diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
index 9fd93e2..b03a4d4 100644
--- a/.devcontainer/nouveau/Dockerfile
+++ b/.devcontainer/nouveau/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/auv_controllers:iron-desktop
+FROM ghcr.io/robotic-decision-making-lab/auv_controllers:humble-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
index 0f2fc2e..f8f1de6 100644
--- a/.devcontainer/nvidia/Dockerfile
+++ b/.devcontainer/nvidia/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/auv_controllers:iron-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/auv_controllers:humble-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 9aa921d..2bbd69d 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=iron
+ARG ROS_DISTRO=humble
 FROM ros:$ROS_DISTRO-ros-base as ci
 
 ENV DEBIAN_FRONTEND=noninteractive
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 59fd7f5..9139f1f 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: iron-ci
-            ROS_DISTRO: iron
+          - IMAGE: humble-ci
+            ROS_DISTRO: humble
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index e4be43f..28a1ce7 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -18,7 +18,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [humble]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -59,7 +59,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [humble]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -100,7 +100,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [iron]
+        ROS_DISTRO: [humble]
     runs-on: ubuntu-latest
     permissions:
       packages: write
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3c60578..d00548a 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,7 +4,7 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/iron/include/**",
+        "/opt/ros/humble/include/**",
         "/usr/include/eigen3/**",
         "/home/ros/ws_ros/**"
       ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index ab0bdaf..777a052 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -23,13 +23,13 @@
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/humble/lib/python3.10/site-packages/",
+    "/opt/ros/humble/local/lib/python3.10/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "python.analysis.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/humble/lib/python3.10/site-packages/",
+    "/opt/ros/humble/local/lib/python3.10/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
diff --git a/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp b/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp
index ef16b15..c02fd4e 100644
--- a/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp
+++ b/thruster_controllers/include/thruster_controllers/polynomial_thrust_curve_controller.hpp
@@ -81,8 +81,7 @@ class PolynomialThrustCurveController : public controller_interface::ChainableCo
 protected:
   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
-  controller_interface::return_type update_reference_from_subscribers(
-    const rclcpp::Time & time, const rclcpp::Duration & period) override;
+  controller_interface::return_type update_reference_from_subscribers() override;
 
   void update_parameters();
 
diff --git a/thruster_controllers/src/polynomial_thrust_curve_controller.cpp b/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
index 9433fb8..5f914a5 100644
--- a/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
+++ b/thruster_controllers/src/polynomial_thrust_curve_controller.cpp
@@ -156,8 +156,7 @@ std::vector<hardware_interface::CommandInterface> PolynomialThrustCurveControlle
   return reference_interfaces;
 }
 
-controller_interface::return_type PolynomialThrustCurveController::update_reference_from_subscribers(
-  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
+controller_interface::return_type PolynomialThrustCurveController::update_reference_from_subscribers()
 {
   auto * current_reference = reference_.readFromNonRT();
   reference_interfaces_[0] = (*current_reference)->data;