diff --git a/.github/labeler-config.yaml b/.github/labeler-config.yaml
index a4f0c8e1f29a0..11166d6437424 100644
--- a/.github/labeler-config.yaml
+++ b/.github/labeler-config.yaml
@@ -7,10 +7,6 @@ noetic:
 humble:
 - humble/*
 
-# Add 'iron' label if any files in iron/ folder are changed by a PR
-iron:
-- iron/*
-
 # Add 'jazzy' label if any files in jazzy/ folder are changed by a PR
 jazzy:
 - jazzy/*
@@ -41,3 +37,4 @@ end-of-life:
 - eloquent/*
 - foxy/*
 - galactic/*
+- iron/*
diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index d2dc895751a5b..d589e68b3779b 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -848,7 +848,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/autoware_msgs-release.git
-      version: 1.2.0-1
+      version: 1.3.0-1
     source:
       type: git
       url: https://github.com/autowarefoundation/autoware_msgs.git
@@ -1551,7 +1551,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/control_toolbox-release.git
-      version: 3.3.0-1
+      version: 3.4.0-1
     source:
       type: git
       url: https://github.com/ros-controls/control_toolbox.git
@@ -2735,7 +2735,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/game_controller_spl-release.git
-      version: 2.1.0-1
+      version: 2.2.0-2
     source:
       type: git
       url: https://github.com/ros-sports/game_controller_spl.git
@@ -2915,7 +2915,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/geometric_shapes-release.git
-      version: 2.1.3-2
+      version: 2.3.1-1
     source:
       type: git
       url: https://github.com/ros-planning/geometric_shapes.git
@@ -3809,6 +3809,16 @@ repositories:
       url: https://github.com/kobuki-base/kobuki_velocity_smoother.git
       version: release/0.15.x
     status: maintained
+  kompass:
+    doc:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    status: developed
   kuka_drivers:
     doc:
       type: git
@@ -4211,7 +4221,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/frankaemika/libfranka-release.git
-      version: 0.14.2-1
+      version: 0.13.6-1
     source:
       type: git
       url: https://github.com/frankaemika/libfranka.git
@@ -4419,7 +4429,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mapviz-release.git
-      version: 2.4.3-1
+      version: 2.4.4-1
     source:
       type: git
       url: https://github.com/swri-robotics/mapviz.git
@@ -4451,8 +4461,8 @@ repositories:
     release:
       tags:
         release: release/humble/{package}/{version}
-      url: https://github.com/tuw-robotics/marker_msgs-release.git
-      version: 0.0.8-3
+      url: https://github.com/ros2-gbp/marker_msgs-release.git
+      version: 0.0.8-1
     source:
       type: git
       url: https://github.com/tuw-robotics/marker_msgs.git
@@ -5022,7 +5032,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_visual_tools-release.git
-      version: 4.1.0-1
+      version: 4.1.1-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_visual_tools.git
@@ -5141,7 +5151,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/mrpt_ros.git
@@ -5209,7 +5219,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.11.1-1
+      version: 0.12.0-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -5808,7 +5818,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/off_highway_sensor_drivers-release.git
-      version: 0.6.3-1
+      version: 0.7.0-1
     source:
       type: git
       url: https://github.com/bosch-engineering/off_highway_sensor_drivers.git
@@ -6147,7 +6157,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/pal_statistics-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/pal-robotics/pal_statistics.git
@@ -6307,7 +6317,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/pick_ik-release.git
-      version: 1.1.0-1
+      version: 1.1.1-1
     source:
       type: git
       url: https://github.com/PickNikRobotics/pick_ik.git
@@ -6346,7 +6356,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/pinocchio-release.git
-      version: 2.6.21-1
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git
@@ -6608,6 +6618,21 @@ repositories:
       url: https://github.com/mrpt-ros-pkg/pose_cov_ops.git
       version: master
     status: maintained
+  proto2ros:
+    doc:
+      type: git
+      url: https://github.com/bdaiinstitute/proto2ros.git
+      version: main
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/bdaiinstitute/proto2ros-release.git
+      version: 1.0.0-3
+    source:
+      type: git
+      url: https://github.com/bdaiinstitute/proto2ros.git
+      version: main
+    status: developed
   proxsuite:
     doc:
       type: git
@@ -6809,7 +6834,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/python_mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/python_mrpt_ros.git
@@ -7408,7 +7433,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/realtime_tools-release.git
-      version: 2.8.1-1
+      version: 2.9.0-1
     source:
       type: git
       url: https://github.com/ros-controls/realtime_tools.git
@@ -7861,7 +7886,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/robot_calibration-release.git
-      version: 0.8.2-1
+      version: 0.8.3-1
     source:
       type: git
       url: https://github.com/mikeferguson/robot_calibration.git
@@ -8021,7 +8046,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_control-release.git
-      version: 2.44.0-1
+      version: 2.45.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_control.git
@@ -8059,7 +8084,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 2.38.0-1
+      version: 2.39.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -8360,7 +8385,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ros_ign-release.git
-      version: 0.244.15-1
+      version: 0.244.16-2
     source:
       type: git
       url: https://github.com/gazebosim/ros_gz.git
@@ -9194,7 +9219,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/rtabmap-release.git
-      version: 0.21.6-1
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap.git
@@ -9223,7 +9248,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/introlab/rtabmap_ros-release.git
-      version: 0.21.5-1
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap_ros.git
@@ -10646,7 +10671,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/tuw_geometry-release.git
-      version: 0.1.1-1
+      version: 0.1.2-1
     source:
       type: git
       url: https://github.com/tuw-robotics/tuw_geometry.git
@@ -10660,15 +10685,19 @@ repositories:
     release:
       packages:
       - tuw_airskin_msgs
+      - tuw_geo_msgs
       - tuw_geometry_msgs
+      - tuw_graph_msgs
       - tuw_msgs
       - tuw_multi_robot_msgs
       - tuw_nav_msgs
+      - tuw_object_map_msgs
       - tuw_object_msgs
+      - tuw_std_msgs
       tags:
         release: release/humble/{package}/{version}
-      url: https://github.com/tuw-robotics/tuw_msgs-release.git
-      version: 0.2.1-1
+      url: https://github.com/ros2-gbp/tuw_msgs-release.git
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/tuw-robotics/tuw_msgs.git
@@ -10873,7 +10902,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ur_msgs-release.git
-      version: 2.0.1-1
+      version: 2.1.0-1
     source:
       type: git
       url: https://github.com/ros-industrial/ur_msgs.git
@@ -11537,6 +11566,16 @@ repositories:
       url: https://github.com/ros2/yaml_cpp_vendor.git
       version: humble
     status: maintained
+  yasmin:
+    doc:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    status: developed
   zbar_ros:
     doc:
       type: git
diff --git a/index-v4.yaml b/index-v4.yaml
index 992c68d519c34..c66c7b9c8d86d 100644
--- a/index-v4.yaml
+++ b/index-v4.yaml
@@ -72,7 +72,7 @@ distributions:
   iron:
     distribution: [iron/distribution.yaml]
     distribution_cache: http://repo.ros2.org/rosdistro_cache/iron-cache.yaml.gz
-    distribution_status: active
+    distribution_status: end-of-life
     distribution_type: ros2
     python_version: 3
   jade:
diff --git a/iron/distribution.yaml b/iron/distribution.yaml
index 6bdfa1757b1e6..6e0026141102c 100644
--- a/iron/distribution.yaml
+++ b/iron/distribution.yaml
@@ -4672,7 +4672,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/pinocchio-release.git
-      version: 2.6.21-1
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git
diff --git a/jazzy/distribution.yaml b/jazzy/distribution.yaml
index 4b98e15b8d6ac..46aa87f244e3a 100644
--- a/jazzy/distribution.yaml
+++ b/jazzy/distribution.yaml
@@ -618,7 +618,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/autoware_msgs-release.git
-      version: 1.2.0-1
+      version: 1.3.0-1
     source:
       type: git
       url: https://github.com/autowarefoundation/autoware_msgs.git
@@ -694,7 +694,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/clearpath-gbp/axis_camera-release.git
-      version: 3.0.0-1
+      version: 3.0.1-1
     source:
       type: git
       url: https://github.com/ros-drivers/axis_camera.git
@@ -1152,7 +1152,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/control_toolbox-release.git
-      version: 3.3.0-1
+      version: 3.4.0-1
     source:
       type: git
       url: https://github.com/ros-controls/control_toolbox.git
@@ -1695,7 +1695,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ess_imu_driver2-release.git
-      version: 2.0.2-1
+      version: 2.0.3-1
     source:
       type: git
       url: https://github.com/cubicleguy/ess_imu_driver2.git
@@ -1876,7 +1876,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/fastrtps-release.git
-      version: 2.14.3-1
+      version: 2.14.4-1
     source:
       test_commits: true
       test_pull_requests: false
@@ -2210,7 +2210,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/game_controller_spl-release.git
-      version: 4.0.1-1
+      version: 4.1.0-1
     source:
       type: git
       url: https://github.com/ros-sports/game_controller_spl.git
@@ -2275,7 +2275,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/geometric_shapes-release.git
-      version: 2.2.1-1
+      version: 2.3.1-1
     source:
       type: git
       url: https://github.com/ros-planning/geometric_shapes.git
@@ -3217,6 +3217,16 @@ repositories:
       url: https://github.com/kobuki-base/kobuki_velocity_smoother.git
       version: release/0.15.x
     status: maintained
+  kompass:
+    doc:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    status: developed
   lanelet2:
     doc:
       type: git
@@ -3666,6 +3676,21 @@ repositories:
       url: https://github.com/apl-ocean-engineering/marine_msgs.git
       version: ros2
     status: developed
+  marker_msgs:
+    doc:
+      type: git
+      url: https://github.com/tuw-robotics/marker_msgs.git
+      version: ros2
+    release:
+      tags:
+        release: release/jazzy/{package}/{version}
+      url: https://github.com/ros2-gbp/marker_msgs-release.git
+      version: 0.0.8-1
+    source:
+      type: git
+      url: https://github.com/tuw-robotics/marker_msgs.git
+      version: ros2
+    status: maintained
   marti_common:
     doc:
       type: git
@@ -4034,6 +4059,7 @@ repositories:
       - moveit_ros_planning_interface
       - moveit_ros_robot_interaction
       - moveit_ros_tests
+      - moveit_ros_trajectory_cache
       - moveit_ros_visualization
       - moveit_ros_warehouse
       - moveit_runtime
@@ -4050,7 +4076,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.10.0-1
+      version: 2.12.0-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -4067,7 +4093,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_msgs-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_msgs.git
@@ -4090,7 +4116,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_resources-release.git
-      version: 3.0.0-3
+      version: 3.1.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_resources.git
@@ -4105,7 +4131,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_visual_tools-release.git
-      version: 4.1.0-4
+      version: 4.1.1-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_visual_tools.git
@@ -4224,7 +4250,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/mrpt_ros.git
@@ -4277,7 +4303,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.11.1-1
+      version: 0.12.0-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -4936,7 +4962,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/pal_statistics-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/pal-robotics/pal_statistics.git
@@ -5067,7 +5093,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/pick_ik-release.git
-      version: 1.1.0-4
+      version: 1.1.1-1
     source:
       type: git
       url: https://github.com/PickNikRobotics/pick_ik.git
@@ -5106,7 +5132,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/pinocchio-release.git
-      version: 2.6.21-3
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git
@@ -5476,7 +5502,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/python_mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/python_mrpt_ros.git
@@ -5667,13 +5693,33 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/raspimouse_sim-release.git
-      version: 3.0.0-1
+      version: 3.0.1-1
     source:
       test_pull_requests: true
       type: git
       url: https://github.com/rt-net/raspimouse_sim.git
       version: jazzy
     status: maintained
+  raspimouse_slam_navigation_ros2:
+    doc:
+      type: git
+      url: https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
+      version: jazzy
+    release:
+      packages:
+      - raspimouse_navigation
+      - raspimouse_slam
+      - raspimouse_slam_navigation
+      tags:
+        release: release/jazzy/{package}/{version}
+      url: https://github.com/ros2-gbp/raspimouse_slam_navigation_ros2-release.git
+      version: 3.0.0-1
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/rt-net/raspimouse_slam_navigation_ros2.git
+      version: jazzy
+    status: maintained
   rc_common_msgs:
     doc:
       type: git
@@ -6035,7 +6081,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/realtime_tools-release.git
-      version: 2.8.1-1
+      version: 3.0.0-1
     source:
       type: git
       url: https://github.com/ros-controls/realtime_tools.git
@@ -6471,7 +6517,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/robot_calibration-release.git
-      version: 0.9.2-1
+      version: 0.9.3-1
     source:
       type: git
       url: https://github.com/mikeferguson/robot_calibration.git
@@ -6589,7 +6635,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_control-release.git
-      version: 4.20.0-1
+      version: 4.21.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_control.git
@@ -6609,10 +6655,12 @@ repositories:
       - 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
       - parallel_gripper_controller
       - pid_controller
       - pose_broadcaster
@@ -6628,7 +6676,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 4.16.0-1
+      version: 4.17.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -6691,7 +6739,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_planning_system-release.git
-      version: 2.0.14-1
+      version: 2.0.15-1
     source:
       type: git
       url: https://github.com/PlanSys2/ros2_planning_system.git
@@ -6851,7 +6899,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ros_babel_fish-release.git
-      version: 0.10.0-1
+      version: 0.10.3-1
     source:
       type: git
       url: https://github.com/LOEWE-emergenCITY/ros2_babel_fish.git
@@ -7746,7 +7794,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/rqt_topic-release.git
-      version: 1.7.2-2
+      version: 1.7.3-1
     source:
       test_pull_requests: true
       type: git
@@ -7841,7 +7889,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/rtabmap-release.git
-      version: 0.21.6-1
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap.git
@@ -7870,7 +7918,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/introlab/rtabmap_ros-release.git
-      version: 0.21.5-3
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap_ros.git
@@ -8157,7 +8205,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/sick_scan_xd-release.git
-      version: 3.5.0-1
+      version: 3.6.0-1
     source:
       type: git
       url: https://github.com/SICKAG/sick_scan_xd.git
@@ -8962,12 +9010,48 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/tuw_geometry-release.git
-      version: 0.0.7-4
+      version: 0.1.2-1
     source:
       type: git
       url: https://github.com/tuw-robotics/tuw_geometry.git
       version: ros2
     status: maintained
+  tuw_msgs:
+    doc:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_msgs.git
+      version: ros2
+    release:
+      packages:
+      - tuw_airskin_msgs
+      - tuw_geo_msgs
+      - tuw_geometry_msgs
+      - tuw_graph_msgs
+      - tuw_msgs
+      - tuw_multi_robot_msgs
+      - tuw_nav_msgs
+      - tuw_object_map_msgs
+      - tuw_object_msgs
+      - tuw_std_msgs
+      tags:
+        release: release/jazzy/{package}/{version}
+      url: https://github.com/ros2-gbp/tuw_msgs-release.git
+      version: 0.2.2-1
+    source:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_msgs.git
+      version: ros2
+    status: maintained
+  tuw_robotics:
+    doc:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_robotics.git
+      version: jazzy
+    source:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_robotics.git
+      version: jazzy
+    status: maintained
   tvm_vendor:
     doc:
       type: git
@@ -9152,7 +9236,7 @@ repositories:
       tags:
         release: release/jazzy/{package}/{version}
       url: https://github.com/ros2-gbp/ur_msgs-release.git
-      version: 2.0.1-1
+      version: 2.1.0-1
     source:
       type: git
       url: https://github.com/ros-industrial/ur_msgs.git
@@ -9670,6 +9754,16 @@ repositories:
       url: https://github.com/ros2/yaml_cpp_vendor.git
       version: jazzy
     status: maintained
+  yasmin:
+    doc:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    status: developed
   zbar_ros:
     doc:
       type: git
diff --git a/noetic/distribution.yaml b/noetic/distribution.yaml
index b86a588b3a308..e20e5342c736b 100644
--- a/noetic/distribution.yaml
+++ b/noetic/distribution.yaml
@@ -2547,7 +2547,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/stack-of-tasks/eiquadprog-ros-release.git
-      version: 1.2.8-1
+      version: 1.2.9-1
     source:
       test_pull_requests: true
       type: git
@@ -2637,7 +2637,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/cubicleguy/ess_imu_driver-release.git
-      version: 2.0.1-1
+      version: 2.0.2-1
     source:
       type: git
       url: https://github.com/cubicleguy/ess_imu_driver.git
@@ -4590,7 +4590,7 @@ repositories:
     doc:
       type: git
       url: https://github.com/ros-drivers/joystick_drivers.git
-      version: main
+      version: ros1
     release:
       packages:
       - joy
@@ -4603,7 +4603,7 @@ repositories:
     source:
       type: git
       url: https://github.com/ros-drivers/joystick_drivers.git
-      version: main
+      version: ros1
     status: maintained
   jsk_3rdparty:
     doc:
@@ -4730,7 +4730,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/tork-a/jsk_control-release.git
-      version: 0.1.17-2
+      version: 0.1.18-1
     source:
       type: git
       url: https://github.com/jsk-ros-pkg/jsk_control.git
@@ -6474,7 +6474,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/mrpt-ros-pkg-release/mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/mrpt_ros.git
@@ -6589,7 +6589,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/ual-arm-ros-pkg-release/mvsim-release.git
-      version: 0.11.2-1
+      version: 0.12.1-1
     source:
       type: git
       url: https://github.com/ual-arm-ros-pkg/mvsim.git
@@ -7854,7 +7854,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/stack-of-tasks/pinocchio-ros-release.git
-      version: 2.6.21-1
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git
@@ -8525,7 +8525,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/mrpt-ros-pkg-release/python_mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/python_mrpt_ros.git
@@ -10938,7 +10938,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/introlab/rtabmap-release.git
-      version: 0.21.6-1
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap.git
@@ -10969,7 +10969,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/introlab/rtabmap_ros-release.git
-      version: 0.21.5-1
+      version: 0.21.9-1
     source:
       type: git
       url: https://github.com/introlab/rtabmap_ros.git
diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 0a38f070073ce..918f4eace3b7c 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -613,7 +613,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/autoware_msgs-release.git
-      version: 1.2.0-1
+      version: 1.3.0-1
     source:
       type: git
       url: https://github.com/autowarefoundation/autoware_msgs.git
@@ -1049,7 +1049,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/control_toolbox-release.git
-      version: 3.3.0-1
+      version: 3.4.0-1
     source:
       type: git
       url: https://github.com/ros-controls/control_toolbox.git
@@ -1593,7 +1593,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/fastrtps-release.git
-      version: 2.14.3-1
+      version: 2.14.4-1
     source:
       test_commits: true
       test_pull_requests: false
@@ -1917,17 +1917,10 @@ repositories:
       packages:
       - game_controller_spl
       - game_controller_spl_interfaces
-      - gc_spl
-      - gc_spl_2022
-      - gc_spl_interfaces
-      - rcgcd_spl_14
-      - rcgcd_spl_14_conversion
-      - rcgcrd_spl_4
-      - rcgcrd_spl_4_conversion
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/game_controller_spl-release.git
-      version: 4.0.1-1
+      version: 5.0.0-2
     source:
       type: git
       url: https://github.com/ros-sports/game_controller_spl.git
@@ -1984,7 +1977,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/geometric_shapes-release.git
-      version: 2.2.1-1
+      version: 2.3.1-1
     source:
       type: git
       url: https://github.com/ros-planning/geometric_shapes.git
@@ -2286,7 +2279,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/gz_math_vendor-release.git
-      version: 0.2.0-1
+      version: 0.2.1-1
     source:
       test_pull_requests: true
       type: git
@@ -2464,7 +2457,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/gz_utils_vendor-release.git
-      version: 0.2.0-1
+      version: 0.2.1-1
     source:
       test_pull_requests: true
       type: git
@@ -2896,6 +2889,16 @@ repositories:
       url: https://github.com/kobuki-base/kobuki_velocity_smoother.git
       version: release/0.15.x
     status: maintained
+  kompass:
+    doc:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/automatika-robotics/kompass.git
+      version: main
+    status: developed
   lanelet2:
     doc:
       type: git
@@ -3310,7 +3313,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mapviz-release.git
-      version: 2.4.3-1
+      version: 2.4.4-1
     source:
       type: git
       url: https://github.com/swri-robotics/mapviz.git
@@ -3334,6 +3337,21 @@ repositories:
       url: https://github.com/apl-ocean-engineering/marine_msgs.git
       version: ros2
     status: developed
+  marker_msgs:
+    doc:
+      type: git
+      url: https://github.com/tuw-robotics/marker_msgs.git
+      version: ros2
+    release:
+      tags:
+        release: release/rolling/{package}/{version}
+      url: https://github.com/ros2-gbp/marker_msgs-release.git
+      version: 0.0.8-1
+    source:
+      type: git
+      url: https://github.com/tuw-robotics/marker_msgs.git
+      version: ros2
+    status: maintained
   marti_common:
     doc:
       type: git
@@ -3731,7 +3749,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.11.0-1
+      version: 2.12.0-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -3771,7 +3789,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_resources-release.git
-      version: 3.0.0-2
+      version: 3.1.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_resources.git
@@ -3786,7 +3804,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_visual_tools-release.git
-      version: 4.1.0-3
+      version: 4.1.1-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_visual_tools.git
@@ -3905,7 +3923,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/mrpt_ros.git
@@ -3958,7 +3976,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.11.1-1
+      version: 0.12.0-1
     source:
       test_pull_requests: true
       type: git
@@ -4498,7 +4516,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/pal_statistics-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/pal-robotics/pal_statistics.git
@@ -4629,7 +4647,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/pick_ik-release.git
-      version: 1.1.0-3
+      version: 1.1.1-1
     source:
       type: git
       url: https://github.com/PickNikRobotics/pick_ik.git
@@ -4668,7 +4686,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/pinocchio-release.git
-      version: 3.2.0-1
+      version: 3.3.0-1
     source:
       type: git
       url: https://github.com/stack-of-tasks/pinocchio.git
@@ -5006,7 +5024,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/python_mrpt_ros-release.git
-      version: 2.14.5-1
+      version: 2.14.7-1
     source:
       type: git
       url: https://github.com/MRPT/python_mrpt_ros.git
@@ -5493,7 +5511,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/realtime_tools-release.git
-      version: 2.8.1-1
+      version: 3.0.0-1
     source:
       type: git
       url: https://github.com/ros-controls/realtime_tools.git
@@ -5959,7 +5977,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/robot_calibration-release.git
-      version: 0.9.2-1
+      version: 0.9.3-1
     source:
       type: git
       url: https://github.com/mikeferguson/robot_calibration.git
@@ -6062,7 +6080,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_control-release.git
-      version: 4.20.0-1
+      version: 4.21.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_control.git
@@ -6082,10 +6100,12 @@ repositories:
       - 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
       - parallel_gripper_controller
       - pid_controller
       - pose_broadcaster
@@ -6101,7 +6121,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 4.16.0-1
+      version: 4.17.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -6293,11 +6313,11 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ros_babel_fish-release.git
-      version: 0.10.1-1
+      version: 0.10.2-1
     source:
       type: git
       url: https://github.com/LOEWE-emergenCITY/ros2_babel_fish.git
-      version: jazzy
+      version: rolling
     status: developed
   ros_battery_monitoring:
     doc:
@@ -8141,12 +8161,38 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/tuw_geometry-release.git
-      version: 0.0.7-3
+      version: 0.1.2-1
     source:
       type: git
       url: https://github.com/tuw-robotics/tuw_geometry.git
       version: ros2
     status: maintained
+  tuw_msgs:
+    doc:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_msgs.git
+      version: ros2
+    release:
+      packages:
+      - tuw_airskin_msgs
+      - tuw_geo_msgs
+      - tuw_geometry_msgs
+      - tuw_graph_msgs
+      - tuw_msgs
+      - tuw_multi_robot_msgs
+      - tuw_nav_msgs
+      - tuw_object_map_msgs
+      - tuw_object_msgs
+      - tuw_std_msgs
+      tags:
+        release: release/rolling/{package}/{version}
+      url: https://github.com/ros2-gbp/tuw_msgs-release.git
+      version: 0.2.2-2
+    source:
+      type: git
+      url: https://github.com/tuw-robotics/tuw_msgs.git
+      version: ros2
+    status: developed
   tvm_vendor:
     doc:
       type: git
@@ -8331,7 +8377,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ur_msgs-release.git
-      version: 2.0.1-1
+      version: 2.1.0-1
     source:
       type: git
       url: https://github.com/ros-industrial/ur_msgs.git
@@ -8824,6 +8870,16 @@ repositories:
       url: https://github.com/ros2/yaml_cpp_vendor.git
       version: rolling
     status: maintained
+  yasmin:
+    doc:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    source:
+      type: git
+      url: https://github.com/uleroboticsgroup/yasmin.git
+      version: main
+    status: developed
   zbar_ros:
     doc:
       type: git
diff --git a/rosdep/python.yaml b/rosdep/python.yaml
index 116c662e1281f..52c84956db4f9 100644
--- a/rosdep/python.yaml
+++ b/rosdep/python.yaml
@@ -5767,7 +5767,7 @@ python3-empy:
   opensuse: [python3-empy]
   osx:
     pip:
-      packakges: [empy]
+      packages: [empy]
   rhel: ['python%{python3_pkgversion}-empy']
   ubuntu: [python3-empy]
 python3-environs-pip:
@@ -5921,16 +5921,7 @@ python3-filfinder-pip:
     pip:
       packages: [fil_finder]
 python3-filterpy-pip:
-  debian:
-    pip:
-      packages: [filterpy]
-  fedora:
-    pip:
-      packages: [filterpy]
-  osx:
-    pip:
-      packages: [filterpy]
-  ubuntu:
+  '*':
     pip:
       packages: [filterpy]
 python3-fiona:
@@ -6983,6 +6974,21 @@ python3-libgpiod:
   ubuntu:
     '*': [python3-libgpiod]
     bionic: null
+python3-libtmux:
+  alpine:
+    pip:
+      packages: [libtmux]
+  arch: [python-libtmux]
+  debian: [python3-libtmux]
+  fedora: [python-libtmux]
+  gentoo: [dev-python/libtmux]
+  opensuse:
+    '*': [python-libtmux]
+    '15.2': null
+  rhel:
+    '*': [python3-libtmux]
+    '8': null
+  ubuntu: [python3-libtmux]
 python3-lingua-franca-pip:
   debian:
     pip:
@@ -7753,6 +7759,11 @@ python3-orjson:
   ubuntu:
     pip:
       packages: [orjson]
+python3-osrf-pycommon:
+  debian: [python3-osrf-pycommon]
+  fedora: [python3-osrf-pycommon]
+  rhel: [python3-osrf-pycommon]
+  ubuntu: [python3-osrf-pycommon]
 python3-overrides:
   arch: [python-overrides]
   debian:
@@ -7948,9 +7959,22 @@ python3-pil:
       packages: [python3-pillow]
   ubuntu: [python3-pil]
 python3-pil-imagetk:
+  alpine: [py3-pillow]
+  arch: [python-pillow]
   debian: [python3-pil.imagetk]
   fedora: [python3-pillow-tk]
+  freebsd: [graphics/py-pillow]
+  gentoo: [dev-python/pillow]
+  nixos: [python3Packages.pillow]
+  openembedded: [python3-pillow@meta-python]
+  opensuse: [python3-Pillow]
+  osx:
+    pip:
+      packages: [Pillow]
   rhel: [python3-pillow-tk]
+  slackware:
+    slackpkg:
+      packages: [python3-pillow]
   ubuntu: [python3-pil.imagetk]
 python3-pip:
   alpine: [py3-pip]
@@ -9915,6 +9939,16 @@ python3-streamlit-pip:
   '*':
     pip:
       packages: [streamlit]
+python3-streamz:
+  debian:
+    bookworm: [python3-streamz]
+    bullseye: [python3-streamz]
+  opensuse: [python3-streamz]
+  ubuntu:
+    '*': [python3-streamz]
+    focal:
+      pip:
+        packages: [streamz]
 python3-suas-interop-clients-pip:
   debian:
     pip: