diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index bc9dc3b3e..8d4e0cb10 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,12 +1,12 @@
 {
     "name": "control libraries",
-    "remoteUser": "developer",
+    "remoteUser": "ros2",
     "build": {
         "dockerfile": "../Dockerfile.ci",
         "context": "..",
         "target": "development",
         "args": {
-            "BASE_TAG": "22.04",
+            "ROS2_VERSION": "humble",
             "PINOCCHIO_TESTS": "OFF"
         }
     },
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 1115d99c8..87d28c931 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -11,7 +11,7 @@ Release Versions:
 ## Upcoming changes (in development)
 
 - feat(build): add configuration files for VS Code devcontainer (#137, #138)
-- feat(python): auto-generate stubs for python modules in Dockerfile (#135)
+- feat(python): auto-generate stubs for python modules in Dockerfile (#135, #139)
 - fix: build all python modules (#134)
 
 ## 7.1.1
diff --git a/Dockerfile.ci b/Dockerfile.ci
index be093aa5c..ac778d189 100644
--- a/Dockerfile.ci
+++ b/Dockerfile.ci
@@ -1,5 +1,5 @@
-ARG BASE_TAG=22.04
-FROM ghcr.io/aica-technology/control-libraries/development-dependencies:${BASE_TAG} as base
+ARG ROS2_VERSION=humble
+FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
 USER ${USER}
 
 FROM base as apt-dependencies
@@ -64,7 +64,7 @@ COPY --from=apt-dependencies /tmp/apt /
 ARG TARGETPLATFORM
 ARG CACHEID
 ARG PINOCCHIO_TAG=v2.6.9
-ARG PINOCCHIO_TESTS=OFF
+ARG PINOCCHIO_TESTS=ON
 # FIXME: it would be nicer to have it all in the root CMakelists.txt but:
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
@@ -145,12 +145,12 @@ COPY --from=python /tmp/python-home /home
 RUN sudo pip install pybind11-stubgen
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
-for PKG in state_representation dynamical_systems robot_model controllers; do
+for PKG in state_representation dynamical_systems robot_model controllers clproto; do
   python3 -c "import ${PKG}"
   if [ $? -eq 0 ]; then
     pybind11-stubgen $PKG -o ./stubs
-    mv ./stubs/$PKG ./stubs/$PKG-stubs
-    cat << EoF > ./stubs/setup.py
+    mkdir -p ./stubs-package/$PKG-stubs && find ./stubs -type f -name "*.pyi" -exec mv {} ./stubs-package/$PKG-stubs \;
+    cat << EoF > ./stubs-package/setup.py
 from distutils.core import setup
 
 import $PKG
@@ -165,8 +165,8 @@ setup(
     packages=["$PKG-stubs"]
 )
 EoF
-    python3 -m pip install --prefix=/tmp/python ./stubs || exit 1
-    rm -r ./stubs
+    python3 -m pip install --prefix=/tmp/python ./stubs-package || exit 1
+    rm -r ./stubs*
   fi
 done
 HEREDOC
diff --git a/VERSION b/VERSION
index 69adf3456..14627a7c8 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-7.1.5
+7.1.6
diff --git a/demos/CMakeLists.txt b/demos/CMakeLists.txt
index b07d74e92..6378fd92c 100644
--- a/demos/CMakeLists.txt
+++ b/demos/CMakeLists.txt
@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.1.5 CONFIG REQUIRED)
+find_package(control_libraries 7.1.6 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
index 78ba33842..23989ec30 100644
--- a/doxygen/doxygen.conf
+++ b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.1.5
+PROJECT_NUMBER = 7.1.6
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a
diff --git a/protocol/clproto_cpp/CMakeLists.txt b/protocol/clproto_cpp/CMakeLists.txt
index fab663ba4..eebe6016e 100644
--- a/protocol/clproto_cpp/CMakeLists.txt
+++ b/protocol/clproto_cpp/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.1.5)
+project(clproto VERSION 7.1.6)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
diff --git a/python/setup.py b/python/setup.py
index 6764ef614..39e654ceb 100644
--- a/python/setup.py
+++ b/python/setup.py
@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.1.5"
+__version__ = "7.1.6"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 
diff --git a/source/CMakeLists.txt b/source/CMakeLists.txt
index b412d0810..d21d42a92 100644
--- a/source/CMakeLists.txt
+++ b/source/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.1.5)
+project(control_libraries VERSION 7.1.6)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)