b7b691b88fd 100644
--- a/distros/lyrical/parallel-gripper-controller/default.nix
+++ b/distros/lyrical/parallel-gripper-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, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-parallel-gripper-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/parallel_gripper_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "6c4b9f6ba6ceb4a86143813bbfc56d69f54a9958392d8fc7b81a50517201d8b6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/parallel_gripper_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "95a1c314dd109763bfe711a4355e065c4b67065cb57c5d9f1e2479e3a63c2ae0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/pid-controller/default.nix b/distros/lyrical/pid-controller/default.nix
index de608e85df6..c0fe47bca07 100644
--- a/distros/lyrical/pid-controller/default.nix
+++ b/distros/lyrical/pid-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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-lyrical-pid-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/pid_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "1e00f34c2ed3df3cdd94770783ba3c75f5a967fe808f523e076004de06b1c13b";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/pid_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "270a9ee1862b3193d9414238156b0445eda87683991a2596d7c4aaf44599f04b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/point-cloud-transport-py/default.nix b/distros/lyrical/point-cloud-transport-py/default.nix
index d38cd2d9ab1..d364d6952a1 100644
--- a/distros/lyrical/point-cloud-transport-py/default.nix
+++ b/distros/lyrical/point-cloud-transport-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, python3, python3Packages, rclcpp, rpyutils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-point-cloud-transport-py";
-  version = "5.4.2-r1";
+  version = "5.4.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/lyrical/point_cloud_transport_py/5.4.2-1.tar.gz";
-    name = "5.4.2-1.tar.gz";
-    sha256 = "571f39bc27bed244a025edcc55a4bdbd67cdebfb98195cd3f1c0cc62f6cb54d8";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/lyrical/point_cloud_transport_py/5.4.3-1.tar.gz";
+    name = "5.4.3-1.tar.gz";
+    sha256 = "0f6759440b51439e2887c52f29154540279c4ef8012b6a02bd0632fc8cbd3fd1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/point-cloud-transport/default.nix b/distros/lyrical/point-cloud-transport/default.nix
index 500cc014f09..a6c6feacf51 100644
--- a/distros/lyrical/point-cloud-transport/default.nix
+++ b/distros/lyrical/point-cloud-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-ros, ament-lint-auto, ament-lint-common, message-filters, pluginlib, rclcpp, rclcpp-components, rcpputils, rmw, sensor-msgs, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-lyrical-point-cloud-transport";
-  version = "5.4.2-r1";
+  version = "5.4.3-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/lyrical/point_cloud_transport/5.4.2-1.tar.gz";
-    name = "5.4.2-1.tar.gz";
-    sha256 = "94b8fbd3f3f972bd65b9e9f9a3f948e40ea8ecb258a91196ea9095649c972769";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/lyrical/point_cloud_transport/5.4.3-1.tar.gz";
+    name = "5.4.3-1.tar.gz";
+    sha256 = "a9deee5f87333660477dad22532aa089389fad665c14a3857183d9f772f4b14f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/pointcloud-conversions/default.nix b/distros/lyrical/pointcloud-conversions/default.nix
new file mode 100644
index 00000000000..9d3d3e28673
--- /dev/null
+++ b/distros/lyrical/pointcloud-conversions/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, pcl-conversions, python3Packages, rclcpp, rclpy, sensor-msgs, sensor-msgs-py, std-srvs, tf2, tf2-geometry-msgs, tf2-ros, yaml-cpp-vendor }:
+buildRosPackage {
+  pname = "ros-lyrical-pointcloud-conversions";
+  version = "0.0.3-r1";
+
+  src = fetchurl {
+    url = "https://github.com/li9i/pointcloud-conversions-release/archive/release/lyrical/pointcloud_conversions/0.0.3-1.tar.gz";
+    name = "0.0.3-1.tar.gz";
+    sha256 = "597622e8f3b6a16fcd7843f7c7cf8578aeba9542ad74d9c22463a430af3eb14b";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-python ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ pcl-conversions python3Packages.numpy rclcpp rclpy sensor-msgs sensor-msgs-py std-srvs tf2 tf2-geometry-msgs tf2-ros yaml-cpp-vendor ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-python ];
+
+  meta = {
+    description = "ROS 2 utilities for PLY/XYZ/PointCloud2 conversion and TF2-based frame transforms: ply_to_xyz and xyz_to_ply transframers (C++) and a pointcloud_to_ply mesh reconstructor (Python/Open3D).";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/lyrical/pose-broadcaster/default.nix b/distros/lyrical/pose-broadcaster/default.nix
index bc6f73c6f98..b7dc7821383 100644
--- a/distros/lyrical/pose-broadcaster/default.nix
+++ b/distros/lyrical/pose-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-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-pose-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/pose_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "33f8bbb5ae2272400f7a77eb2024db714887aa0126dfa16eb51462909f6b3c2d";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/pose_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "b9e8fd2b9d68f9deefbc4078aa35c0808581f6f089eaaa48b3564dc0d721dba1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/range-sensor-broadcaster/default.nix b/distros/lyrical/range-sensor-broadcaster/default.nix
index 43d440704ce..2ecb4a2f6f5 100644
--- a/distros/lyrical/range-sensor-broadcaster/default.nix
+++ b/distros/lyrical/range-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-range-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/range_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "67dee5cad633b35c5ab20939951496a1c825d5ab75745214cd7251781d358da7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/range_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "ed1b246e59a12ce3749edae30a5366996d1d92c094b4e421e221e04542b58cc4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rclcpp-action/default.nix b/distros/lyrical/rclcpp-action/default.nix
index 75961d310ac..49d6d5ff8d5 100644
--- a/distros/lyrical/rclcpp-action/default.nix
+++ b/distros/lyrical/rclcpp-action/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, mimick-vendor, performance-test-fixture, rcl, rcl-action, rclcpp, rcpputils, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-rclcpp-action";
-  version = "32.0.0-r1";
+  version = "32.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_action/32.0.0-1.tar.gz";
-    name = "32.0.0-1.tar.gz";
-    sha256 = "75a5d35463349f0a47c3e40c674afc0fa72cc1d4970715270a570dcfceb45f73";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_action/32.0.1-1.tar.gz";
+    name = "32.0.1-1.tar.gz";
+    sha256 = "4027df4bd6ef693e414014680325d14d8d4152bf07bc7d35587cc7f7a7d85237";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rclcpp-components/default.nix b/distros/lyrical/rclcpp-components/default.nix
index db45d0e37c6..c425024c299 100644
--- a/distros/lyrical/rclcpp-components/default.nix
+++ b/distros/lyrical/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, rcl-interfaces, rclcpp, rcpputils, rmw }:
 buildRosPackage {
   pname = "ros-lyrical-rclcpp-components";
-  version = "32.0.0-r1";
+  version = "32.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_components/32.0.0-1.tar.gz";
-    name = "32.0.0-1.tar.gz";
-    sha256 = "1fb6f15ea2fb3d46a26bf6caf848da8eb30507151ccf638082f4bf65245d9d87";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_components/32.0.1-1.tar.gz";
+    name = "32.0.1-1.tar.gz";
+    sha256 = "d2a521f5d7e0fe76147af4cc4311701aade120693c595d2d969240474cc8aa74";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rclcpp-lifecycle/default.nix b/distros/lyrical/rclcpp-lifecycle/default.nix
index c7e364a82ac..1d676e4f885 100644
--- a/distros/lyrical/rclcpp-lifecycle/default.nix
+++ b/distros/lyrical/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-lyrical-rclcpp-lifecycle";
-  version = "32.0.0-r1";
+  version = "32.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_lifecycle/32.0.0-1.tar.gz";
-    name = "32.0.0-1.tar.gz";
-    sha256 = "2399c90ae56ab548ee889d6ef338776731d123de2f132351300000cea863f9d2";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp_lifecycle/32.0.1-1.tar.gz";
+    name = "32.0.1-1.tar.gz";
+    sha256 = "20f6f0c35bdb6689f435ae4b19c273eb091aeafd745e695d7a6b01c94e79f555";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rclcpp/default.nix b/distros/lyrical/rclcpp/default.nix
index bda2012266a..345ec8178aa 100644
--- a/distros/lyrical/rclcpp/default.nix
+++ b/distros/lyrical/rclcpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-cmake-ros-core, ament-index-cpp, ament-lint-auto, ament-lint-common, builtin-interfaces, libstatistics-collector, mimick-vendor, performance-test-fixture, python3, python3Packages, 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-c, rosidl-runtime-cpp, rosidl-typesupport-c, rosidl-typesupport-cpp, statistics-msgs, test-msgs, tracetools }:
 buildRosPackage {
   pname = "ros-lyrical-rclcpp";
-  version = "32.0.0-r1";
+  version = "32.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp/32.0.0-1.tar.gz";
-    name = "32.0.0-1.tar.gz";
-    sha256 = "77006e39623e02578d736c0a096417347bcaa49cde6f8f538d742d57d4052f0f";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/lyrical/rclcpp/32.0.1-1.tar.gz";
+    name = "32.0.1-1.tar.gz";
+    sha256 = "05b899197db41ae0e491c659cfbbc0a8f330cc3532be4014fa8f836b548ab286";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rcutils/default.nix b/distros/lyrical/rcutils/default.nix
index b38bc27b925..5a871a6255a 100644
--- a/distros/lyrical/rcutils/default.nix
+++ b/distros/lyrical/rcutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, launch, launch-testing, launch-testing-ament-cmake, mimick-vendor, osrf-testing-tools-cpp, performance-test-fixture }:
 buildRosPackage {
   pname = "ros-lyrical-rcutils";
-  version = "7.1.1-r3";
+  version = "7.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/lyrical/rcutils/7.1.1-3.tar.gz";
-    name = "7.1.1-3.tar.gz";
-    sha256 = "090f9fd00f13ee74adbeb164aec61e6d5c6c5212fe5925054da69d504c4fb734";
+    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/lyrical/rcutils/7.1.2-1.tar.gz";
+    name = "7.1.2-1.tar.gz";
+    sha256 = "ee34657e4f05e0e7dfd253d63cc5d7c86aa9c113d116c95b3368e9b744efeeb5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/rmw-gurumdds-cpp/default.nix b/distros/lyrical/rmw-gurumdds-cpp/default.nix
new file mode 100644
index 00000000000..b27813b0c93
--- /dev/null
+++ b/distros/lyrical/rmw-gurumdds-cpp/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, _unresolved_gurumdds-3, ament-cmake, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, fastcdr, gurumdds-cmake-module, rcpputils, rcutils, rmw, rmw-dds-common, rosidl-buffer-backend-registry, rosidl-cmake, rosidl-dynamic-typesupport, rosidl-generator-dds-idl, rosidl-runtime-c, rosidl-runtime-cpp, rosidl-typesupport-fastrtps-c, rosidl-typesupport-fastrtps-cpp, rosidl-typesupport-introspection-c, rosidl-typesupport-introspection-cpp, tracetools }:
+buildRosPackage {
+  pname = "ros-lyrical-rmw-gurumdds-cpp";
+  version = "7.0.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/rmw_gurumdds-release/archive/release/lyrical/rmw_gurumdds_cpp/7.0.0-1.tar.gz";
+    name = "7.0.0-1.tar.gz";
+    sha256 = "7bddb9a0d6554cae301a7503f47138b9af95223f0b41b29b3c49e02d5e30f429";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ament-cmake-ros-core rosidl-cmake rosidl-generator-dds-idl ];
+  checkInputs = [ ament-lint-auto ament-lint-common ];
+  propagatedBuildInputs = [ _unresolved_gurumdds-3.2 fastcdr gurumdds-cmake-module rcpputils rcutils rmw rmw-dds-common rosidl-buffer-backend-registry rosidl-dynamic-typesupport rosidl-runtime-c rosidl-runtime-cpp rosidl-typesupport-fastrtps-c rosidl-typesupport-fastrtps-cpp rosidl-typesupport-introspection-c rosidl-typesupport-introspection-cpp tracetools ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-ros-core rosidl-cmake ];
+
+  meta = {
+    description = "Implement the ROS middleware interface using GurumNetworks GurumDDS static code generation in C++.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/lyrical/ros2-control-test-assets/default.nix b/distros/lyrical/ros2-control-test-assets/default.nix
index 4532ecf2abd..a727ba2ea7e 100644
--- a/distros/lyrical/ros2-control-test-assets/default.nix
+++ b/distros/lyrical/ros2-control-test-assets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ros2-control-cmake }:
 buildRosPackage {
   pname = "ros-lyrical-ros2-control-test-assets";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2_control_test_assets/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "d2694500a986171e63a807296fca7c9b63e4efbd5d30a63c2f2648b9c377a1a1";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2_control_test_assets/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "bb7260018064083acdec08c5404def9077c130ff56a024bcf56939801a3791d2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/ros2-control/default.nix b/distros/lyrical/ros2-control/default.nix
index efec679702b..5f673e40714 100644
--- a/distros/lyrical/ros2-control/default.nix
+++ b/distros/lyrical/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-lyrical-ros2-control";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2_control/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "ca5c1918136d867b42889861ce462240f3e699f0fe6544a8e769a7d48fbcc44b";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2_control/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "e0b53024f307436fca8c6449b217a7da88d9c8a106411d387978f72745922a24";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/ros2-controllers-test-nodes/default.nix b/distros/lyrical/ros2-controllers-test-nodes/default.nix
index 04931dcb33e..f7133d56afb 100644
--- a/distros/lyrical/ros2-controllers-test-nodes/default.nix
+++ b/distros/lyrical/ros2-controllers-test-nodes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, launch-ros, launch-testing-ros, python3Packages, rclpy, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-ros2-controllers-test-nodes";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ros2_controllers_test_nodes/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "d8d970d47eb098a77f459d5fdc9602db6dc7033b5026d210a560a8538d1d8ccf";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ros2_controllers_test_nodes/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c575f30f313e47aa9a1eece20c5da491f992648a9f61146af737533880acb6a5";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/ros2-controllers/default.nix b/distros/lyrical/ros2-controllers/default.nix
index 7ab3351eb4f..dfead9f5955 100644
--- a/distros/lyrical/ros2-controllers/default.nix
+++ b/distros/lyrical/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 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, chained-filter-controller, diff-drive-controller, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, chained-filter-controller, diff-drive-controller, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, magnetometer-broadcaster, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller }:
 buildRosPackage {
   pname = "ros-lyrical-ros2-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ros2_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "f784f5d7ad13ad3ed307b68658103bc48519788800eac7f35bd9aad02107e0a0";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/ros2_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "bc10e50ad99e5e49d1fc33a0e9f44532a8b55aaccb61031ffa511bd3b8a180eb";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller magnetometer-broadcaster mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/lyrical/ros2controlcli/default.nix b/distros/lyrical/ros2controlcli/default.nix
index 7be4bded517..05b269f29c7 100644
--- a/distros/lyrical/ros2controlcli/default.nix
+++ b/distros/lyrical/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, control-msgs, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-lyrical-ros2controlcli";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2controlcli/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "75a7104bf22a84ef39b64206319984cf4e5e192373eb1715cf36648b5f553a86";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/ros2controlcli/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "96134b9c0344b2cec0cef5e769c92d5961b05babd7f5476b073af4b5bab58870";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/ros2launch/default.nix b/distros/lyrical/ros2launch/default.nix
index 92c70b42719..e25029d15ed 100644
--- a/distros/lyrical/ros2launch/default.nix
+++ b/distros/lyrical/ros2launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-ros, launch-xml, launch-yaml, python3Packages, ros2cli, ros2pkg }:
 buildRosPackage {
   pname = "ros-lyrical-ros2launch";
-  version = "0.29.8-r1";
+  version = "0.29.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/ros2launch/0.29.8-1.tar.gz";
-    name = "0.29.8-1.tar.gz";
-    sha256 = "c1fff461d240950a9f1103680ae0b40fc74ec924b84e8f250a6ed5f0ba26a153";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/lyrical/ros2launch/0.29.9-1.tar.gz";
+    name = "0.29.9-1.tar.gz";
+    sha256 = "ef6d5b79c50a2a7bd32e0dd881a895c42c4d090edf8b99f4417d5e0901802282";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/rqt-controller-manager/default.nix b/distros/lyrical/rqt-controller-manager/default.nix
index 2e5ac35334f..a3126595b3c 100644
--- a/distros/lyrical/rqt-controller-manager/default.nix
+++ b/distros/lyrical/rqt-controller-manager/default.nix
@@ -2,18 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }:
+{ lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, launch-testing, launch-testing-ros, rclpy, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-lyrical-rqt-controller-manager";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/rqt_controller_manager/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "541d21078253639f7e1135487ce38a563a1461d45cf38366c88ce04617d2d74e";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/rqt_controller_manager/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "3ca996e9bc490deecfe826d93180567e3dc7db6950958aa3bae72e39ae06a4f3";
   };
 
   buildType = "ament_python";
+  checkInputs = [ launch-testing launch-testing-ros ];
   propagatedBuildInputs = [ controller-manager controller-manager-msgs rclpy rqt-gui rqt-gui-py ];
 
   meta = {
diff --git a/distros/lyrical/rqt-joint-trajectory-controller/default.nix b/distros/lyrical/rqt-joint-trajectory-controller/default.nix
index 86dc275e151..9c8ff57c529 100644
--- a/distros/lyrical/rqt-joint-trajectory-controller/default.nix
+++ b/distros/lyrical/rqt-joint-trajectory-controller/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs, urdfdom-py }:
+{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, launch-testing, launch-testing-ros, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs, urdfdom-py }:
 buildRosPackage {
   pname = "ros-lyrical-rqt-joint-trajectory-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/rqt_joint_trajectory_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "5feeac301a76cd221e0e830617f96214b8e0d07db0d72794230528d84622ecfa";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/rqt_joint_trajectory_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "f5ad1e919df3e5ed18e18e416bb1845945cccbdad6a9b79f036f903e49fe4458";
   };
 
   buildType = "ament_python";
-  checkInputs = [ python3Packages.pytest ];
+  checkInputs = [ launch-testing launch-testing-ros python3Packages.pytest ];
   propagatedBuildInputs = [ control-msgs controller-manager-msgs python-qt-binding python3Packages.rospkg qt-gui rclpy rqt-gui rqt-gui-py trajectory-msgs urdfdom-py ];
 
   meta = {
diff --git a/distros/lyrical/rqt-topic/default.nix b/distros/lyrical/rqt-topic/default.nix
index 4ed96d44d03..26da6fc44f5 100644
--- a/distros/lyrical/rqt-topic/default.nix
+++ b/distros/lyrical/rqt-topic/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-xmllint, python-qt-binding, python3Packages, rclpy, ros2topic, rqt-gui, rqt-gui-py, rqt-py-common }:
 buildRosPackage {
   pname = "ros-lyrical-rqt-topic";
-  version = "2.1.1-r1";
+  version = "2.1.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_topic-release/archive/release/lyrical/rqt_topic/2.1.1-1.tar.gz";
-    name = "2.1.1-1.tar.gz";
-    sha256 = "699bd8441b6f63cfc21447a372f37104fcf962279f64141ff0aef440aa9dc28f";
+    url = "https://github.com/ros2-gbp/rqt_topic-release/archive/release/lyrical/rqt_topic/2.1.2-1.tar.gz";
+    name = "2.1.2-1.tar.gz";
+    sha256 = "3e860849b1f15aafd2d07a5f9ead626e17833e7821eac80bd39c7cc61af854da";
   };
 
   buildType = "ament_python";
diff --git a/distros/lyrical/state-interfaces-broadcaster/default.nix b/distros/lyrical/state-interfaces-broadcaster/default.nix
index ed21e7bf36d..e364925dd87 100644
--- a/distros/lyrical/state-interfaces-broadcaster/default.nix
+++ b/distros/lyrical/state-interfaces-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-state-interfaces-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/state_interfaces_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "ce2a4a42b190790893f98480978688aea4454e7cce32cb1b0c4f64b78311989b";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/state_interfaces_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "e1900a4cda88e28d036a77ff018fd4e5b85e05068c5de20abe3b740769557f9b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/steering-controllers-library/default.nix b/distros/lyrical/steering-controllers-library/default.nix
index dcf497de1ac..83199640a37 100644
--- a/distros/lyrical/steering-controllers-library/default.nix
+++ b/distros/lyrical/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, 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-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-steering-controllers-library";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/steering_controllers_library/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "54373cd437a985b36cfbff993941f42bc086bc8f491b5112e6301e6838fbfed6";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/steering_controllers_library/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8601a6c7b1c77369745371a0209c3d2dfb89f7b910ba429bd81615d5324d9088";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/theora-image-transport/default.nix b/distros/lyrical/theora-image-transport/default.nix
index 61d360cb949..dc79eebc9ee 100644
--- a/distros/lyrical/theora-image-transport/default.nix
+++ b/distros/lyrical/theora-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, libogg, libtheora, opencv, pkg-config, pluginlib, rclcpp, rcutils, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-theora-image-transport";
-  version = "6.2.5-r1";
+  version = "6.2.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/theora_image_transport/6.2.5-1.tar.gz";
-    name = "6.2.5-1.tar.gz";
-    sha256 = "5fccf45b0b7bdaf7a651198b09248518416cf9cfa4f3c8c3a7207e9c52071b9f";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/theora_image_transport/6.2.6-1.tar.gz";
+    name = "6.2.6-1.tar.gz";
+    sha256 = "d22f0df14f3fe94612be3eca82173cff54b2b7524ecc57f59064edcd0b2debdc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/transmission-interface/default.nix b/distros/lyrical/transmission-interface/default.nix
index 0e3f6ad3ec6..7ee9012dba8 100644
--- a/distros/lyrical/transmission-interface/default.nix
+++ b/distros/lyrical/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, hardware-interface, pluginlib, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-lyrical-transmission-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/transmission_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "8ef11222ca20354d200d9e4d0be5e9cef69bf05aac8c099687ea99e2e541f59a";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/lyrical/transmission_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "da9fe33bb8af5d4013166d8601855bcafd459a41b0663a995a5278b4876fba93";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/tricycle-controller/default.nix b/distros/lyrical/tricycle-controller/default.nix
index 7e8a4cfd2a1..6ba557f766e 100644
--- a/distros/lyrical/tricycle-controller/default.nix
+++ b/distros/lyrical/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, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-tricycle-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/tricycle_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "e2bd6d20008b73e14ab48514a1f33f889a2c1820de2fe8bff928279717774c79";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/tricycle_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "913964f8fcaa813a304fa435acf93157e8500fed3cf29e7c49da368cb1d34cb8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/tricycle-steering-controller/default.nix b/distros/lyrical/tricycle-steering-controller/default.nix
index ee9a834a4fc..2d12ca76339 100644
--- a/distros/lyrical/tricycle-steering-controller/default.nix
+++ b/distros/lyrical/tricycle-steering-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-lyrical-tricycle-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/tricycle_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "b5c81858a5f21a509e26389404eeb7c8b2c6cc55ec6bcbe74a96b6b47dbaf2e8";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/lyrical/tricycle_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "7d58cef56050f13700d7798627abde49e60d7b670b79e20c8a3b3e4ed0100740";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/ur-msgs/default.nix b/distros/lyrical/ur-msgs/default.nix
index b1c043a146f..a63a0e697cc 100644
--- a/distros/lyrical/ur-msgs/default.nix
+++ b/distros/lyrical/ur-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, ament-lint-auto, ament-lint-common, builtin-interfaces, control-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-lyrical-ur-msgs";
-  version = "2.5.0-r3";
+  version = "2.6.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/lyrical/ur_msgs/2.5.0-3.tar.gz";
-    name = "2.5.0-3.tar.gz";
-    sha256 = "f9cb5b7b2e7ae1a6e32e20595f32c378dc8164be317cd9464fa216eb60338e9a";
+    url = "https://github.com/ros2-gbp/ur_msgs-release/archive/release/lyrical/ur_msgs/2.6.0-1.tar.gz";
+    name = "2.6.0-1.tar.gz";
+    sha256 = "c73dbcde5d0cfc3ae14d0eb5cae5efe0c243fdea906e4ead9e5ec2a911f0cfb1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/lyrical/zstd-image-transport/default.nix b/distros/lyrical/zstd-image-transport/default.nix
index 70b50386896..a09c1057c6c 100644
--- a/distros/lyrical/zstd-image-transport/default.nix
+++ b/distros/lyrical/zstd-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, image-transport, zlib }:
 buildRosPackage {
   pname = "ros-lyrical-zstd-image-transport";
-  version = "6.2.5-r1";
+  version = "6.2.6-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/zstd_image_transport/6.2.5-1.tar.gz";
-    name = "6.2.5-1.tar.gz";
-    sha256 = "3c0285f12e1a632dd9f85c6e5d456b0e0753d8ad4fcd2f24108ffcef16909690";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/lyrical/zstd_image_transport/6.2.6-1.tar.gz";
+    name = "6.2.6-1.tar.gz";
+    sha256 = "57640c3673f909af9d8b971da90b03e098227db2d3c1b06a427f99350524892a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ackermann-steering-controller/default.nix b/distros/rolling/ackermann-steering-controller/default.nix
index f2a66d39ebf..b18da86f53c 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, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-ackermann-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ackermann_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "1e0b17d8b3a5aa6dcc1999231568f8a0cd12dd77eecb9e1325927596a841b81e";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ackermann_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "41d6656e2aa424f20c3d7a5afb3e78c829ce73fd388af8dfc6fc82d961e9eea8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/admittance-controller/default.nix b/distros/rolling/admittance-controller/default.nix
index 330707f8d6a..306998f5023 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, angles, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, kinematics-interface, kinematics-interface-kdl, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-eigen, tf2-geometry-msgs, tf2-kdl, tf2-ros, tinyxml-2, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-admittance-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/admittance_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "56d05b2a750445e254aa7f88cef336a94ac2d453cf28f8d1d936d726a3abbe8f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/admittance_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "2ab4425cf66b418d5da815fbb09d271bed241c1fd75a71313dbb021582f67ba1";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-auto/default.nix b/distros/rolling/ament-cmake-auto/default.nix
index 1b314289f26..15cc557f361 100644
--- a/distros/rolling/ament-cmake-auto/default.nix
+++ b/distros/rolling/ament-cmake-auto/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-auto";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_auto/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "a54c97e9b8495a24a1225df5dcd2fa81a582195d35cd21e5a9f074093999f6a3";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_auto/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "63098bb94cd5e79650a157b99bafcbdbef1da827f532bb26ddb4455fdfd2fe07";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-core/default.nix b/distros/rolling/ament-cmake-core/default.nix
index 1e2e9cd809c..a5b2e32f205 100644
--- a/distros/rolling/ament-cmake-core/default.nix
+++ b/distros/rolling/ament-cmake-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-package, cmake, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-core";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_core/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "c31c776eefafdd4f621640f4ba4364d4d06efd419a84c7b1278d39a4bbb62236";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_core/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "04d81e7af32b8bd26e932a4da705de8e5b4e36af47c6f7e59c3f8e9d3d581039";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-definitions/default.nix b/distros/rolling/ament-cmake-export-definitions/default.nix
index 679e82fb085..19b2065fe82 100644
--- a/distros/rolling/ament-cmake-export-definitions/default.nix
+++ b/distros/rolling/ament-cmake-export-definitions/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-definitions";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_definitions/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "f9b8de3fedb7ef32e849aff87bd0dfe39298c1eb18545ed8e2f5f88a918793ce";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_definitions/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "a73bcd503f6a1733bd9af7ac4f2a2147680e946ba676461d8191b2c53fb67acc";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-dependencies/default.nix b/distros/rolling/ament-cmake-export-dependencies/default.nix
index 6af1dc04106..b598534581c 100644
--- a/distros/rolling/ament-cmake-export-dependencies/default.nix
+++ b/distros/rolling/ament-cmake-export-dependencies/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-libraries }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-dependencies";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_dependencies/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "2b6982947cdcf28bb6ba916e31975d961446e3b5b7891e53fd12705eb3065433";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_dependencies/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "947750d985ff9e29b0338950c77fcc5e6155833703056bc84c461c29fd933c86";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-include-directories/default.nix b/distros/rolling/ament-cmake-export-include-directories/default.nix
index 1a30532e293..3ba983c71e9 100644
--- a/distros/rolling/ament-cmake-export-include-directories/default.nix
+++ b/distros/rolling/ament-cmake-export-include-directories/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-include-directories";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_include_directories/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "e27cafcc6d931e57745430ae9c6b016185d835d5d1dca1387ca197de36fdc7b0";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_include_directories/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "69e93ef13bbbf00738b924e658123572a5df1048d41706478b8fdd7f0676a816";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-libraries/default.nix b/distros/rolling/ament-cmake-export-libraries/default.nix
index 41dfc212ea1..c6cdc6da926 100644
--- a/distros/rolling/ament-cmake-export-libraries/default.nix
+++ b/distros/rolling/ament-cmake-export-libraries/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-libraries";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_libraries/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "3b153609bc5a54d532168f57e7200f25fa50b340678cb159d530ce43afeb77b0";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_libraries/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "b493961d152a8eff531ca9f11dc5825c6ba42d3f6fd991edd188ca1a556e503f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-link-flags/default.nix b/distros/rolling/ament-cmake-export-link-flags/default.nix
index 0f5bb99cffc..5d69092a4ae 100644
--- a/distros/rolling/ament-cmake-export-link-flags/default.nix
+++ b/distros/rolling/ament-cmake-export-link-flags/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-link-flags";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_link_flags/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "212530cd6301d2a7d527c2cc5b0c21058bc1001cfdfc75f8b73faa750a96b23b";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_link_flags/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "dcbb017a5224ee4a27c1ce324cf90e28322d1975264ca746a81c8a6fe558384c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-export-targets/default.nix b/distros/rolling/ament-cmake-export-targets/default.nix
index 86300832d7a..5c6d266b523 100644
--- a/distros/rolling/ament-cmake-export-targets/default.nix
+++ b/distros/rolling/ament-cmake-export-targets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-export-libraries }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-export-targets";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_targets/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "caa3bdb7414ce937448e2afcad2d430e190dfbe01f01c43eeac5d0aa46b3363f";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_export_targets/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "c6cefdcc65fb9675b02d314a808ebea7460029eddf7da7231cd5ad6af7ac5869";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-gen-version-h/default.nix b/distros/rolling/ament-cmake-gen-version-h/default.nix
index b1d1cb533d3..aef8ebfadad 100644
--- a/distros/rolling/ament-cmake-gen-version-h/default.nix
+++ b/distros/rolling/ament-cmake-gen-version-h/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-gtest, ament-package }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-gen-version-h";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gen_version_h/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "da2c564e02b4f6558e194ccaac34e3ff968ff6b6c62ed7b2d53e619ee97b97b6";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gen_version_h/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "73c476241852163e2e2527188f47584a537b86fe61bfab5a3c8a1dac5d5aaeb0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-gmock/default.nix b/distros/rolling/ament-cmake-gmock/default.nix
index 2ac5022f724..a23804a2e47 100644
--- a/distros/rolling/ament-cmake-gmock/default.nix
+++ b/distros/rolling/ament-cmake-gmock/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-gtest, ament-cmake-test, gtest }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-gmock";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gmock/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "d503d517b8e79656a84c1557e31f09a69ee917891d38f6de56e59896239b65fa";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gmock/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "a5ad7fe78fb14b7aac9f79e62f1ef7fff310360826a70229b1786aecaf32d2b3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-google-benchmark/default.nix b/distros/rolling/ament-cmake-google-benchmark/default.nix
index 649d692803a..86de4c4a80f 100644
--- a/distros/rolling/ament-cmake-google-benchmark/default.nix
+++ b/distros/rolling/ament-cmake-google-benchmark/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-export-dependencies, ament-cmake-python, ament-cmake-test, google-benchmark-vendor }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-google-benchmark";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_google_benchmark/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "4a1001fd94365fc88379e6aef0bfe893beb94187fff446b40095fb6565de1f81";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_google_benchmark/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "ec34fa915bc38617f4b54f0832aab83d2204748bc1f287b3531670ce8e573a02";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-gtest/default.nix b/distros/rolling/ament-cmake-gtest/default.nix
index 4dd1b0bf2b4..5add227a8b6 100644
--- a/distros/rolling/ament-cmake-gtest/default.nix
+++ b/distros/rolling/ament-cmake-gtest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-test, gtest }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-gtest";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gtest/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "3a944591ece9c9ee4fbefc856f0a87fb20489c6da6b4fef1b67cda0058e8aa1b";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_gtest/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "03bbc700996f9a9748fafc49d88c5180da02fb1deb653259ae448b7368e4f163";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-include-directories/default.nix b/distros/rolling/ament-cmake-include-directories/default.nix
index 887d3c99cf0..fab36ecc60e 100644
--- a/distros/rolling/ament-cmake-include-directories/default.nix
+++ b/distros/rolling/ament-cmake-include-directories/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-include-directories";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_include_directories/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "0216393caaedf2aed03ce48737eb3d11fc617f311a933b023b3a395b30f3fdbb";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_include_directories/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "973dd0f9570ebf513cc135323de7b3ecf4163e0098b30e859ef03ec8dbe6c1aa";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-libraries/default.nix b/distros/rolling/ament-cmake-libraries/default.nix
index c9720cd9464..b3f5b132aa0 100644
--- a/distros/rolling/ament-cmake-libraries/default.nix
+++ b/distros/rolling/ament-cmake-libraries/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-libraries";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_libraries/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "dd5fdaf9d1025284035fe1fbb3a8b02cd2114ff040015db1afb1057aea04a395";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_libraries/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "5c68fa297749a70f9d29baa3c17500892f0701bba41d36cdd7762de088fb60af";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-pytest/default.nix b/distros/rolling/ament-cmake-pytest/default.nix
index aeed0d6ceda..56ab980a1b9 100644
--- a/distros/rolling/ament-cmake-pytest/default.nix
+++ b/distros/rolling/ament-cmake-pytest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-test, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-pytest";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_pytest/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "356ea85e57d2f0160001db899b164d8a5d3b10fa77ad99132115bfa357c154f9";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_pytest/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "2b68fba61cffc3c388cd136bb1f0d7b79a683a6f4f72325059bc9fdb2588de52";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-python/default.nix b/distros/rolling/ament-cmake-python/default.nix
index 668257efea1..9d5729ded6c 100644
--- a/distros/rolling/ament-cmake-python/default.nix
+++ b/distros/rolling/ament-cmake-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-python";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_python/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "ea01f8101dade7db62907f67c087c37fe78a7fa408b3a5623c7c12ace2ff497e";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_python/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "adedef63e21a3ad03a213900e31667bdbfe9f64f66d82a853487cad50ad90414";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-target-dependencies/default.nix b/distros/rolling/ament-cmake-target-dependencies/default.nix
index dbf394d2fc8..e61da4c54ad 100644
--- a/distros/rolling/ament-cmake-target-dependencies/default.nix
+++ b/distros/rolling/ament-cmake-target-dependencies/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-include-directories, ament-cmake-libraries }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-target-dependencies";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_target_dependencies/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "16a8923b989ce9873d19b22bf4c0c10ab471e56337b5e4b8a5fa8084cb321aa8";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_target_dependencies/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "d9a94a32d1531c3b3cb06b322981d7e6e804a395bfac09e92c9d2316c6747926";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-test/default.nix b/distros/rolling/ament-cmake-test/default.nix
index c9e43139aef..087309f4efe 100644
--- a/distros/rolling/ament-cmake-test/default.nix
+++ b/distros/rolling/ament-cmake-test/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-python }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-test";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_test/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "a85ff7a71a074368c070f6963fabe396d018d951777b796c499708c7c56fdbc1";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_test/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "a7437039453ae3d7cf7111788da5b29eb87562f1ff5605b003395650c5819ed7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-vendor-package/default.nix b/distros/rolling/ament-cmake-vendor-package/default.nix
index 3b6074b75bd..e18d34f8dea 100644
--- a/distros/rolling/ament-cmake-vendor-package/default.nix
+++ b/distros/rolling/ament-cmake-vendor-package/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-export-dependencies, ament-cmake-test, git, vcstool }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-vendor-package";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_vendor_package/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "a9be9c05cc139bd78c742d137c4368cde50ee50dff1480bf7b32e5f76bbed55b";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_vendor_package/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "7462e2301215677313bc1e6e2112ead2cb49c41f299b85f634bcccbe10b9ceb8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake-version/default.nix b/distros/rolling/ament-cmake-version/default.nix
index 4361eae6416..625cf92311a 100644
--- a/distros/rolling/ament-cmake-version/default.nix
+++ b/distros/rolling/ament-cmake-version/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake-version";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_version/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "6a2f5d3e3ae62c03a4f692499c3ed96c2cff94f4c841b9267036bb03f4cf401c";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake_version/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "df9756339d7d7d1d224703209c70e3858b2e0e03e9cc7f64b6721c2e9b704545";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-cmake/default.nix b/distros/rolling/ament-cmake/default.nix
index 1ed7ae7293e..eaa3f46ff57 100644
--- a/distros/rolling/ament-cmake/default.nix
+++ b/distros/rolling/ament-cmake/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-core, ament-cmake-export-definitions, ament-cmake-export-dependencies, ament-cmake-export-include-directories, ament-cmake-export-libraries, ament-cmake-export-link-flags, ament-cmake-export-targets, ament-cmake-gen-version-h, ament-cmake-libraries, ament-cmake-python, ament-cmake-target-dependencies, ament-cmake-test, ament-cmake-version, cmake }:
 buildRosPackage {
   pname = "ros-rolling-ament-cmake";
-  version = "2.9.0-r1";
+  version = "2.9.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake/2.9.0-1.tar.gz";
-    name = "2.9.0-1.tar.gz";
-    sha256 = "a6d3e1060461967312ad46c4c31368de12c94aba111bc7b4d09085c9da810024";
+    url = "https://github.com/ros2-gbp/ament_cmake-release/archive/release/rolling/ament_cmake/2.9.1-1.tar.gz";
+    name = "2.9.1-1.tar.gz";
+    sha256 = "1fe4fe39dd39929c8557012f8b40fe56b22d8d517af70f490684b1bd45b6c679";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-index-cpp/default.nix b/distros/rolling/ament-index-cpp/default.nix
index 0856a4d8cd8..2dab9128378 100644
--- a/distros/rolling/ament-index-cpp/default.nix
+++ b/distros/rolling/ament-index-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gtest, ament-lint-auto, ament-lint-common }:
 buildRosPackage {
   pname = "ros-rolling-ament-index-cpp";
-  version = "1.14.0-r1";
+  version = "1.14.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/rolling/ament_index_cpp/1.14.0-1.tar.gz";
-    name = "1.14.0-1.tar.gz";
-    sha256 = "2fe1875f827f9b9d5c2ee56e88dc21443cdc8b7ea7a9299eee200e11ee17c384";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/rolling/ament_index_cpp/1.14.1-1.tar.gz";
+    name = "1.14.1-1.tar.gz";
+    sha256 = "5102d4f851312bd87b2dd4b71a29a075eca7d372a5f4660288836afb7af2c92e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ament-index-python/default.nix b/distros/rolling/ament-index-python/default.nix
index 3ffe1a3c421..e6f83208a0f 100644
--- a/distros/rolling/ament-index-python/default.nix
+++ b/distros/rolling/ament-index-python/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-mypy, ament-pep257, ament-xmllint, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-ament-index-python";
-  version = "1.14.0-r1";
+  version = "1.14.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/rolling/ament_index_python/1.14.0-1.tar.gz";
-    name = "1.14.0-1.tar.gz";
-    sha256 = "94ea2dcb3e1de311a42249929def22d294573c72deb50c6d47412183e66ba5fb";
+    url = "https://github.com/ros2-gbp/ament_index-release/archive/release/rolling/ament_index_python/1.14.1-1.tar.gz";
+    name = "1.14.1-1.tar.gz";
+    sha256 = "4caa2fe2f235ff33e874a04459a9870656b95dc133b1ba8e8a5efcda25d4d4ac";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/bicycle-steering-controller/default.nix b/distros/rolling/bicycle-steering-controller/default.nix
index dbf7670f2d0..2736aa15c97 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, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-bicycle-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/bicycle_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "30a8716db371e8ebc937a181a260c2d33f6a9e6ed8268c1236fa762a5def4f91";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/bicycle_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "edef65b60f272a06fac70eb84b69d583e91dd9ecafb1c62d110931ef7fad52b2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/chained-filter-controller/default.nix b/distros/rolling/chained-filter-controller/default.nix
index 72e5635f3e7..8b698d9127b 100644
--- a/distros/rolling/chained-filter-controller/default.nix
+++ b/distros/rolling/chained-filter-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, filters, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-chained-filter-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/chained_filter_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "a3422be30a57146d4f1cdd67017a1b4d39ab06af86d63c79ea816ab770dd08de";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/chained_filter_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "b1a16e47fb56365990a6eb4dfee7595572fa1a55e1506ad3f290744377de0e81";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/compass-conversions/default.nix b/distros/rolling/compass-conversions/default.nix
index d21e47a6b2d..1ce62dcc3a9 100644
--- a/distros/rolling/compass-conversions/default.nix
+++ b/distros/rolling/compass-conversions/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-ros, angles, compass-interfaces, cras-cpp-common, cras-lint, geographiclib, geometry-msgs, magnetic-model, message-filters, pluginlib, rclcpp, rclcpp-components, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-compass-conversions";
-  version = "3.0.3-r1";
+  version = "3.0.4-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/compass_conversions/3.0.3-1.tar.gz";
-    name = "3.0.3-1.tar.gz";
-    sha256 = "554a6e7138312a3dbce262f29452d8ad4497aa7914e6e734b33212140dd0e041";
+    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/compass_conversions/3.0.4-2.tar.gz";
+    name = "3.0.4-2.tar.gz";
+    sha256 = "39537c6a19caa24a04a1e6c721779cae462190831564be811e457b24403b413e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/compass-interfaces/default.nix b/distros/rolling/compass-interfaces/default.nix
index 2b6b491039c..15570f618f2 100644
--- a/distros/rolling/compass-interfaces/default.nix
+++ b/distros/rolling/compass-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, cras-cpp-common, cras-lint, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-compass-interfaces";
-  version = "3.0.3-r1";
+  version = "3.0.4-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/compass_interfaces/3.0.3-1.tar.gz";
-    name = "3.0.3-1.tar.gz";
-    sha256 = "6dfe266a9cb7a438f5edb9d9dc22fbd6c463d89835938c3cddb93b95087a2d69";
+    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/compass_interfaces/3.0.4-2.tar.gz";
+    name = "3.0.4-2.tar.gz";
+    sha256 = "09896b8f9a05f7b558a45121b8079dd4f292f1f581082c4572fbe386a24e27a0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/compressed-depth-image-transport/default.nix b/distros/rolling/compressed-depth-image-transport/default.nix
index 0ec75e2d023..3d5098ac2c6 100644
--- a/distros/rolling/compressed-depth-image-transport/default.nix
+++ b/distros/rolling/compressed-depth-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, opencv, pluginlib, rcl-interfaces, rclcpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-compressed-depth-image-transport";
-  version = "7.0.0-r1";
+  version = "7.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/compressed_depth_image_transport/7.0.0-1.tar.gz";
-    name = "7.0.0-1.tar.gz";
-    sha256 = "1779aa1c90ce2413913f291ad9a9e391dc4aed7a12122e73b68fdfd5753c5c25";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/compressed_depth_image_transport/7.0.1-1.tar.gz";
+    name = "7.0.1-1.tar.gz";
+    sha256 = "bcb9cb3abcd004ed45d560464f4bb2a59e1957b1f15529882a53c381d0fcf369";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/compressed-image-transport/default.nix b/distros/rolling/compressed-image-transport/default.nix
index c9431bb0438..4b034e0f234 100644
--- a/distros/rolling/compressed-image-transport/default.nix
+++ b/distros/rolling/compressed-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport }:
 buildRosPackage {
   pname = "ros-rolling-compressed-image-transport";
-  version = "7.0.0-r1";
+  version = "7.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/compressed_image_transport/7.0.0-1.tar.gz";
-    name = "7.0.0-1.tar.gz";
-    sha256 = "cec074dad818e1085b02e2bc98456f9850855c64e96bdd0eb7c047c7fb11fa0b";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/compressed_image_transport/7.0.1-1.tar.gz";
+    name = "7.0.1-1.tar.gz";
+    sha256 = "02adcd50836e9ce9bf18f705f45f8aa941a860f3cc35edf4636c10b8a5cc9c48";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/control-msgs/default.nix b/distros/rolling/control-msgs/default.nix
index 763d9d457dd..026b126d5f5 100644
--- a/distros/rolling/control-msgs/default.nix
+++ b/distros/rolling/control-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, action-msgs, ament-cmake, builtin-interfaces, diagnostic-msgs, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-control-msgs";
-  version = "6.9.0-r2";
+  version = "6.10.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/rolling/control_msgs/6.9.0-2.tar.gz";
-    name = "6.9.0-2.tar.gz";
-    sha256 = "c585f7b3274cb1ca33ef6c9b9a283bb2af11763d79b88918d288f5546d7d8675";
+    url = "https://github.com/ros2-gbp/control_msgs-release/archive/release/rolling/control_msgs/6.10.0-1.tar.gz";
+    name = "6.10.0-1.tar.gz";
+    sha256 = "e7a2af108cf1acc896e419a03b86c23150fe61bd96a5c42cdd4795cee724b8a5";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/controller-interface/default.nix b/distros/rolling/controller-interface/default.nix
index b8cfd291d4e..a4ea08c52be 100644
--- a/distros/rolling/controller-interface/default.nix
+++ b/distros/rolling/controller-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, geometry-msgs, hardware-interface, pal-statistics, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-controller-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "e0c01fe60757bef0b446a0a451e4982475eb63f744a9ec05de21ec0b398680f3";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8102e693d2378f72e0d42e50246784685c91b9ea95a3a4db64f16870787e8df7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/controller-manager-msgs/default.nix b/distros/rolling/controller-manager-msgs/default.nix
index 0c2b694cc62..5de34e631f5 100644
--- a/distros/rolling/controller-manager-msgs/default.nix
+++ b/distros/rolling/controller-manager-msgs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, builtin-interfaces, lifecycle-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-controller-manager-msgs";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_manager_msgs/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "b9608e2a19c2043f0b7aca7ae612fb0279369e7ba4eb3292ecee89b19450b224";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_manager_msgs/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "f609dcb8eab9daa4359ccb7e9a9b659973834fbcbefdc886f5711d66b757a2d4";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/controller-manager/default.nix b/distros/rolling/controller-manager/default.nix
index e61fe119e22..112bb1ee853 100644
--- a/distros/rolling/controller-manager/default.nix
+++ b/distros/rolling/controller-manager/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, ament-cmake-pytest, ament-cmake-python, backward-ros, controller-interface, controller-manager-msgs, diagnostic-updater, example-interfaces, fmt, generate-parameter-library, hardware-interface, hardware-interface-testing, launch, launch-ros, launch-testing, launch-testing-ros, libstatistics-collector, lifecycle-msgs, pluginlib, python3Packages, rcl-interfaces, rclcpp, rclpy, realtime-tools, robot-state-publisher, ros2-control-cmake, ros2-control-test-assets, ros2param, ros2pkg, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-controller-manager";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_manager/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "be34c16e96745405e9acda375d4c72f7494f866a62a52d7e8107466660c33a6b";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/controller_manager/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "b3ce4a95f7d8e9c8e3ce2b8fa4bbfae44ddd6cf0b65f773d34bdd7b506d034c7";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/crazyflie-description/default.nix b/distros/rolling/crazyflie-description/default.nix
new file mode 100644
index 00000000000..7c6efe29cbd
--- /dev/null
+++ b/distros/rolling/crazyflie-description/default.nix
@@ -0,0 +1,24 @@
+
+# Copyright 2026 Open Source Robotics Foundation
+# Distributed under the terms of the BSD license
+
+{ lib, buildRosPackage, fetchurl, ament-cmake }:
+buildRosPackage {
+  pname = "ros-rolling-crazyflie-description";
+  version = "1.0.5-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_description/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "6b51d6224c0ac2b8ff029c0230cf8e5cddb9d69285d3651c1048bb447209d0ae";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "URDF and mesh assets for the Crazyflie robot";
+    license = with lib.licenses; [ mit ];
+  };
+}
diff --git a/distros/rolling/crazyflie-examples/default.nix b/distros/rolling/crazyflie-examples/default.nix
index cb7c9c7cfb5..8bfb331b0ce 100644
--- a/distros/rolling/crazyflie-examples/default.nix
+++ b/distros/rolling/crazyflie-examples/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-py, geometry-msgs, nav-msgs, python3Packages, rclpy, sensor-msgs, tf-transformations, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie-examples";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_examples/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "2653d886af009355358d97fda732ba8500fa253b1ea91010c3dfed9987167484";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_examples/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "a7372fc15b782996752736027fad1d44073a7f72f1441df3ca74159c49062259";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/crazyflie-interfaces/default.nix b/distros/rolling/crazyflie-interfaces/default.nix
index 712063d1f2b..b240061125d 100644
--- a/distros/rolling/crazyflie-interfaces/default.nix
+++ b/distros/rolling/crazyflie-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-cppcheck, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs, std-srvs }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie-interfaces";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_interfaces/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "8d48c5fa4e369f33fa21143384d66a07ac3bad75e6b6ff76a96c7c2e76f9d322";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_interfaces/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "06c3c2550953b74b49f1a384ad134ea09f809932f193c1115b4709726bcc7407";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/crazyflie-py/default.nix b/distros/rolling/crazyflie-py/default.nix
index c6e97ae033b..5a75ffbcf77 100644
--- a/distros/rolling/crazyflie-py/default.nix
+++ b/distros/rolling/crazyflie-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "cf334cac549947636766725c57bebca74a4b4869490377e4b5d0a235082ef0bf";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "605ff69642c33138dc1663860ffee6a66f1bfb44abead817e1c31908fac5c99f";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/crazyflie-server-py/default.nix b/distros/rolling/crazyflie-server-py/default.nix
index b052465edf6..08889e1f6da 100644
--- a/distros/rolling/crazyflie-server-py/default.nix
+++ b/distros/rolling/crazyflie-server-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-flake8, ament-pep257, crazyflie-interfaces, geometry-msgs, motion-capture-tracking-interfaces, nav-msgs, python3Packages, rcl-interfaces, rclpy, sensor-msgs, std-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie-server-py";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_server_py/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "299a38c4c901d6e393ac763b51522b7587016a7acb647b17fde4220a01c59694";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_server_py/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "1774d52034e1ccec511bc6c87bf05a334398b21cafada50468d06f073989b1be";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/crazyflie-sim/default.nix b/distros/rolling/crazyflie-sim/default.nix
index 5ab2514db00..8ae4ecd76a9 100644
--- a/distros/rolling/crazyflie-sim/default.nix
+++ b/distros/rolling/crazyflie-sim/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-copyright, ament-flake8, ament-pep257, crazyflie-interfaces, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie-sim";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_sim/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "1158436f813eba7e7b9afa1d7a6526d039ec7ba1d59292d6a9dfb70ff2c92a58";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie_sim/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "b346c3a24d8dfea272ca1507b33b088862bd9c55deb36351486f6600d9620f8c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/crazyflie/default.nix b/distros/rolling/crazyflie/default.nix
index a6097797c83..012a6ca45d1 100644
--- a/distros/rolling/crazyflie/default.nix
+++ b/distros/rolling/crazyflie/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-python, ament-lint-auto, ament-lint-common, boost, crazyflie-description, crazyflie-interfaces, eigen, geometry-msgs, libusb1, motion-capture-tracking-interfaces, nav-msgs, rclcpp, ros-environment, sensor-msgs, std-srvs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-crazyflie";
-  version = "1.0.4-r1";
+  version = "1.0.5-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie/1.0.4-1.tar.gz";
-    name = "1.0.4-1.tar.gz";
-    sha256 = "72bc776408173513f6b35a613c3e6c2d0598c1bebd18d1fd35b57906d79e2266";
+    url = "https://github.com/ros2-gbp/crazyswarm2-release/archive/release/rolling/crazyflie/1.0.5-1.tar.gz";
+    name = "1.0.5-1.tar.gz";
+    sha256 = "2cf00fabce93f70caab6565cadadcb364578be85a1e998e9d764a38a416d381e";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ament-cmake-python ];
   checkInputs = [ ament-lint-auto ament-lint-common ];
-  propagatedBuildInputs = [ boost crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
+  propagatedBuildInputs = [ boost crazyflie-description crazyflie-interfaces eigen geometry-msgs libusb1 motion-capture-tracking-interfaces nav-msgs rclcpp ros-environment sensor-msgs std-srvs tf2-ros ];
   nativeBuildInputs = [ ament-cmake ament-cmake-python ];
 
   meta = {
diff --git a/distros/rolling/diff-drive-controller/default.nix b/distros/rolling/diff-drive-controller/default.nix
index 270dbc3c8b7..9a9cc314773 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, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-diff-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/diff_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "f78654b4eb645954da43f2a95c22a424f43cddb742adb01b2fa2cdd0e14b6da7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/diff_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "6f2a1c37c537d13cf19160aeeea97174a4001a642781753add551784408c0c75";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/examples-tf2-py/default.nix b/distros/rolling/examples-tf2-py/default.nix
index a3e3cd0567d..bdee935c5c9 100644
--- a/distros/rolling/examples-tf2-py/default.nix
+++ b/distros/rolling/examples-tf2-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, geometry-msgs, launch-ros, python3Packages, rclpy, sensor-msgs, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-rolling-examples-tf2-py";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/examples_tf2_py/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "554e34111d6345c87da3b19f228ab931214653e84d447e23478b7bc1c3e3ce90";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/examples_tf2_py/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "25d97517deef598bcaf7152350c95424a45a75d4099cade93ea54e2effbf98d6";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/fastdds/default.nix b/distros/rolling/fastdds/default.nix
index b26dc1d80e0..3c7ed1428ff 100644
--- a/distros/rolling/fastdds/default.nix
+++ b/distros/rolling/fastdds/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, asio, cmake, fastcdr, foonathan-memory-vendor, openssl, python3, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-rolling-fastdds";
-  version = "3.6.1-r2";
+  version = "3.6.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/fastdds-release/archive/release/rolling/fastdds/3.6.1-2.tar.gz";
-    name = "3.6.1-2.tar.gz";
-    sha256 = "030b88233fe960f2eb673c2aacfb1ef59fa97125e4651dac85facb1ae829ad1e";
+    url = "https://github.com/ros2-gbp/fastdds-release/archive/release/rolling/fastdds/3.6.2-1.tar.gz";
+    name = "3.6.2-1.tar.gz";
+    sha256 = "fe9dcce82e584144420e8dc5330fdf77f47f196b6f7a0f8452cba459e561d0c7";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/force-torque-sensor-broadcaster/default.nix b/distros/rolling/force-torque-sensor-broadcaster/default.nix
index 3e7bb854257..d5a6545425c 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, filters, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-force-torque-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/force_torque_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "c1e962f817541f3332218f8af5515243e0ef6f81d1ea284d131d2ff28f067cfc";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/force_torque_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "ad26d1c0d4bc923cd54bd93f9c4def61f4ca6037bd28303966a3c0cbfa039647";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/forward-command-controller/default.nix b/distros/rolling/forward-command-controller/default.nix
index fd332fe765a..44a681bdb96 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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-forward-command-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/forward_command_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "6fde3342aa0d066b72332fd3daa3a494896588677daf76ebc8315a81015bfa23";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/forward_command_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "7b761a0f6821d813bebbcee1d7948f5e7797ba4314d064dadcbcc52af40e3d2c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/generated.nix b/distros/rolling/generated.nix
index d7096c386b9..f346f8cce9f 100644
--- a/distros/rolling/generated.nix
+++ b/distros/rolling/generated.nix
@@ -444,6 +444,8 @@ self: super: {
 
  crazyflie = self.callPackage ./crazyflie {};
 
+ crazyflie-description = self.callPackage ./crazyflie-description {};
+
  crazyflie-examples = self.callPackage ./crazyflie-examples {};
 
  crazyflie-interfaces = self.callPackage ./crazyflie-interfaces {};
@@ -1218,6 +1220,8 @@ self: super: {
 
  magnetic-model = self.callPackage ./magnetic-model {};
 
+ magnetometer-broadcaster = self.callPackage ./magnetometer-broadcaster {};
+
  magnetometer-compass = self.callPackage ./magnetometer-compass {};
 
  magnetometer-pipeline = self.callPackage ./magnetometer-pipeline {};
diff --git a/distros/rolling/geometry2/default.nix b/distros/rolling/geometry2/default.nix
index e49c7bfe96d..65fd2e38cb8 100644
--- a/distros/rolling/geometry2/default.nix
+++ b/distros/rolling/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-rolling-geometry2";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/geometry2/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "2c8d8fa61e1046fb4d8335a1ac122a79f71470d332125e4e92e20ba6e2e5431b";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/geometry2/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "1267697f22ddb2a2ae3401c33e039640d719b9e60b41c409c97dcb27dd1af0ce";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/gpio-controllers/default.nix b/distros/rolling/gpio-controllers/default.nix
index 81bf06b77be..fcf30ac4592 100644
--- a/distros/rolling/gpio-controllers/default.nix
+++ b/distros/rolling/gpio-controllers/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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-gpio-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gpio_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "fee007000980499690c7cbc7e59805f59741263f7959b5d2dbb567ef1d0107a7";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gpio_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "fca55028fb7e926403ade83e36ac8de538642ba6bfcf467b9e22b7fbf60fc8a0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/gps-sensor-broadcaster/default.nix b/distros/rolling/gps-sensor-broadcaster/default.nix
index 26288517e5e..7bd42f07f11 100644
--- a/distros/rolling/gps-sensor-broadcaster/default.nix
+++ b/distros/rolling/gps-sensor-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-gps-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gps_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "c5abf724da96f572f61c60268b8d8144eecdacf762b1a337aa43465b90fce8dc";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/gps_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c65b19c835420602c68212538d925ce94881e01068aea1bcbd3310c7682a8ff0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/hardware-interface-testing/default.nix b/distros/rolling/hardware-interface-testing/default.nix
index dc444692955..1095ce6671d 100644
--- a/distros/rolling/hardware-interface-testing/default.nix
+++ b/distros/rolling/hardware-interface-testing/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, fmt, hardware-interface, lifecycle-msgs, pluginlib, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-hardware-interface-testing";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/hardware_interface_testing/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "a6b656d4d6512065bcfcca7ba739923a67db6f087986b3daab0a8b8bf6c7ec0b";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/hardware_interface_testing/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "6e74b9f4a5c8fff01ae3cce1fa67f8e321a9e0df8db97423023b5a57a8d44204";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/hardware-interface/default.nix b/distros/rolling/hardware-interface/default.nix
index 2338052b789..a122252a4c3 100644
--- a/distros/rolling/hardware-interface/default.nix
+++ b/distros/rolling/hardware-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, control-msgs, fmt, joint-limits, lifecycle-msgs, pal-statistics, pluginlib, rclcpp-lifecycle, rcpputils, rcutils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sdformat-urdf, tinyxml-2, urdf }:
 buildRosPackage {
   pname = "ros-rolling-hardware-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/hardware_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "001118162b647dae4c6ba9221ea82ef1a580fb2382b99e22f9254380b37f77cf";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/hardware_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "056c2eacf90f23e6dba817e52c9e51eccb88ac4dff64b3e4dd26df622e5c493c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/image-transport-plugins/default.nix b/distros/rolling/image-transport-plugins/default.nix
index fc1ad8d1122..f178b7508c3 100644
--- a/distros/rolling/image-transport-plugins/default.nix
+++ b/distros/rolling/image-transport-plugins/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, compressed-depth-image-transport, compressed-image-transport, theora-image-transport, zstd-image-transport }:
 buildRosPackage {
   pname = "ros-rolling-image-transport-plugins";
-  version = "7.0.0-r1";
+  version = "7.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/image_transport_plugins/7.0.0-1.tar.gz";
-    name = "7.0.0-1.tar.gz";
-    sha256 = "a61bb764dd1c311e6caea679c435e16f039a6110927d2707bb9a9abde1f2418c";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/image_transport_plugins/7.0.1-1.tar.gz";
+    name = "7.0.1-1.tar.gz";
+    sha256 = "45157492485a6d82efafd4398e21e0fbe2098de67c4a43320ddfa1c33e2ca6c2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/imu-sensor-broadcaster/default.nix b/distros/rolling/imu-sensor-broadcaster/default.nix
index 87954f1aeed..4228f2082d9 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, backward-ros, controller-interface, controller-manager, eigen, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, tf2, tf2-geometry-msgs }:
 buildRosPackage {
   pname = "ros-rolling-imu-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/imu_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "181d8d660a1ad1841487d91ebec134004866398b9d229771c0773be61f012930";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/imu_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c5839125de02fdb1d76d64a3cd57eea1c98cf6c5f9121af11472c1100c40b68f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/joint-limits/default.nix b/distros/rolling/joint-limits/default.nix
index e6d16a3b51f..17f70e08d35 100644
--- a/distros/rolling/joint-limits/default.nix
+++ b/distros/rolling/joint-limits/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, backward-ros, fmt, generate-parameter-library, launch-ros, launch-testing-ament-cmake, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-rolling-joint-limits";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/joint_limits/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "fe30595ef126badedfe527c14b140cc30f9857bbae7011d6fdd8575cbce04834";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/joint_limits/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "9569f5ebaeda994099ddc2e567e6e887e3a4e642ff2407e062077d047c4fc2bf";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/joint-state-broadcaster/default.nix b/distros/rolling/joint-state-broadcaster/default.nix
index 311a6512110..046ae0319e1 100644
--- a/distros/rolling/joint-state-broadcaster/default.nix
+++ b/distros/rolling/joint-state-broadcaster/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, builtin-interfaces, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs, urdf }:
 buildRosPackage {
   pname = "ros-rolling-joint-state-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_state_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "f819aeed9edceb407934c884f4b2f8ff1cae281b8b20427a933f8c0ffaebaeaf";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_state_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "f66b943f865c4c98c12e5810f722004af49f518bb2df2aec7637ba673d4dde25";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros builtin-interfaces control-msgs controller-interface generate-parameter-library pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs urdf ];
+  propagatedBuildInputs = [ backward-ros builtin-interfaces controller-interface generate-parameter-library pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs urdf ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/joint-trajectory-controller/default.nix b/distros/rolling/joint-trajectory-controller/default.nix
index 9c5b037b792..b0846b810c2 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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-action, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, rsl, tl-expected-nixpkgs, trajectory-msgs, urdf }:
 buildRosPackage {
   pname = "ros-rolling-joint-trajectory-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_trajectory_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "3b69250218fc26cd6bd9b858683ef4f5f2042ffa719de7430e750469263dc439";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/joint_trajectory_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8775bdda2cf1a20f26c61c7793d144e94f0b4d6cc7e600f9b7e39800cb1979a6";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/jrl-cmakemodules/default.nix b/distros/rolling/jrl-cmakemodules/default.nix
index 293041b9c54..62e2dd5c4a9 100644
--- a/distros/rolling/jrl-cmakemodules/default.nix
+++ b/distros/rolling/jrl-cmakemodules/default.nix
@@ -2,19 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, doxygen, pkg-config }:
+{ lib, buildRosPackage, fetchurl, boost, catch2, cmake, doxygen, eigen, git, matio, pkg-config, python3Packages, simde }:
 buildRosPackage {
   pname = "ros-rolling-jrl-cmakemodules";
-  version = "1.1.2-r2";
+  version = "2.0.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/rolling/jrl_cmakemodules/1.1.2-2.tar.gz";
-    name = "1.1.2-2.tar.gz";
-    sha256 = "ae6e6d6ba3a327fc2a7e5321f95d0f9171dc63100a95f44992753518ceebb64e";
+    url = "https://github.com/ros2-gbp/jrl_cmakemodules-release/archive/release/rolling/jrl_cmakemodules/2.0.0-1.tar.gz";
+    name = "2.0.0-1.tar.gz";
+    sha256 = "bee3e497b6ba334a05078830c5d21902bc953cc9b3d077e6366a40947dd7c00e";
   };
 
   buildType = "cmake";
   buildInputs = [ cmake ];
+  checkInputs = [ boost catch2 eigen git matio python3Packages.nanobind python3Packages.numpy python3Packages.pytest python3Packages.typing-extensions simde ];
   propagatedBuildInputs = [ doxygen pkg-config ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/launch-ros/default.nix b/distros/rolling/launch-ros/default.nix
index a76a0c52fda..4e50546c857 100644
--- a/distros/rolling/launch-ros/default.nix
+++ b/distros/rolling/launch-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, composition-interfaces, launch, lifecycle-msgs, python3Packages, rclpy }:
 buildRosPackage {
   pname = "ros-rolling-launch-ros";
-  version = "0.30.0-r1";
+  version = "0.30.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/launch_ros/0.30.0-1.tar.gz";
-    name = "0.30.0-1.tar.gz";
-    sha256 = "92f17732a981255907fc891963ee59ea61c828c3e8efe918c4e21435851b08d8";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/launch_ros/0.30.1-1.tar.gz";
+    name = "0.30.1-1.tar.gz";
+    sha256 = "498e9d2272a5162a46c2af8f7cc7c5a4a2439aa08da85c55ffd2b8c521c4dd61";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/launch-testing-ros/default.nix b/distros/rolling/launch-testing-ros/default.nix
index f0852609c42..afd240db562 100644
--- a/distros/rolling/launch-testing-ros/default.nix
+++ b/distros/rolling/launch-testing-ros/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch-ros, launch-testing, python3Packages, rclpy, rmw-test-fixture-implementation, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-launch-testing-ros";
-  version = "0.30.0-r1";
+  version = "0.30.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/launch_testing_ros/0.30.0-1.tar.gz";
-    name = "0.30.0-1.tar.gz";
-    sha256 = "22b2fa4e89b04871a34c88e8be076755fc13ce34df92c700babb83c24be59262";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/launch_testing_ros/0.30.1-1.tar.gz";
+    name = "0.30.1-1.tar.gz";
+    sha256 = "0c5f4d03ec51800706a3c4a04b8066925836fa91b875f41a40c4ca0d5cfdc356";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/magnetic-model/default.nix b/distros/rolling/magnetic-model/default.nix
index ca552202070..ac7834f89de 100644
--- a/distros/rolling/magnetic-model/default.nix
+++ b/distros/rolling/magnetic-model/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gtest, angles, cras-cpp-common, cras-lint, geographiclib, geometry-msgs, rclcpp, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-magnetic-model";
-  version = "3.0.3-r1";
+  version = "3.0.4-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetic_model/3.0.3-1.tar.gz";
-    name = "3.0.3-1.tar.gz";
-    sha256 = "3aa1a9cc9038b652768c05ff53fc02e2b63867443c2238acb5719692631dcec7";
+    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetic_model/3.0.4-2.tar.gz";
+    name = "3.0.4-2.tar.gz";
+    sha256 = "2e8da41a16f55bae1f970de651689f1be28253e356442d0448a7d06fe3b7f870";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/magnetometer-broadcaster/default.nix b/distros/rolling/magnetometer-broadcaster/default.nix
new file mode 100644
index 00000000000..65ec46293a0
--- /dev/null
+++ b/distros/rolling/magnetometer-broadcaster/default.nix
@@ -0,0 +1,26 @@
+
+# Copyright 2026 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, eigen, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
+buildRosPackage {
+  pname = "ros-rolling-magnetometer-broadcaster";
+  version = "6.8.0-r1";
+
+  src = fetchurl {
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/magnetometer_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "9ce65bfe69be450ea9670562775ab37a0898721bb8b1a3a464aab02e4ef5834e";
+  };
+
+  buildType = "ament_cmake";
+  buildInputs = [ ament-cmake ros2-control-cmake ];
+  checkInputs = [ ament-cmake-gmock controller-manager ros2-control-test-assets ];
+  propagatedBuildInputs = [ backward-ros controller-interface eigen generate-parameter-library hardware-interface pluginlib rclcpp rclcpp-lifecycle realtime-tools sensor-msgs ];
+  nativeBuildInputs = [ ament-cmake ];
+
+  meta = {
+    description = "Controller to publish readings of a magnetometer.";
+    license = with lib.licenses; [ asl20 ];
+  };
+}
diff --git a/distros/rolling/magnetometer-compass/default.nix b/distros/rolling/magnetometer-compass/default.nix
index fa6d81f3d22..b3a0d2ca317 100644
--- a/distros/rolling/magnetometer-compass/default.nix
+++ b/distros/rolling/magnetometer-compass/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-ros, angles, builtin-interfaces, compass-conversions, compass-interfaces, cras-cpp-common, cras-lint, eigen, geometry-msgs, magnetometer-pipeline, message-filters, pluginlib, rclcpp, rclcpp-components, sensor-msgs, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, tf2-sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-magnetometer-compass";
-  version = "3.0.3-r1";
+  version = "3.0.4-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetometer_compass/3.0.3-1.tar.gz";
-    name = "3.0.3-1.tar.gz";
-    sha256 = "673378a3036b78471644a3ad03a965d18d68c8df98b4a7511aa8ae6dd35631ce";
+    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetometer_compass/3.0.4-2.tar.gz";
+    name = "3.0.4-2.tar.gz";
+    sha256 = "6fd81819bb684145c1f6e138e1464888a3accb173d4401bd6cd5a51da35b6fc9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/magnetometer-pipeline/default.nix b/distros/rolling/magnetometer-pipeline/default.nix
index 40c1bc31ed9..00e291af0dd 100644
--- a/distros/rolling/magnetometer-pipeline/default.nix
+++ b/distros/rolling/magnetometer-pipeline/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-python, ament-cmake-ros, cras-cpp-common, cras-lint, eigen, message-filters, pluginlib, python3Packages, rclcpp, rclcpp-components, rclpy, sensor-msgs, std-msgs, std-srvs, tf2-eigen }:
 buildRosPackage {
   pname = "ros-rolling-magnetometer-pipeline";
-  version = "3.0.3-r1";
+  version = "3.0.4-r2";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetometer_pipeline/3.0.3-1.tar.gz";
-    name = "3.0.3-1.tar.gz";
-    sha256 = "36958177445aeee71f32d7ae2935bf9d9dfe0db1010db749577dd72a7f926341";
+    url = "https://github.com/ros2-gbp/compass-release/archive/release/rolling/magnetometer_pipeline/3.0.4-2.tar.gz";
+    name = "3.0.4-2.tar.gz";
+    sha256 = "3a9bb46f3d927dda95afbb5e689284bdce221a49041d3eb66d1cb2c73cc98324";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mecanum-drive-controller/default.nix b/distros/rolling/mecanum-drive-controller/default.nix
index 83cd84efcc4..3de8e4faffc 100644
--- a/distros/rolling/mecanum-drive-controller/default.nix
+++ b/distros/rolling/mecanum-drive-controller/default.nix
@@ -2,21 +2,21 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, control-toolbox, controller-interface, controller-manager, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-mecanum-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/mecanum_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "1d7e046914740c4d500666edc561dc233fff604a62505acca6c3025d268b6ebe";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/mecanum_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "9f9d0b0c819f73d1bac32d098b5f40502417f63fe24508941bbc1e6524e55051";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake generate-parameter-library ros2-control-cmake ];
   checkInputs = [ ament-cmake-gmock controller-manager hardware-interface-testing ros2-control-test-assets ];
-  propagatedBuildInputs = [ backward-ros control-msgs controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools tf2 tf2-geometry-msgs tf2-msgs ];
+  propagatedBuildInputs = [ backward-ros control-msgs control-toolbox controller-interface geometry-msgs hardware-interface nav-msgs pluginlib rclcpp rclcpp-lifecycle rcpputils realtime-tools tf2 tf2-geometry-msgs tf2-msgs ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/message-filters/default.nix b/distros/rolling/message-filters/default.nix
index 00daaf7d4d3..17f78b2ed98 100644
--- a/distros/rolling/message-filters/default.nix
+++ b/distros/rolling/message-filters/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gtest, ament-cmake-pytest, ament-cmake-python, ament-cmake-ros, ament-lint-auto, ament-lint-common, builtin-interfaces, rclcpp, rclcpp-lifecycle, rclpy, rcutils, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-message-filters";
-  version = "8.0.1-r1";
+  version = "8.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/rolling/message_filters/8.0.1-1.tar.gz";
-    name = "8.0.1-1.tar.gz";
-    sha256 = "5ff50de2e82cafb80c6ed32f74cb4f3652864a774b8f4431e11288af18eca400";
+    url = "https://github.com/ros2-gbp/ros2_message_filters-release/archive/release/rolling/message_filters/8.0.2-1.tar.gz";
+    name = "8.0.2-1.tar.gz";
+    sha256 = "b05b56262ee7fa94d92eee4f8c7401f8679041c5d7e51cb685bf1b87fc4bf079";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/motion-capture-tracking-interfaces/default.nix b/distros/rolling/motion-capture-tracking-interfaces/default.nix
index 033890cd92b..ad8faaac05d 100644
--- a/distros/rolling/motion-capture-tracking-interfaces/default.nix
+++ b/distros/rolling/motion-capture-tracking-interfaces/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-common, builtin-interfaces, geometry-msgs, rosidl-default-generators, rosidl-default-runtime, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-motion-capture-tracking-interfaces";
-  version = "1.0.8-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/rolling/motion_capture_tracking_interfaces/1.0.8-1.tar.gz";
-    name = "1.0.8-1.tar.gz";
-    sha256 = "86351f4c475b4f032e001bb74e50a14921ee935e21dea6d0d8cac2289331808d";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/rolling/motion_capture_tracking_interfaces/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "185330fd657e836e656f424d02079859bd4e182afb775642ed37c271257b0ff2";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/motion-capture-tracking/default.nix b/distros/rolling/motion-capture-tracking/default.nix
index 9d6dfd8f11b..c3cfc0104cc 100644
--- a/distros/rolling/motion-capture-tracking/default.nix
+++ b/distros/rolling/motion-capture-tracking/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, eigen, eigen3-cmake-module, motion-capture-tracking-interfaces, pcl, rclcpp, sensor-msgs, tf2-ros }:
 buildRosPackage {
   pname = "ros-rolling-motion-capture-tracking";
-  version = "1.0.8-r1";
+  version = "1.0.9-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/rolling/motion_capture_tracking/1.0.8-1.tar.gz";
-    name = "1.0.8-1.tar.gz";
-    sha256 = "d36b91ca954783c3e9ea8cc81c92a4f77f933f5e3aae6c276c442eff4a102057";
+    url = "https://github.com/ros2-gbp/motion_capture_tracking-release/archive/release/rolling/motion_capture_tracking/1.0.9-1.tar.gz";
+    name = "1.0.9-1.tar.gz";
+    sha256 = "c190e5d3cc294511a3de8854acbfdb5781969ebb04d46125a11552b2c5b483e3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/motion-primitives-controllers/default.nix b/distros/rolling/motion-primitives-controllers/default.nix
index 4c55efdcf8c..4fb516640b7 100644
--- a/distros/rolling/motion-primitives-controllers/default.nix
+++ b/distros/rolling/motion-primitives-controllers/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, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-rolling-motion-primitives-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/motion_primitives_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "9fabd560e44936b18e6d4dbd64a502ade4d059598be2a896871df97ad3a26092";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/motion_primitives_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8c520d980bb5f935e94540cf212c1c1c7b89aa92154fb88ea57abd7403e523c8";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/mrpt-apps-cli/default.nix b/distros/rolling/mrpt-apps-cli/default.nix
index e9bc7000ac3..9add12ff351 100644
--- a/distros/rolling/mrpt-apps-cli/default.nix
+++ b/distros/rolling/mrpt-apps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-libapps-cli }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-apps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_apps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "80e21091120de167ad8698dd8e73c4f449c41baee24f745e520afac4ecae48c2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_apps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c073d3c332e83d56bc0b9557d90094940147436dd65f35037b0ea9999b4b3125";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-apps-gui/default.nix b/distros/rolling/mrpt-apps-gui/default.nix
index 8562b078392..4231d90656c 100644
--- a/distros/rolling/mrpt-apps-gui/default.nix
+++ b/distros/rolling/mrpt-apps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-graphslam, mrpt-kinematics, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-apps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_apps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "20307ea190b7d68fb9bbdd342ae1982bce5ecf9e3e6204869c51a2dffecda63d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_apps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "ee93daebc7ac6359c047a974619d113a8c6ca37dbf8b88e1be27461712bb2a27";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-apps/default.nix b/distros/rolling/mrpt-apps/default.nix
index cca3d01e273..0a335dd07b8 100644
--- a/distros/rolling/mrpt-apps/default.nix
+++ b/distros/rolling/mrpt-apps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libapps, mrpt-libnav, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-apps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_apps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "15e5c800735fa4bdb3960d474029af1fab196d319bd4ab5c268d92b0d1d51a10";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_apps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "da4594ef98a0b34850232eae313ce2a211b957f81b61e63b0a5a070622b3e963";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-bayes/default.nix b/distros/rolling/mrpt-bayes/default.nix
index cb86d7fd42b..6d64db38c34 100644
--- a/distros/rolling/mrpt-bayes/default.nix
+++ b/distros/rolling/mrpt-bayes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-config, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-bayes";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_bayes/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "10d81d06787684c05a6d1c81834bdf73354eb64792dbe3caead95674f594cc70";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_bayes/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "4716dfcafe58ea1b316bf54ecc57bae199c31c1e5a70de2f7515f8fac7ffee82";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-common/default.nix b/distros/rolling/mrpt-common/default.nix
index f93314fc5e3..66043c08b15 100644
--- a/distros/rolling/mrpt-common/default.nix
+++ b/distros/rolling/mrpt-common/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, gtest }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-common";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_common/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ff9144db728c75f243a49086ecbb455c59430b22202d95712f0b603b2c6e3b0b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_common/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "58ec64a1eaa3946d48050a88f4fa1fffcdb817f2902b9eac78936824559ab8c8";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-comms/default.nix b/distros/rolling/mrpt-comms/default.nix
index 703aa200880..7c68796812e 100644
--- a/distros/rolling/mrpt-comms/default.nix
+++ b/distros/rolling/mrpt-comms/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libftdi1, mrpt-common, mrpt-io, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-comms";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_comms/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "cd8719227c00f59abee5f98b0db1125f5ee14f369cb645315dd9c22634c78da5";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_comms/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7d6acc958071323d1bf5813a0eadf56b2658c4de3c3309799670036d9c2beb93";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libftdi1 python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-poses ];
   propagatedBuildInputs = [ mrpt-common mrpt-io ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/rolling/mrpt-config/default.nix b/distros/rolling/mrpt-config/default.nix
index 854c0a35a6a..d45339d76c5 100644
--- a/distros/rolling/mrpt-config/default.nix
+++ b/distros/rolling/mrpt-config/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-expr, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, _unresolved_libsimpleini-dev, cmake, icu, mrpt-common, mrpt-expr, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-config";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_config/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "498b41a555957443ba2bca5d1ef86566dfcce287713dc50843d9acac7ddf86d2";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_config/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7a7e330c16c74454735b9975e9d2e96a9678568b58712ac53d21ad50e1a34061";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ _unresolved_libsimpleini-dev cmake icu python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-expr ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mrpt-containers/default.nix b/distros/rolling/mrpt-containers/default.nix
index 9b69c0dc91c..fd39f11eef8 100644
--- a/distros/rolling/mrpt-containers/default.nix
+++ b/distros/rolling/mrpt-containers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, libfyaml, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-containers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_containers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "f0223855c4d81febf2cf4a350a072f51bdaf36a2da81e7e279ee22c2ebd85672";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_containers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "fca7d6fd46296a714db17e4404ddabddcd4dcf53e28dd29d0ab3a1f218602d7f";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake libfyaml python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-common mrpt-core mrpt-typemeta ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mrpt-core/default.nix b/distros/rolling/mrpt-core/default.nix
index 9f2797180de..a9eca45d3b4 100644
--- a/distros/rolling/mrpt-core/default.nix
+++ b/distros/rolling/mrpt-core/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-core";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_core/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "3d63c2f5423d221d7e7d28a0c3abc2d7566cc4c7bbc8ca828a90e63932c8b1e5";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_core/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "9d219f7051b8ef6a08b23c5cf5b63afc19f3f9380b29ed4cfa4d5cf841c8dbe4";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-data/default.nix b/distros/rolling/mrpt-data/default.nix
index ee1718696ce..6bdf9667aa4 100644
--- a/distros/rolling/mrpt-data/default.nix
+++ b/distros/rolling/mrpt-data/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-data";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_data/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "af8980bc84fc028d445a736430cf5c31e10a918fd8bb31bbd6c781f1f3302450";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_data/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "2eca2a613cdc4681c4b3f3bbc5c8f33c96613162cd88d0b7bb8f322ea4f3f174";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-examples-cpp/default.nix b/distros/rolling/mrpt-examples-cpp/default.nix
index c248c847b6e..d7e8e7f5f07 100644
--- a/distros/rolling/mrpt-examples-cpp/default.nix
+++ b/distros/rolling/mrpt-examples-cpp/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, glfw3, mrpt-common, mrpt-data, mrpt-graphslam, mrpt-gui, mrpt-imgui, mrpt-libapps-cli, mrpt-libapps-gui, mrpt-nav }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-examples-cpp";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_examples_cpp/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "7b271af6fd05bd9f98eb373aa3f6eb6cfb21873ec61a1abcce6331dcda709e3c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_examples_cpp/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "dbd0df7bd757792d84d2cf0ede198cf9d409ff7135056e41bdb0ec0bdd69945f";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-expr/default.nix b/distros/rolling/mrpt-expr/default.nix
index 92eb2de8864..d069170b975 100644
--- a/distros/rolling/mrpt-expr/default.nix
+++ b/distros/rolling/mrpt-expr/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-expr";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_expr/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ca78df9059127a29fc69621f5f18af752e4ac2fe9b10082067070252459428a8";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_expr/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "94123208ea9bcd5fbe70a9bd2ffb0857e1dce7581db9569c2d0cbbb299fd8698";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-graphs/default.nix b/distros/rolling/mrpt-graphs/default.nix
index 16ff04f9808..feb34ba9eeb 100644
--- a/distros/rolling/mrpt-graphs/default.nix
+++ b/distros/rolling/mrpt-graphs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-poses, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-graphs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_graphs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "39ea363739d67ab2fd4eccc03bf48c1b525f08b453dc80bd3e051ea8b6b9ff8f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_graphs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "fbe5d999bcf695f42f132e4fbbe33be5607b0d2aa4be58c2456307076a8f1f81";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-graphslam/default.nix b/distros/rolling/mrpt-graphslam/default.nix
index d4ac7081f96..3bbfa6d1de7 100644
--- a/distros/rolling/mrpt-graphslam/default.nix
+++ b/distros/rolling/mrpt-graphslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-slam }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-graphslam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_graphslam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "141c17cb2a31373b548d194f7cef487e75d221e6ec73496c4db844cdaa548785";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_graphslam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "c17721955edd62e840008ea671259f5caf09041e2a47836e6702148df997c7d0";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-gui/default.nix b/distros/rolling/mrpt-gui/default.nix
index 46a4421f448..6f326694259 100644
--- a/distros/rolling/mrpt-gui/default.nix
+++ b/distros/rolling/mrpt-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, libGL, libGLU, libxrandr, libxxf86vm, mrpt-opengl, python3, python3Packages, qt5, wxGTK32 }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "d85c5dac9ae13ae151af8b079cef6b7a84bd51183b35b8be9998b457c7911308";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "dab1d899d83cf831d1243cb8127de243ae5d069df2cf3a9e2c8a3a5ac006f807";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-hwdrivers/default.nix b/distros/rolling/mrpt-hwdrivers/default.nix
index 1858750487b..1a74b19e37c 100644
--- a/distros/rolling/mrpt-hwdrivers/default.nix
+++ b/distros/rolling/mrpt-hwdrivers/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, mrpt-comms, mrpt-maps, mrpt-viz }:
+{ lib, buildRosPackage, fetchurl, cmake, ffmpeg, libdc1394, libpcap, libusb1, mrpt-comms, mrpt-maps, mrpt-viz, openni2 }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-hwdrivers";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_hwdrivers/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "9abcb642a1b114088ff8e5be62207ea39cd653997130b805133b98245f277e2e";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_hwdrivers/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "89d16992a1f102373abbed76b7c80343532dba49220215b90e58c915ba662a16";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake ];
+  buildInputs = [ cmake ffmpeg libdc1394 libpcap libusb1 openni2 ];
   propagatedBuildInputs = [ mrpt-comms mrpt-maps mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mrpt-img/default.nix b/distros/rolling/mrpt-img/default.nix
index a2c26091842..6d19b563e00 100644
--- a/distros/rolling/mrpt-img/default.nix
+++ b/distros/rolling/mrpt-img/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, glfw3, mrpt-common, mrpt-config, mrpt-io, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-img";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_img/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "edaa05e909b0f660a4ffff13b5726bea029e67ac8d7207ab27876b8f6692dc9f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_img/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "b20050415ec3abb313dccfc0d70993c0dd91a9ad905984f49c4117d19af28654";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-imgui/default.nix b/distros/rolling/mrpt-imgui/default.nix
index cf42ada2695..55de2d71d99 100644
--- a/distros/rolling/mrpt-imgui/default.nix
+++ b/distros/rolling/mrpt-imgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-opengl }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-imgui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_imgui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "a01d65ec1567d6cfc04bc7bd2e9685b0531a56a5668a7043b43a03b3f092ffe6";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_imgui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "174560f1283769b71679ab3c5e67725ebace378f2273a6c4f5bc8875bad6e96c";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-io/default.nix b/distros/rolling/mrpt-io/default.nix
index f7183d20019..75d4c65b606 100644
--- a/distros/rolling/mrpt-io/default.nix
+++ b/distros/rolling/mrpt-io/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-system, python3, python3Packages, zstd }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-io";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_io/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "db084767b2f7e0e08c155f25dc69f7495c73d6fe31bfb1d8347d27506dca7949";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_io/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "a5b4a612ad3c9ffa4551a9c4aa5d44e22560a48ccdd41af568e2d031b208696a";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-kinematics/default.nix b/distros/rolling/mrpt-kinematics/default.nix
index 04f5ce09980..410e2078825 100644
--- a/distros/rolling/mrpt-kinematics/default.nix
+++ b/distros/rolling/mrpt-kinematics/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-viz, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-kinematics";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_kinematics/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "64d5135bb822e66ffe9893180f6d11337134dab97855b4835509c2eba579cabb";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_kinematics/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e996d0d833f4cb4d621750f4cc8eab1590cff7897a52dcd98174a5a9d69dda51";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libapps-cli/default.nix b/distros/rolling/mrpt-libapps-cli/default.nix
index e3982fa0911..7d46dc83ba1 100644
--- a/distros/rolling/mrpt-libapps-cli/default.nix
+++ b/distros/rolling/mrpt-libapps-cli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cli11, cmake, mrpt-hwdrivers, mrpt-slam, mrpt-topography }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libapps-cli";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_libapps_cli/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4b699c7db8dc3ecc33f9a18fcd4792a1682a3e930aa91eb8fe1f1c4383cd575f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_libapps_cli/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "d45dfd1fa7b52f7c0c5dc3d120723135bde13e79051d7b9af6f920763bafa8b4";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libapps-gui/default.nix b/distros/rolling/mrpt-libapps-gui/default.nix
index 1db5395de8d..6075d245d28 100644
--- a/distros/rolling/mrpt-libapps-gui/default.nix
+++ b/distros/rolling/mrpt-libapps-gui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-gui, mrpt-libapps-cli, wxGTK32 }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libapps-gui";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_libapps_gui/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "81a9c6f35f7de3d1ebc82d52506c88d576211d186c7e1cb5d1d0b95b95509d65";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_libapps_gui/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "999fc5285cf51918b98f246a9d464160f1a6e7d47e82a03561b14def58e168de";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libapps/default.nix b/distros/rolling/mrpt-libapps/default.nix
index 8d7a31e1bbb..8c498f703ed 100644
--- a/distros/rolling/mrpt-libapps/default.nix
+++ b/distros/rolling/mrpt-libapps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libhwdrivers, mrpt-libmaps, mrpt-libslam, mrpt-libtclap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libapps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libapps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "ba5882321348b6465477a748f9636ffe21c66bdf5d2973305e90ef73b34ccddb";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libapps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "4530fecd85f6868fd67d38d1c27918f00d078e0705caba6a97f071e3a23378f8";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libbase/default.nix b/distros/rolling/mrpt-libbase/default.nix
index b4b9c00b5b8..fdb8dfba793 100644
--- a/distros/rolling/mrpt-libbase/default.nix
+++ b/distros/rolling/mrpt-libbase/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, onetbb, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib, zstd }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libbase";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libbase/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "b545038b1307ae19d0546c75cc9b0d37b6db9379de24ecf4edde083c66dea55b";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libbase/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "94f64da190df05b1556fe91c806ecbb89577bb45abcee4e89589ec5a1cc777c6";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libgui/default.nix b/distros/rolling/mrpt-libgui/default.nix
index f2606729cff..040a03db592 100644
--- a/distros/rolling/mrpt-libgui/default.nix
+++ b/distros/rolling/mrpt-libgui/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libgui";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libgui/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "af3e98946f2e72cb3cc1d452fb9fa4ca1e896d1df652268abe71c3b21379bf48";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libgui/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e0a73b3273a5dd06d49d9351a956ee2f29407b9498f282376ed31814c8cb67e2";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libhwdrivers/default.nix b/distros/rolling/mrpt-libhwdrivers/default.nix
index d13ba3da470..ad561b3179a 100644
--- a/distros/rolling/mrpt-libhwdrivers/default.nix
+++ b/distros/rolling/mrpt-libhwdrivers/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libgui, mrpt-libmaps, mrpt-libslam, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libhwdrivers";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libhwdrivers/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d67bc9ed10bb41bb882f26be98d0f664a011ebf3e7df9af9ee862bcc09d01f29";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libhwdrivers/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "3a85eefaf0b6364ba44c570e1f69350167def0001a0ac00a6c66931b33a181fe";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libmaps/default.nix b/distros/rolling/mrpt-libmaps/default.nix
index 4f3363b762a..27949ec04cb 100644
--- a/distros/rolling/mrpt-libmaps/default.nix
+++ b/distros/rolling/mrpt-libmaps/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libobs, octomap, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libmaps";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libmaps/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d32dd8afa051d50d6474a790c3bb9c5d1dcc05f1eba48e65a2dcb004676b840d";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libmaps/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "0c868c1351091d8a03e9b8e135f3704e52f30d15788832a8ee8a1d635de8e1ce";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libmath/default.nix b/distros/rolling/mrpt-libmath/default.nix
index 67f7726fa59..ca9e2430851 100644
--- a/distros/rolling/mrpt-libmath/default.nix
+++ b/distros/rolling/mrpt-libmath/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libmath";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libmath/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "c49c4616647988d44f47af80d7059da89e06f56adb9df63c8c64eb096e85bc1f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libmath/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "b8a038886cbb92e96d5bc0dd95e3aed071995691cfc9851a3672b44bdb21a993";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libnav/default.nix b/distros/rolling/mrpt-libnav/default.nix
index 9ab7e531a82..038150c0cdb 100644
--- a/distros/rolling/mrpt-libnav/default.nix
+++ b/distros/rolling/mrpt-libnav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libnav";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libnav/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "a0f5ee778c49883962109d163db0545e26a5a20b149c7d3c86ae93e63c33ba3f";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libnav/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "e39c9c299bf0e00629b324e1e9425fc519079d697c3a1fae38da16b0ea476e41";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libobs/default.nix b/distros/rolling/mrpt-libobs/default.nix
index 0a8be7e1946..941c434376f 100644
--- a/distros/rolling/mrpt-libobs/default.nix
+++ b/distros/rolling/mrpt-libobs/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libopengl, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libobs";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libobs/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "56ae5ce4c217f9ca12d12b0ee4eb0aa2eb26fdd7452917415246d6abf05b7d72";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libobs/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "7012fcf57f92d3901e79de8bfc185ba2410d8acdda1cc51d9ca50de8b017d87d";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libopengl/default.nix b/distros/rolling/mrpt-libopengl/default.nix
index d93faee5d34..830ab0fc5ba 100644
--- a/distros/rolling/mrpt-libopengl/default.nix
+++ b/distros/rolling/mrpt-libopengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libposes, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libopengl";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libopengl/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "90b46bf738573673a435b269c729f7676b5a64090e283706a1fd14a9f3382069";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libopengl/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "30fa4e82f0e338e268f7788eef5b20a84f192092071e263b53ea6f7f4f74667b";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libposes/default.nix b/distros/rolling/mrpt-libposes/default.nix
index 60d37d02153..299fb988c3c 100644
--- a/distros/rolling/mrpt-libposes/default.nix
+++ b/distros/rolling/mrpt-libposes/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, mrpt-libmath, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libposes";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libposes/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "d6489efbb4df1816b404e8aa484910fd07526765bbd653f4d8e6d3f32d9b31a4";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libposes/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "a2bc0f68b1a8bcf38fd24afd423ed4ff3e45a5378ff95e3baea09e554ebb6872";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libros-bridge/default.nix b/distros/rolling/mrpt-libros-bridge/default.nix
index e377d95f5bd..85f8191e203 100644
--- a/distros/rolling/mrpt-libros-bridge/default.nix
+++ b/distros/rolling/mrpt-libros-bridge/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ros2-gbp/mrpt_ros_bridge-release/archive/release/rolling/mrpt_libros_bridge/3.5.3-1.tar.gz";
     name = "3.5.3-1.tar.gz";
-    sha256 = "4372d494f91b5f74a229d7344f2fc85aaccb08a71af9c75232318db838f9434d";
+    sha256 = "143c6d1d7ac86d53375c5ab09a7746cb48a7e2a6220a6bd75ee0d8d55de4328e";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libslam/default.nix b/distros/rolling/mrpt-libslam/default.nix
index 1068766739b..e4b0fca1d56 100644
--- a/distros/rolling/mrpt-libslam/default.nix
+++ b/distros/rolling/mrpt-libslam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libmaps, onetbb, opencv, openni2, pkg-config, python3Packages, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libslam";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libslam/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "87fb5d1f9029ed24c1a9591f84584a8227e2fa68a33872f593fce3332dd1b82a";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libslam/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "493789e3f5b5bcc570d41ad4ee08604a3e522e0a7900f618592e15bd0908514b";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-libtclap/default.nix b/distros/rolling/mrpt-libtclap/default.nix
index 3f6b5e4c3b2..01dea0a3f97 100644
--- a/distros/rolling/mrpt-libtclap/default.nix
+++ b/distros/rolling/mrpt-libtclap/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, ffmpeg, freeglut, freenect, glfw3, libGL, libGLU, libjpeg, libpcap, libusb1, libxrandr, libxxf86vm, mrpt-libbase, opencv, openni2, pkg-config, python3Packages, suitesparse, tinyxml-2, udev, wxGTK32, zlib }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-libtclap";
-  version = "2.15.18-r1";
+  version = "2.15.19-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libtclap/2.15.18-1.tar.gz";
-    name = "2.15.18-1.tar.gz";
-    sha256 = "60ef270cc055ca46894bf90cfad954a3fe520bd2f28889ddc44e1a950c5ba643";
+    url = "https://github.com/ros2-gbp/mrpt_ros-release/archive/release/rolling/mrpt_libtclap/2.15.19-1.tar.gz";
+    name = "2.15.19-1.tar.gz";
+    sha256 = "78ac44916f7050072afc2ddf9fba62cd139c3f3c7e52e29be92b823e27b86df5";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-maps/default.nix b/distros/rolling/mrpt-maps/default.nix
index f479f18665e..5d94ebbfbc1 100644
--- a/distros/rolling/mrpt-maps/default.nix
+++ b/distros/rolling/mrpt-maps/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-graphs, mrpt-obs, octomap, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-maps";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_maps/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "dcf1eacb0a9ceeb8149d67742503aa85190f11e6895d97a5b5424a7149eda82b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_maps/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f7c05a17f8bd0fc586fd89481422600f72157ef76a2443c97d2268a2cf9e8e19";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen octomap python3 python3Packages.pybind11 ];
   propagatedBuildInputs = [ mrpt-graphs mrpt-obs ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mrpt-math/default.nix b/distros/rolling/mrpt-math/default.nix
index 93d7023c84f..7cc4b3fccda 100644
--- a/distros/rolling/mrpt-math/default.nix
+++ b/distros/rolling/mrpt-math/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-io, mrpt-random, mrpt-serialization, mrpt-system, nanoflann, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-math";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_math/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "de4a0063fa6b1a47cefdea7ef477f3690fb593961d9e88018d1dd4f673e0f091";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_math/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "82caec1c9600bb78c98f421d80003668194f8511cda771955f38616568b44c16";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen nanoflann python3 python3Packages.pybind11 ];
   checkInputs = [ mrpt-io ];
   propagatedBuildInputs = [ mrpt-common mrpt-random mrpt-serialization mrpt-system ];
   nativeBuildInputs = [ cmake ];
diff --git a/distros/rolling/mrpt-nav/default.nix b/distros/rolling/mrpt-nav/default.nix
index fa3557767cd..dd3977dcd09 100644
--- a/distros/rolling/mrpt-nav/default.nix
+++ b/distros/rolling/mrpt-nav/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-kinematics, mrpt-maps, mrpt-viz }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-nav";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_nav/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "6256c30660599678c435f2c55b214612b157c31e7e901b88d0b31aded6ae39ae";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_nav/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "7bda5ee3fe8f8e4996986df450373e02a979e4f4c61e31cad85cff8da48cfdb2";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-obs/default.nix b/distros/rolling/mrpt-obs/default.nix
index 71bfaa92c7f..b6b1a3b3b44 100644
--- a/distros/rolling/mrpt-obs/default.nix
+++ b/distros/rolling/mrpt-obs/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages }:
+{ lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-tfest, mrpt-viz, python3, python3Packages, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-obs";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_obs/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "236525738ec3c17ac1cb587f80ea5f6160d7b09c3b1578b4e40b190a2857f261";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_obs/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "810dd792de86216dd678adedb0179c60deb1f5b746ea00c99000295d729d1bf7";
   };
 
   buildType = "cmake";
-  buildInputs = [ cmake eigen python3 python3Packages.pybind11 ];
+  buildInputs = [ cmake eigen python3 python3Packages.pybind11 tinyxml-2 ];
   propagatedBuildInputs = [ mrpt-common mrpt-tfest mrpt-viz ];
   nativeBuildInputs = [ cmake ];
 
diff --git a/distros/rolling/mrpt-opengl/default.nix b/distros/rolling/mrpt-opengl/default.nix
index 21ffd4e3187..c440ce1d8f0 100644
--- a/distros/rolling/mrpt-opengl/default.nix
+++ b/distros/rolling/mrpt-opengl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, libGL, libGLU, mrpt-img, mrpt-poses, mrpt-viz }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-opengl";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_opengl/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "c1fca10f88f483479a639838bd7ae702cf02be4b7327f868257f202f0a64e173";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_opengl/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "328daa1419e7e854802588df21d634bfa48987985083a7faac207b7c7429b6c9";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-poses/default.nix b/distros/rolling/mrpt-poses/default.nix
index c8e4423a062..653c4eedeb6 100644
--- a/distros/rolling/mrpt-poses/default.nix
+++ b/distros/rolling/mrpt-poses/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-bayes, mrpt-common, mrpt-io, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-poses";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_poses/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "46c3c9688f7a9ce9467f89279f3f1974e75f6e5ef64e2b3e6c8d4394dd4e9090";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_poses/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "0f4a1fb0fce6fbff5f204a23b674c516b2f3ea5989f94bbecd95f87b48504320";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-random/default.nix b/distros/rolling/mrpt-random/default.nix
index cdb83cfaf93..81463d7c498 100644
--- a/distros/rolling/mrpt-random/default.nix
+++ b/distros/rolling/mrpt-random/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-random";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_random/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "4af6fff1c45018f3551fcdf99d1b5b0432282b3a932e4fb0aa9b46d67108831f";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_random/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "0daad7f1319bd55026b7205225df0ed01f79feea36ca0da6d32dd09b6c5701a8";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-rtti/default.nix b/distros/rolling/mrpt-rtti/default.nix
index 02d6f602394..fa7d62de839 100644
--- a/distros/rolling/mrpt-rtti/default.nix
+++ b/distros/rolling/mrpt-rtti/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-core, mrpt-typemeta, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-rtti";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_rtti/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "57371ba476e6a793507825f4e0ec2c6590ca39b2defa475ea6d4224adbf841d7";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_rtti/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "216837cc1f9b7f9557f226c3ad5c90311597136c56d76395ee8753040f6a3323";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-serialization/default.nix b/distros/rolling/mrpt-serialization/default.nix
index f8c0449925a..b6e3ad29664 100644
--- a/distros/rolling/mrpt-serialization/default.nix
+++ b/distros/rolling/mrpt-serialization/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-rtti, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-serialization";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_serialization/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "40f4e1cdb3eaae559476c6d2f58847fdb82d231491f125ab58bbdf1ea1e92c07";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_serialization/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "39b62475704a96cb264bacc7ca61a6322ab6d894bb2e578a1b2419cfeb925dbe";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-slam/default.nix b/distros/rolling/mrpt-slam/default.nix
index d8f86193bab..1dc83c2de9c 100644
--- a/distros/rolling/mrpt-slam/default.nix
+++ b/distros/rolling/mrpt-slam/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-maps, mrpt-topography, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-slam";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_slam/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "ea5c163a260108f72e681b9c3033ced4b31c2bcac0434e2e438eab62dc42d67b";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_slam/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "e72ce44b12e9b58bcd27981d62f7635b0c8897c71096897c941896fb06f105ec";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-system/default.nix b/distros/rolling/mrpt-system/default.nix
index 7a386b184ed..dfd6e39c0c2 100644
--- a/distros/rolling/mrpt-system/default.nix
+++ b/distros/rolling/mrpt-system/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-containers, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-system";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_system/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "946fd9679b791707f8f9a20bdee9efc8a4fa07c8d8426cd9c0a32d839c315454";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_system/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "cd8a27bfb11ff0ec6de3453f06e80f8316bffbc5e7f276d548fd35697afa361e";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-tfest/default.nix b/distros/rolling/mrpt-tfest/default.nix
index 6a93dde9136..bb4673cee78 100644
--- a/distros/rolling/mrpt-tfest/default.nix
+++ b/distros/rolling/mrpt-tfest/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, eigen, mrpt-common, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-tfest";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_tfest/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "dbda11db5eb5bc8e4e1fa75bb2ba40bda21b7f28ac3a956f9a27a7b628e5727d";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_tfest/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "f16d24940df25074311ec694a1e2395de612280c2a0ae2c28d0389f52a6a3e45";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-topography/default.nix b/distros/rolling/mrpt-topography/default.nix
index 73de4f0f6d3..f965bf22a9d 100644
--- a/distros/rolling/mrpt-topography/default.nix
+++ b/distros/rolling/mrpt-topography/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common, mrpt-math, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-topography";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_topography/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "fb49c27fd20c46c3f33cd3a6f2a7e8af7fd384d2e7daae5b34227504b145886c";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_topography/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "3c16b06ff487e10e943412a1179671a49b51974afdc7e294bbcd58e89fd86a1d";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-typemeta/default.nix b/distros/rolling/mrpt-typemeta/default.nix
index c5de225122c..de4413ab58e 100644
--- a/distros/rolling/mrpt-typemeta/default.nix
+++ b/distros/rolling/mrpt-typemeta/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, cmake, mrpt-common }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-typemeta";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_typemeta/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "07febd15a3244b7dba1ea464098441a75de5e1bb24d8cc6fccd300383fbbaf52";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_typemeta/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "2e8d41004430c38bbb7ce5fe915711f82931f329525f94bda60fffdd6df06b75";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/mrpt-viz/default.nix b/distros/rolling/mrpt-viz/default.nix
index 838347ab167..c7721545808 100644
--- a/distros/rolling/mrpt-viz/default.nix
+++ b/distros/rolling/mrpt-viz/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, assimp, cmake, eigen, mrpt-common, mrpt-img, mrpt-poses, python3, python3Packages }:
 buildRosPackage {
   pname = "ros-rolling-mrpt-viz";
-  version = "3.0.4-r1";
+  version = "3.1.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_viz/3.0.4-1.tar.gz";
-    name = "3.0.4-1.tar.gz";
-    sha256 = "21e51310a01dd5658c431b044c7cc3e9317f37d993f0bc4d36fdbeb486465422";
+    url = "https://github.com/ros2-gbp/mrpt3-release/archive/release/rolling/mrpt_viz/3.1.0-1.tar.gz";
+    name = "3.1.0-1.tar.gz";
+    sha256 = "2601006682fd54650fad1fd34ddcfb080365f4d9b82aca1b335190aa3ad44b53";
   };
 
   buildType = "cmake";
diff --git a/distros/rolling/omni-wheel-drive-controller/default.nix b/distros/rolling/omni-wheel-drive-controller/default.nix
index d5d5a839bce..d4c7fda159f 100644
--- a/distros/rolling/omni-wheel-drive-controller/default.nix
+++ b/distros/rolling/omni-wheel-drive-controller/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, control-msgs, controller-interface, controller-manager, eigen, generate-parameter-library, geometry-msgs, hardware-interface, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-omni-wheel-drive-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/omni_wheel_drive_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "f3c57890841d088c29d3d830e2e190fb7aacb63751b4ece8b27ce62b91bba882";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/omni_wheel_drive_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "cf6a042eb6b9362b78c3e4094802a97a8111abe3ee37dbd340b753894630cd80";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/parallel-gripper-controller/default.nix b/distros/rolling/parallel-gripper-controller/default.nix
index bc707dbbfdc..a86405c9c90 100644
--- a/distros/rolling/parallel-gripper-controller/default.nix
+++ b/distros/rolling/parallel-gripper-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, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-action, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-parallel-gripper-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/parallel_gripper_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "c114b7a0518afffe0dc64ed333e2231665a9a12714242edb727ed0874ab72575";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/parallel_gripper_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "76645f033753280fcdee36c91856c5f7e934cb1093dd94cbf336f32d2e7ed459";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/pid-controller/default.nix b/distros/rolling/pid-controller/default.nix
index 395a11f209a..71012323da9 100644
--- a/distros/rolling/pid-controller/default.nix
+++ b/distros/rolling/pid-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, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs }:
 buildRosPackage {
   pname = "ros-rolling-pid-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/pid_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "bf7988f43318c8cdff40a4a65cf3cfb076db37a3f7b15b8bd0ffa8508adfc457";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/pid_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "c42db65df51a93bc5f397dae541485889f749b3c9ec58bb27ac80a079925e8bb";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/point-cloud-transport-py/default.nix b/distros/rolling/point-cloud-transport-py/default.nix
index 6e3ad417c5a..deebfbb411a 100644
--- a/distros/rolling/point-cloud-transport-py/default.nix
+++ b/distros/rolling/point-cloud-transport-py/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, python3, python3Packages, rclcpp, rpyutils, sensor-msgs }:
+{ lib, buildRosPackage, fetchurl, ament-cmake-python, ament-cmake-ros, pluginlib, point-cloud-transport, python3, python3Packages, rclcpp, rclpy, rpyutils, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-point-cloud-transport-py";
-  version = "6.0.1-r1";
+  version = "6.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/rolling/point_cloud_transport_py/6.0.1-1.tar.gz";
-    name = "6.0.1-1.tar.gz";
-    sha256 = "e626c4dbcc80648c71878547a3a0593e68e495c9e27b42a01eb5af7d0c80cfde";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/rolling/point_cloud_transport_py/6.0.2-1.tar.gz";
+    name = "6.0.2-1.tar.gz";
+    sha256 = "a9e1d59cca6f3bc96aa4e5622dface71fe09bb5dcfd07a451e6b825d4250ec48";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake-python ament-cmake-ros python3 ];
-  propagatedBuildInputs = [ pluginlib point-cloud-transport python3Packages.pybind11 rclcpp rpyutils sensor-msgs ];
+  propagatedBuildInputs = [ pluginlib point-cloud-transport python3Packages.pybind11 rclcpp rclpy rpyutils sensor-msgs ];
   nativeBuildInputs = [ ament-cmake-python ament-cmake-ros ];
 
   meta = {
diff --git a/distros/rolling/point-cloud-transport/default.nix b/distros/rolling/point-cloud-transport/default.nix
index a6857be83f0..2f649857508 100644
--- a/distros/rolling/point-cloud-transport/default.nix
+++ b/distros/rolling/point-cloud-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake-gen-version-h, ament-cmake-ros, ament-lint-auto, ament-lint-common, message-filters, pluginlib, rclcpp, rclcpp-components, rcpputils, rmw, sensor-msgs, tinyxml-2 }:
 buildRosPackage {
   pname = "ros-rolling-point-cloud-transport";
-  version = "6.0.1-r1";
+  version = "6.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/rolling/point_cloud_transport/6.0.1-1.tar.gz";
-    name = "6.0.1-1.tar.gz";
-    sha256 = "567cc8f715f79aba1728228dd94f6cf81a52a4ba165725c35fac88dc84d6f9c7";
+    url = "https://github.com/ros2-gbp/point_cloud_transport-release/archive/release/rolling/point_cloud_transport/6.0.2-1.tar.gz";
+    name = "6.0.2-1.tar.gz";
+    sha256 = "950d4b443466e94d66a9ba5440bb7f456f2d01a52f6d4bd6611123b79158c82b";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/pose-broadcaster/default.nix b/distros/rolling/pose-broadcaster/default.nix
index af64cd6db9d..71d2b42828c 100644
--- a/distros/rolling/pose-broadcaster/default.nix
+++ b/distros/rolling/pose-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-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-pose-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/pose_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "d6a1cdb395b08deaca69ac4fd6b3e7bfe52ff309717b41162845a582439a4c0f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/pose_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "196c0572ab41bab6d403c0de04885e01237fb0c2c91b4ee0a8d22e0948bd2585";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/range-sensor-broadcaster/default.nix b/distros/rolling/range-sensor-broadcaster/default.nix
index 9ba0ae32a1b..7200849ea10 100644
--- a/distros/rolling/range-sensor-broadcaster/default.nix
+++ b/distros/rolling/range-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, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets, sensor-msgs }:
 buildRosPackage {
   pname = "ros-rolling-range-sensor-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/range_sensor_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "6d37d66e5c849f4a0dc8f612718b5ccce0a51c629eb6c7e823da9d3832902582";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/range_sensor_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "7a64d9cc3adc8912b0a1164c659ab6cf3e017fd9ac55eea1a0b538e52cb0529d";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp-action/default.nix b/distros/rolling/rclcpp-action/default.nix
index 2766f595101..9e7d85cb167 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-gtest, ament-cmake-ros, ament-lint-auto, ament-lint-common, mimick-vendor, performance-test-fixture, rcl, rcl-action, rclcpp, rcpputils, rosidl-runtime-c, test-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp-action";
-  version = "33.0.1-r1";
+  version = "33.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_action/33.0.1-1.tar.gz";
-    name = "33.0.1-1.tar.gz";
-    sha256 = "5b3774de4cc9ce333c55b5c1b4b6430267c8d5f82d38cba9d656e9e082bbdf40";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_action/33.0.2-1.tar.gz";
+    name = "33.0.2-1.tar.gz";
+    sha256 = "e802615b6bd817a27407412819d0c87c806b221940ed02f7e3b3ae1637642417";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp-components/default.nix b/distros/rolling/rclcpp-components/default.nix
index 4bff794a338..97ad3550f29 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, rcl-interfaces, rclcpp, rcpputils, rmw }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp-components";
-  version = "33.0.1-r1";
+  version = "33.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_components/33.0.1-1.tar.gz";
-    name = "33.0.1-1.tar.gz";
-    sha256 = "0b9db3fc252bd0ff455f57e31377cceda6446446a15bb88e95e9a34554945476";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_components/33.0.2-1.tar.gz";
+    name = "33.0.2-1.tar.gz";
+    sha256 = "9ee7c66383443545746dd7f9e8862d78713e8aaffe9aacda2ec62f74e7fdfe87";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp-lifecycle/default.nix b/distros/rolling/rclcpp-lifecycle/default.nix
index 64468ff3174..d4a02854e60 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 = "33.0.1-r1";
+  version = "33.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_lifecycle/33.0.1-1.tar.gz";
-    name = "33.0.1-1.tar.gz";
-    sha256 = "a934039a739f7a37cfdd7cd173a8ffd07b7743dd5b822f482812ac4803794e1b";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp_lifecycle/33.0.2-1.tar.gz";
+    name = "33.0.2-1.tar.gz";
+    sha256 = "4e14083d61ca4da141b4c6db53d9aa2b82f2ee4cf1be2fdc2f64889ff8d8ac10";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclcpp/default.nix b/distros/rolling/rclcpp/default.nix
index d1eb9944341..64bd3752d60 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-google-benchmark, ament-cmake-gtest, ament-cmake-ros, ament-cmake-ros-core, ament-index-cpp, ament-lint-auto, ament-lint-common, builtin-interfaces, libstatistics-collector, mimick-vendor, performance-test-fixture, python3, python3Packages, 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-c, rosidl-runtime-cpp, rosidl-typesupport-c, rosidl-typesupport-cpp, statistics-msgs, test-msgs, tracetools }:
 buildRosPackage {
   pname = "ros-rolling-rclcpp";
-  version = "33.0.1-r1";
+  version = "33.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp/33.0.1-1.tar.gz";
-    name = "33.0.1-1.tar.gz";
-    sha256 = "065256706181774f6db46755349ed3759a858d903bc0374979f612c5bd1d591f";
+    url = "https://github.com/ros2-gbp/rclcpp-release/archive/release/rolling/rclcpp/33.0.2-1.tar.gz";
+    name = "33.0.2-1.tar.gz";
+    sha256 = "6c7381dcf3d268a4c342dbe1f8942093fba568f441a69b595065d4020ea42f08";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rclpy/default.nix b/distros/rolling/rclpy/default.nix
index aca3ed38c88..599bc8c8941 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, python3, python3Packages, 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-pycommon, rosidl-runtime-c, rpyutils, service-msgs, test-msgs, type-description-interfaces, unique-identifier-msgs }:
 buildRosPackage {
   pname = "ros-rolling-rclpy";
-  version = "11.0.1-r1";
+  version = "11.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/rolling/rclpy/11.0.1-1.tar.gz";
-    name = "11.0.1-1.tar.gz";
-    sha256 = "e78300c2839642d8472d39245d93fa3942b9871a7e744b38365905885958e212";
+    url = "https://github.com/ros2-gbp/rclpy-release/archive/release/rolling/rclpy/11.0.2-1.tar.gz";
+    name = "11.0.2-1.tar.gz";
+    sha256 = "77a53c555a3779d890d441c82de93b9a6bad555c39b213d0037262320403fbd9";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rcpputils/default.nix b/distros/rolling/rcpputils/default.nix
index a060c260a27..184aae46ba7 100644
--- a/distros/rolling/rcpputils/default.nix
+++ b/distros/rolling/rcpputils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-gen-version-h, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros-core, ament-cmake-uncrustify, ament-cmake-xmllint, rcutils }:
 buildRosPackage {
   pname = "ros-rolling-rcpputils";
-  version = "2.15.0-r1";
+  version = "2.15.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/rolling/rcpputils/2.15.0-1.tar.gz";
-    name = "2.15.0-1.tar.gz";
-    sha256 = "bc2c3f4bdb0a4cecb7c15837d75fd1503f44e86dac97d8682f53aa3b631f8908";
+    url = "https://github.com/ros2-gbp/rcpputils-release/archive/release/rolling/rcpputils/2.15.1-1.tar.gz";
+    name = "2.15.1-1.tar.gz";
+    sha256 = "3623821938b870e1a5cf54355d10e557d3f3c3ec6249ff72d96f4d76a87d531e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rcutils/default.nix b/distros/rolling/rcutils/default.nix
index cbdb9598a68..509284f9c06 100644
--- a/distros/rolling/rcutils/default.nix
+++ b/distros/rolling/rcutils/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, ament-cmake-gtest, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, launch, launch-testing, launch-testing-ament-cmake, mimick-vendor, osrf-testing-tools-cpp, performance-test-fixture }:
 buildRosPackage {
   pname = "ros-rolling-rcutils";
-  version = "7.2.0-r1";
+  version = "7.2.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/rolling/rcutils/7.2.0-1.tar.gz";
-    name = "7.2.0-1.tar.gz";
-    sha256 = "5267d9a9cde6e6b3515476db10662dd9363a2ab88a1578269a70b46cc75956d7";
+    url = "https://github.com/ros2-gbp/rcutils-release/archive/release/rolling/rcutils/7.2.1-1.tar.gz";
+    name = "7.2.1-1.tar.gz";
+    sha256 = "6d7c12fc7c235f2d50abcf40c811100c8eded01b1cf11aa719a48a490f62c137";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/robot-state-publisher/default.nix b/distros/rolling/robot-state-publisher/default.nix
index 77ad4031f16..7022031c452 100644
--- a/distros/rolling/robot-state-publisher/default.nix
+++ b/distros/rolling/robot-state-publisher/default.nix
@@ -2,22 +2,22 @@
 # Copyright 2026 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, builtin-interfaces, geometry-msgs, kdl-parser, launch-ros, launch-testing-ament-cmake, orocos-kdl, rcl-interfaces, rclcpp, rclcpp-components, sensor-msgs, std-msgs, tf2-ros, tf2-ros-py, urdf }:
+{ lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-ros-core, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, kdl-parser, launch-ros, launch-testing-ament-cmake, orocos-kdl, rcl-interfaces, rclcpp, rclcpp-components, sensor-msgs, std-msgs, tf2-ros, tf2-ros-py, urdf }:
 buildRosPackage {
   pname = "ros-rolling-robot-state-publisher";
-  version = "3.6.0-r1";
+  version = "3.6.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/robot_state_publisher-release/archive/release/rolling/robot_state_publisher/3.6.0-1.tar.gz";
-    name = "3.6.0-1.tar.gz";
-    sha256 = "e0051263e301e5d1b24dea03a32ade3ecffec6c93b3baa6daa7d8d5058a739bd";
+    url = "https://github.com/ros2-gbp/robot_state_publisher-release/archive/release/rolling/robot_state_publisher/3.6.1-1.tar.gz";
+    name = "3.6.1-1.tar.gz";
+    sha256 = "780e74f9c5c09637ce48d9cd02f9a5ecd45fc5934697a3bbf758cabd190ffcfb";
   };
 
   buildType = "ament_cmake";
-  buildInputs = [ ament-cmake ];
+  buildInputs = [ ament-cmake ament-cmake-ros-core ];
   checkInputs = [ ament-cmake-gtest ament-lint-auto ament-lint-common launch-ros launch-testing-ament-cmake tf2-ros-py ];
   propagatedBuildInputs = [ builtin-interfaces geometry-msgs kdl-parser orocos-kdl rcl-interfaces rclcpp rclcpp-components sensor-msgs std-msgs tf2-ros urdf ];
-  nativeBuildInputs = [ ament-cmake ];
+  nativeBuildInputs = [ ament-cmake ament-cmake-ros-core ];
 
   meta = {
     description = "This package take the joint angles of a robot as input, and publishes the 3D poses of the robot links to tf2, using a kinematic tree model of the robot.";
diff --git a/distros/rolling/ros2-control-test-assets/default.nix b/distros/rolling/ros2-control-test-assets/default.nix
index 4fd42c1942e..03a5d8b431b 100644
--- a/distros/rolling/ros2-control-test-assets/default.nix
+++ b/distros/rolling/ros2-control-test-assets/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ros2-control-cmake }:
 buildRosPackage {
   pname = "ros-rolling-ros2-control-test-assets";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2_control_test_assets/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "8baf5771cf0545d52a4d7b15ab4581688106ea7961551fb8ef7584df6dbf1270";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2_control_test_assets/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8fab84448874bac6c6308ef412724146aea5b7d23e4498b55c482936796c4f69";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ros2-control/default.nix b/distros/rolling/ros2-control/default.nix
index d8324c28ed5..d7918f1c512 100644
--- a/distros/rolling/ros2-control/default.nix
+++ b/distros/rolling/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-rolling-ros2-control";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2_control/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "b3bc68b5865d5c798b7a75bdd48e2b2932cac04f5abedb27bb51b2946e44ce3e";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2_control/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "30550d99cce80db8c91047c5a9fb8c73b5631a4826e0a25a8cf8a7697dbb0ec3";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/ros2-controllers-test-nodes/default.nix b/distros/rolling/ros2-controllers-test-nodes/default.nix
index 93fbe670916..6b3339a0bea 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, launch-ros, launch-testing-ros, python3Packages, rclpy, sensor-msgs, std-msgs, trajectory-msgs }:
 buildRosPackage {
   pname = "ros-rolling-ros2-controllers-test-nodes";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers_test_nodes/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "1ee97169e1e73f7a76938992691d3417d87eb8e39f4d4057b8bf38857d303c9f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers_test_nodes/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "91d3226c5765c26de796008e97f6c3e393b50d562b4b4a3da7d81fa34070cc31";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/ros2-controllers/default.nix b/distros/rolling/ros2-controllers/default.nix
index 74dbccbcecb..e3f9f1fa23a 100644
--- a/distros/rolling/ros2-controllers/default.nix
+++ b/distros/rolling/ros2-controllers/default.nix
@@ -2,20 +2,20 @@
 # Copyright 2026 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, chained-filter-controller, diff-drive-controller, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller }:
+{ lib, buildRosPackage, fetchurl, ackermann-steering-controller, admittance-controller, ament-cmake, bicycle-steering-controller, chained-filter-controller, diff-drive-controller, force-torque-sensor-broadcaster, forward-command-controller, gpio-controllers, gps-sensor-broadcaster, imu-sensor-broadcaster, joint-state-broadcaster, joint-trajectory-controller, magnetometer-broadcaster, mecanum-drive-controller, motion-primitives-controllers, omni-wheel-drive-controller, parallel-gripper-controller, pid-controller, pose-broadcaster, range-sensor-broadcaster, state-interfaces-broadcaster, steering-controllers-library, tricycle-controller, tricycle-steering-controller }:
 buildRosPackage {
   pname = "ros-rolling-ros2-controllers";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "b542011d0d67c1c6e10ef2f59f4ba5e847611631ae5ae820fc4be6089da68bde";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/ros2_controllers/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "4430d2238078fa237a38c4204feed4c062eaab4fe0cf7eb6034354d9dc704fd2";
   };
 
   buildType = "ament_cmake";
   buildInputs = [ ament-cmake ];
-  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller ];
+  propagatedBuildInputs = [ ackermann-steering-controller admittance-controller bicycle-steering-controller chained-filter-controller diff-drive-controller force-torque-sensor-broadcaster forward-command-controller gpio-controllers gps-sensor-broadcaster imu-sensor-broadcaster joint-state-broadcaster joint-trajectory-controller magnetometer-broadcaster mecanum-drive-controller motion-primitives-controllers omni-wheel-drive-controller parallel-gripper-controller pid-controller pose-broadcaster range-sensor-broadcaster state-interfaces-broadcaster steering-controllers-library tricycle-controller tricycle-steering-controller ];
   nativeBuildInputs = [ ament-cmake ];
 
   meta = {
diff --git a/distros/rolling/ros2controlcli/default.nix b/distros/rolling/ros2controlcli/default.nix
index f12bf449430..f806ed0384c 100644
--- a/distros/rolling/ros2controlcli/default.nix
+++ b/distros/rolling/ros2controlcli/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, control-msgs, controller-manager, controller-manager-msgs, python3Packages, rcl-interfaces, rclpy, ros2cli, ros2node, ros2param, rosidl-runtime-py }:
 buildRosPackage {
   pname = "ros-rolling-ros2controlcli";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2controlcli/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "110b66ab654c87b47efc5e74a11f5bbf5b35468aa54990e1c3608dc43babfdae";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/ros2controlcli/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "13cdde872443bdcf03d6e7ee59c46e825ffa70dfee6a60c8a9d1ccf107f937bf";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/ros2launch/default.nix b/distros/rolling/ros2launch/default.nix
index 8b12082ea7e..1edbe696a8c 100644
--- a/distros/rolling/ros2launch/default.nix
+++ b/distros/rolling/ros2launch/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-index-python, ament-pep257, ament-xmllint, launch, launch-ros, launch-xml, launch-yaml, python3Packages, ros2cli, ros2pkg }:
 buildRosPackage {
   pname = "ros-rolling-ros2launch";
-  version = "0.30.0-r1";
+  version = "0.30.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/ros2launch/0.30.0-1.tar.gz";
-    name = "0.30.0-1.tar.gz";
-    sha256 = "3fbc82b22528b2dc430ac4581d2225272d42d44520aa92264fabd00bbcecd507";
+    url = "https://github.com/ros2-gbp/launch_ros-release/archive/release/rolling/ros2launch/0.30.1-1.tar.gz";
+    name = "0.30.1-1.tar.gz";
+    sha256 = "51734e0af462ad3d16be2e49604aa193e5f82d60ce166c7966de8b46ee1c8f46";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/rosbag2rawlog/default.nix b/distros/rolling/rosbag2rawlog/default.nix
index 5701a414472..8631cf7a7e6 100644
--- a/distros/rolling/rosbag2rawlog/default.nix
+++ b/distros/rolling/rosbag2rawlog/default.nix
@@ -10,7 +10,7 @@ buildRosPackage {
   src = fetchurl {
     url = "https://github.com/ros2-gbp/mrpt_ros_bridge-release/archive/release/rolling/rosbag2rawlog/3.5.3-1.tar.gz";
     name = "3.5.3-1.tar.gz";
-    sha256 = "d89382e75c73265d73a465eedebc554a471ca773bace278faf24cc03a0edbbf6";
+    sha256 = "85d676a81466eed905ca21dd58cdef69abdeb2f0b48d3b4aa2a1c5eb369320cd";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/rqt-controller-manager/default.nix b/distros/rolling/rqt-controller-manager/default.nix
index 7c78cead169..d0383d56ee6 100644
--- a/distros/rolling/rqt-controller-manager/default.nix
+++ b/distros/rolling/rqt-controller-manager/default.nix
@@ -2,18 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, rclpy, rqt-gui, rqt-gui-py }:
+{ lib, buildRosPackage, fetchurl, controller-manager, controller-manager-msgs, launch-testing, launch-testing-ros, rclpy, rqt-gui, rqt-gui-py }:
 buildRosPackage {
   pname = "ros-rolling-rqt-controller-manager";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/rqt_controller_manager/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "98d7431beeff7ddb6a86dc7224b258c52d28c701159ed792bcfc7cea01b4348c";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/rqt_controller_manager/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "8a18030e70ef4b916883722538df24a12613c3c5b4e0ceff9259f6c5099788c7";
   };
 
   buildType = "ament_python";
+  checkInputs = [ launch-testing launch-testing-ros ];
   propagatedBuildInputs = [ controller-manager controller-manager-msgs rclpy rqt-gui rqt-gui-py ];
 
   meta = {
diff --git a/distros/rolling/rqt-joint-trajectory-controller/default.nix b/distros/rolling/rqt-joint-trajectory-controller/default.nix
index fd1a25babcc..8927718b98a 100644
--- a/distros/rolling/rqt-joint-trajectory-controller/default.nix
+++ b/distros/rolling/rqt-joint-trajectory-controller/default.nix
@@ -2,19 +2,19 @@
 # Copyright 2026 Open Source Robotics Foundation
 # Distributed under the terms of the BSD license
 
-{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs, urdfdom-py }:
+{ lib, buildRosPackage, fetchurl, control-msgs, controller-manager-msgs, launch-testing, launch-testing-ros, python-qt-binding, python3Packages, qt-gui, rclpy, rqt-gui, rqt-gui-py, trajectory-msgs, urdfdom-py }:
 buildRosPackage {
   pname = "ros-rolling-rqt-joint-trajectory-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/rqt_joint_trajectory_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "e2616af4cd0179c09e63e1a2fdfb8b8bd26914d65d19b82f3b8406bac89eda03";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/rqt_joint_trajectory_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "32d61abadb776eb33a13096308369278c09108eb9ea905c4caf67c415b524f00";
   };
 
   buildType = "ament_python";
-  checkInputs = [ python3Packages.pytest ];
+  checkInputs = [ launch-testing launch-testing-ros python3Packages.pytest ];
   propagatedBuildInputs = [ control-msgs controller-manager-msgs python-qt-binding python3Packages.rospkg qt-gui rclpy rqt-gui rqt-gui-py trajectory-msgs urdfdom-py ];
 
   meta = {
diff --git a/distros/rolling/rqt-topic/default.nix b/distros/rolling/rqt-topic/default.nix
index f214ba44639..4692583ef58 100644
--- a/distros/rolling/rqt-topic/default.nix
+++ b/distros/rolling/rqt-topic/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-xmllint, python-qt-binding, python3Packages, rclpy, ros2topic, rqt-gui, rqt-gui-py, rqt-py-common }:
 buildRosPackage {
   pname = "ros-rolling-rqt-topic";
-  version = "3.0.1-r1";
+  version = "3.0.2-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/rqt_topic-release/archive/release/rolling/rqt_topic/3.0.1-1.tar.gz";
-    name = "3.0.1-1.tar.gz";
-    sha256 = "a42043c2dbe8618d29940594c3f62d9165a4f97198b64b9b0348b78b67a933f6";
+    url = "https://github.com/ros2-gbp/rqt_topic-release/archive/release/rolling/rqt_topic/3.0.2-1.tar.gz";
+    name = "3.0.2-1.tar.gz";
+    sha256 = "94588c19af1575ed5a601cc27683ea474fa827e91d5e6399c31fec4e46720bad";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/state-interfaces-broadcaster/default.nix b/distros/rolling/state-interfaces-broadcaster/default.nix
index 57e9eba6f65..d38ac3bed35 100644
--- a/distros/rolling/state-interfaces-broadcaster/default.nix
+++ b/distros/rolling/state-interfaces-broadcaster/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gmock, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, pluginlib, rclcpp, rclcpp-lifecycle, realtime-tools, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-state-interfaces-broadcaster";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/state_interfaces_broadcaster/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "1e22f4169e4c6476f3d76b70188c3a646a3a9b999e2d6cc607bb26972368c375";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/state_interfaces_broadcaster/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "2fdef080a53ff09b93d7b0540c79a9f7ad7f59d9db8a880310b5eecaf3ed9c06";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/steering-controllers-library/default.nix b/distros/rolling/steering-controllers-library/default.nix
index 8056ace41fb..2cbd11ca479 100644
--- a/distros/rolling/steering-controllers-library/default.nix
+++ b/distros/rolling/steering-controllers-library/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, 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-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-geometry-msgs, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-steering-controllers-library";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/steering_controllers_library/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "0ec4e1d9ae0fb7c3bebfa0f166952c2a1138c8c48691b090a8c9fae00b71906f";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/steering_controllers_library/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "0d0e7faa543a87d6374e94a597fa079a5207bee03f40e985f3b1b6bf2557228a";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-bullet/default.nix b/distros/rolling/tf2-bullet/default.nix
index cb4340834ae..0d1fffb8c3c 100644
--- a/distros/rolling/tf2-bullet/default.nix
+++ b/distros/rolling/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-rolling-tf2-bullet";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_bullet/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "c423369b109aca03e57bc8366983059559ce951e597ec7036610f1a65a44ce81";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_bullet/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "424c9fd149ec48cc1b52db944a31ecd8ab4026b441610a1dab9e8894834ba684";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-eigen-kdl/default.nix b/distros/rolling/tf2-eigen-kdl/default.nix
index 4c2f0f74d5c..82d3d9e81d9 100644
--- a/distros/rolling/tf2-eigen-kdl/default.nix
+++ b/distros/rolling/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, tf2 }:
 buildRosPackage {
   pname = "ros-rolling-tf2-eigen-kdl";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_eigen_kdl/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "d1ec1c5f0057f4b1f3d4b0c7ac9fd00a5b3007e02e2379c67d75bc2d73ef0143";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_eigen_kdl/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "0ff02ae6c3c915f7e4a12a8cefe027a521124876eec3eb0efa7187bf76d9bc38";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-eigen/default.nix b/distros/rolling/tf2-eigen/default.nix
index 53c5666ff6a..980a0e13a79 100644
--- a/distros/rolling/tf2-eigen/default.nix
+++ b/distros/rolling/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-rolling-tf2-eigen";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_eigen/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "fb4ab911deef52c706fe69da6511132bf017233105e415fb6b867ad47c49e9b6";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_eigen/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "1a6612d95805132f06168c071d3e6d8021bf57e9b6c4d9fbb3a8b01213ed40fe";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-geometry-msgs/default.nix b/distros/rolling/tf2-geometry-msgs/default.nix
index 7f226096dbe..f57f88e4583 100644
--- a/distros/rolling/tf2-geometry-msgs/default.nix
+++ b/distros/rolling/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, python3Packages, rclcpp, tf2, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-rolling-tf2-geometry-msgs";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_geometry_msgs/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "36f6d7faa96bc4caef4f091de96a85f61b3a032635baee7a348869e29c2f2f68";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_geometry_msgs/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "be9a76e64af09fa50fee479bf6d21c193028f5e30169082a50037452b0477448";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-kdl/default.nix b/distros/rolling/tf2-kdl/default.nix
index 1d32073bb4f..549a7cde654 100644
--- a/distros/rolling/tf2-kdl/default.nix
+++ b/distros/rolling/tf2-kdl/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gtest, ament-cmake-python, builtin-interfaces, eigen, eigen3-cmake-module, geometry-msgs, orocos-kdl, python3Packages, rclcpp, tf2, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-rolling-tf2-kdl";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_kdl/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "b75da8eea8b8b1ee7e9950f31310770bdc6f19cd1125c8404365c00031c47310";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_kdl/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "4f269da9a145ba9217b768e538301a934634589dc75c4dae11d641646431399e";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-msgs/default.nix b/distros/rolling/tf2-msgs/default.nix
index 69c61196bbf..09605ec5510 100644
--- a/distros/rolling/tf2-msgs/default.nix
+++ b/distros/rolling/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-rolling-tf2-msgs";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_msgs/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "26715dab231b8ec8b0323a7b8718c13d5c7bb463a86db3d8c970ecc7933e8d39";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_msgs/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "b655a287ace8ff7e6bcc40c8db782c0e91fbcbc6ffe280bdc0d491e132ea737c";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-py/default.nix b/distros/rolling/tf2-py/default.nix
index 137ab6c5f94..1d1147669bd 100644
--- a/distros/rolling/tf2-py/default.nix
+++ b/distros/rolling/tf2-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-pytest, ament-cmake-python, ament-lint-auto, ament-lint-common, builtin-interfaces, geometry-msgs, python3, rclpy, rpyutils, tf2 }:
 buildRosPackage {
   pname = "ros-rolling-tf2-py";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_py/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "fa7f7a33f54047f58a2c014c130f6f28f760232dc5a54f90004bae1480a09e5a";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_py/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "69ccbd09d77a90b91fb23d24aba8533e3f8caf0c044c4d8a57a4a06178cb4e3f";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-ros-py/default.nix b/distros/rolling/tf2-ros-py/default.nix
index ca55d7e0c56..51906824612 100644
--- a/distros/rolling/tf2-ros-py/default.nix
+++ b/distros/rolling/tf2-ros-py/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, geometry-msgs, python3Packages, rclpy, sensor-msgs, std-msgs, tf2-msgs, tf2-py }:
 buildRosPackage {
   pname = "ros-rolling-tf2-ros-py";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_ros_py/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "fe9cf39b6887d088d87b82bf7ef0e8b8851ce76abaf1b1c76b5a1fbad35ed1b5";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_ros_py/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "827e7211c9a33ab3ca526407fed02db430189632d5d6c7a51aacf4965ee4ece1";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/tf2-ros/default.nix b/distros/rolling/tf2-ros/default.nix
index c26b3de7136..6baa9bdd9a8 100644
--- a/distros/rolling/tf2-ros/default.nix
+++ b/distros/rolling/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, rcpputils, rosgraph-msgs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-tf2-ros";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_ros/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "de5b110cbf74b7ae9ad9cdf43b1b2f6d94e00587ceafbf1a042ceb6356c01355";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_ros/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "55e903654cd5c099203e1aab8b440c080f7b3ccb5ee93bc576a3fa5cc319bb37";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-sensor-msgs/default.nix b/distros/rolling/tf2-sensor-msgs/default.nix
index 8cd165e9cfb..208e867ca65 100644
--- a/distros/rolling/tf2-sensor-msgs/default.nix
+++ b/distros/rolling/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, python3Packages, rclcpp, sensor-msgs, sensor-msgs-py, std-msgs, tf2, tf2-geometry-msgs, tf2-ros, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-rolling-tf2-sensor-msgs";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_sensor_msgs/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "4dd2d1b359a1b80147ff7c6b1c3ca060f84bd07defa2ddceb364a82257d7fed8";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_sensor_msgs/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "5b0bacec6d63822f194c9911e84738eefd8221e26beebd1699557a51573c2973";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tf2-tools/default.nix b/distros/rolling/tf2-tools/default.nix
index 3935503bf4f..8bef665d36a 100644
--- a/distros/rolling/tf2-tools/default.nix
+++ b/distros/rolling/tf2-tools/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-copyright, ament-flake8, ament-pep257, ament-xmllint, graphviz, python3Packages, rclpy, tf2-msgs, tf2-py, tf2-ros-py }:
 buildRosPackage {
   pname = "ros-rolling-tf2-tools";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_tools/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "dcdde06c56db1a7b16653273b8256b53bc28bc2744fdea56e937179a45d73393";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2_tools/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "4e6a84266df3f5b6dcdb7950d4477e9897776fee53477147d953e9bbabcd6ac3";
   };
 
   buildType = "ament_python";
diff --git a/distros/rolling/tf2/default.nix b/distros/rolling/tf2/default.nix
index 87834e3fa0c..d0717620124 100644
--- a/distros/rolling/tf2/default.nix
+++ b/distros/rolling/tf2/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-copyright, ament-cmake-cppcheck, ament-cmake-cpplint, ament-cmake-google-benchmark, ament-cmake-gtest, ament-cmake-lint-cmake, ament-cmake-ros, ament-cmake-uncrustify, ament-cmake-xmllint, builtin-interfaces, geometry-msgs, rcutils, rosidl-runtime-cpp }:
 buildRosPackage {
   pname = "ros-rolling-tf2";
-  version = "0.46.0-r1";
+  version = "0.46.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2/0.46.0-1.tar.gz";
-    name = "0.46.0-1.tar.gz";
-    sha256 = "b18ad1e185d0852226d6bcad0e6f93c0be60d81b5ea399fd4e40d5548b3d8ef1";
+    url = "https://github.com/ros2-gbp/geometry2-release/archive/release/rolling/tf2/0.46.1-1.tar.gz";
+    name = "0.46.1-1.tar.gz";
+    sha256 = "fbbcdbdfc30fac11a03ef4d36976614a658c6b78e8bca87dcc3dc7a75a6ed123";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/theora-image-transport/default.nix b/distros/rolling/theora-image-transport/default.nix
index 42d9905768b..d218ed559e3 100644
--- a/distros/rolling/theora-image-transport/default.nix
+++ b/distros/rolling/theora-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, cv-bridge, image-transport, libogg, libtheora, opencv, pkg-config, pluginlib, rclcpp, rcutils, rosidl-default-generators, rosidl-default-runtime, sensor-msgs, std-msgs }:
 buildRosPackage {
   pname = "ros-rolling-theora-image-transport";
-  version = "7.0.0-r1";
+  version = "7.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/theora_image_transport/7.0.0-1.tar.gz";
-    name = "7.0.0-1.tar.gz";
-    sha256 = "dfb1690e3888e15cba14018324e409b5e4b85b0535a4c01becea9989a82913c2";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/theora_image_transport/7.0.1-1.tar.gz";
+    name = "7.0.1-1.tar.gz";
+    sha256 = "034d4f644566c140e90dacf0c11053be1b189905a98675b59013f5a0d36c8804";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/transmission-interface/default.nix b/distros/rolling/transmission-interface/default.nix
index c14607c817c..a1a6d1ebd79 100644
--- a/distros/rolling/transmission-interface/default.nix
+++ b/distros/rolling/transmission-interface/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-cmake-gen-version-h, ament-cmake-gmock, fmt, hardware-interface, pluginlib, ros2-control-cmake, ros2-control-test-assets }:
 buildRosPackage {
   pname = "ros-rolling-transmission-interface";
-  version = "6.7.1-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/transmission_interface/6.7.1-1.tar.gz";
-    name = "6.7.1-1.tar.gz";
-    sha256 = "0a0925f70737b809613e92bcecb888eed3d3539dfe49abad6f11fcdc0983add5";
+    url = "https://github.com/ros2-gbp/ros2_control-release/archive/release/rolling/transmission_interface/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "af375ea71aea49176400bf426e2b465e8d70dda6a379216e088277b04d8333b0";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tricycle-controller/default.nix b/distros/rolling/tricycle-controller/default.nix
index 7940405c53e..c414bf1a480 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, generate-parameter-library, geometry-msgs, hardware-interface, hardware-interface-testing, nav-msgs, pluginlib, rclcpp, rclcpp-lifecycle, rcpputils, realtime-tools, ros2-control-cmake, ros2-control-test-assets, std-srvs, tf2, tf2-msgs }:
 buildRosPackage {
   pname = "ros-rolling-tricycle-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "571ce7fbdbf47045bc363fa9b5332ae0dd53bde17970c8e60d8bf9c95f1f6ce3";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "0bea7c1528342cf3e37a9f6724ddd2421b6df6f76182d2bcc8ea73d8eee43d75";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/tricycle-steering-controller/default.nix b/distros/rolling/tricycle-steering-controller/default.nix
index 015ed753643..83d5d3b51fe 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, backward-ros, control-msgs, controller-interface, controller-manager, generate-parameter-library, hardware-interface, hardware-interface-testing, pluginlib, rclcpp, rclcpp-lifecycle, ros2-control-cmake, ros2-control-test-assets, std-srvs, steering-controllers-library }:
 buildRosPackage {
   pname = "ros-rolling-tricycle-steering-controller";
-  version = "6.7.0-r1";
+  version = "6.8.0-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_steering_controller/6.7.0-1.tar.gz";
-    name = "6.7.0-1.tar.gz";
-    sha256 = "a82d099b2f6b581b65c4ffef3f90c8ae30f4200f7e0e7db1cc97927e26a8f50c";
+    url = "https://github.com/ros2-gbp/ros2_controllers-release/archive/release/rolling/tricycle_steering_controller/6.8.0-1.tar.gz";
+    name = "6.8.0-1.tar.gz";
+    sha256 = "a19bbf9d79e0c2bfe954fb056f930d9f98c350b82932a7cbfb10dac007d73c50";
   };
 
   buildType = "ament_cmake";
diff --git a/distros/rolling/zstd-image-transport/default.nix b/distros/rolling/zstd-image-transport/default.nix
index e45dd75767b..e3a8af8da49 100644
--- a/distros/rolling/zstd-image-transport/default.nix
+++ b/distros/rolling/zstd-image-transport/default.nix
@@ -5,12 +5,12 @@
 { lib, buildRosPackage, fetchurl, ament-cmake, ament-lint-auto, ament-lint-common, image-transport, zlib }:
 buildRosPackage {
   pname = "ros-rolling-zstd-image-transport";
-  version = "7.0.0-r1";
+  version = "7.0.1-r1";
 
   src = fetchurl {
-    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/zstd_image_transport/7.0.0-1.tar.gz";
-    name = "7.0.0-1.tar.gz";
-    sha256 = "743ca211c534caab67e3011a653a3f607870aeffb14a437d8e38764ccfd66eb7";
+    url = "https://github.com/ros2-gbp/image_transport_plugins-release/archive/release/rolling/zstd_image_transport/7.0.1-1.tar.gz";
+    name = "7.0.1-1.tar.gz";
+    sha256 = "418a72d1cd53b6e3c2ab7f1c35412b9a9edc402f12e36baac2b38a74474958f0";
   };
 
   buildType = "ament_cmake";
diff --git a/flake.lock b/flake.lock
index 50f347777d3..44be3c5ddfb 100644
--- a/flake.lock
+++ b/flake.lock
@@ -44,11 +44,11 @@
     "rosdistro": {
       "flake": false,
       "locked": {
-        "lastModified": 1782470688,
-        "narHash": "sha256-9MkdEHS6wGHb1PyHyBuHIHKGA7z//1nBB+zXOq5F3Wc=",
+        "lastModified": 1783076041,
+        "narHash": "sha256-xixdF5Z96DZDl+MO3M9DRHhoBJ7PucmyMZ14lQyTZhQ=",
         "owner": "ros",
         "repo": "rosdistro",
-        "rev": "27f5821b9025f00cecf2936dd6698788fc87cf6a",
+        "rev": "a861e4894596a970c1c1cc60a87639b03bf4b129",
         "type": "github"
       },
       "original": {
diff --git a/pkgs/default.nix b/pkgs/default.nix
index 737ac16058d..78a4a6bd6c4 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -1,6 +1,9 @@
 self: super: with self.lib; {
   inherit (self.python3Packages) bloom;
 
+  # TODO: Remove after merging https://github.com/ros/rosdistro/pull/52452
+  _unresolved_libsimpleini-dev = self.simpleini;
+
   # TODO: Remove after https://github.com/ros/rosdistro/pull/52350 is merged.
   _unresolved_qtbase5-private-dev = self.qt5.qtbase;