diff --git a/.github/workflows/prepare-test-branch.yaml b/.github/workflows/prepare-test-branch.yaml
new file mode 100644
index 0000000..f355d6c
--- /dev/null
+++ b/.github/workflows/prepare-test-branch.yaml
@@ -0,0 +1,40 @@
+---
+name: Prepare test branch
+
+on:
+    workflow_dispatch:
+        inputs:
+            target_branch:
+                description: Target branch for the pre-release test.
+                required: true
+            test_branch:
+                description: Test branch name (used as a docker image tag).
+                required: true
+
+jobs:
+    release:
+        name: Release repository
+        runs-on: ubuntu-22.04
+        env:
+            GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+            DOCKER_IMAGE_TAG: humble-${{ github.event.inputs.test_branch }}
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                  ref: ${{ github.event.inputs.target_branch }}
+
+            - name: Update docker image version
+              uses: mikefarah/yq@v4.43.1
+              with:
+                  cmd: |
+                      yq -i '.services.panther_ros.image = "husarion/panther:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
+                      yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
+
+            - name: Commit changes to test branch
+              uses: EndBug/add-and-commit@v9
+              with:
+                  message: Update docker image version
+                  author_name: action-bot
+                  author_email: action-bot@action-bot.com
+                  new_branch: ${{ github.event.inputs.test_branch }}
diff --git a/.github/workflows/release-repository.yaml b/.github/workflows/release-repository.yaml
new file mode 100644
index 0000000..1d3f289
--- /dev/null
+++ b/.github/workflows/release-repository.yaml
@@ -0,0 +1,91 @@
+---
+name: Release repository
+
+on:
+    workflow_dispatch:
+        inputs:
+            target_branch:
+                description: Target branch for the release.
+                required: true
+            version:
+                description: New version (used for tag).
+                required: true
+            date:
+                description: Date stamp of the image to be used in the compose files.
+                required: true
+            release_name:
+                description: Name of the release to be created. Version in the first place is recommended (e.g. `2.0.0-alpha`).
+                required: true
+            automatic_mode:
+                type: boolean
+                default: false
+                description: Automatically merge PR and create release.
+            prerelease:
+                type: boolean
+                default: false
+                description: Mark the release as a prerelease.
+
+jobs:
+    release:
+        name: Release repository
+        runs-on: ubuntu-22.04
+        env:
+            GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+            RELEASE_BRANCH: release-${{ github.event.inputs.version }}
+            DOCKER_IMAGE_TAG: humble-${{ github.event.inputs.version }}-${{ github.event.inputs.date }}
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v4
+              with:
+                  ref: ${{ github.event.inputs.target_branch }}
+
+            - name: Update docker image version
+              uses: mikefarah/yq@v4.43.1
+              with:
+                  cmd: |
+                      yq -i '.services.panther_ros.image = "husarion/panther:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.minimal-setup.yaml
+                      yq -i '.services.panther_gazebo.image = "husarion/panther-gazebo:${{ env.DOCKER_IMAGE_TAG }}" | (... | select(tag == "!!merge")) tag = ""' demo/compose.simulation.yaml
+
+            - name: Commit changes to release branch
+              uses: EndBug/add-and-commit@v9
+              with:
+                  message: Update docker image version
+                  author_name: action-bot
+                  author_email: action-bot@action-bot.com
+                  new_branch: ${{ env.RELEASE_BRANCH }}
+
+            - name: Create pull request
+              run: |
+                  gh pr create \
+                  --base ${{ github.event.inputs.target_branch }} \
+                  --head $RELEASE_BRANCH \
+                  --title "Release ${{ github.event.inputs.version }}" \
+                  --body "This PR incorporates package(s) version and changelog update."
+
+            - name: Merge pull request
+              if: ${{ github.event.inputs.automatic_mode == true }}
+              run: |
+                  gh pr merge $RELEASE_BRANCH \
+                  --delete-branch
+
+            - name: Create tag
+              if: ${{ github.event.inputs.automatic_mode == true }}
+              run: |
+                  git checkout ${{ github.event.inputs.target_branch }}
+                  git tag ${{ github.event.inputs.version }}
+                  git push origin ${{ github.event.inputs.version }}
+
+            - name: Create prerelease
+              if: ${{ github.event.inputs.automatic_mode == true && github.event.inputs.prerelease == true}}
+              run: |
+                  gh release create ${{ github.event.inputs.version }} \
+                  --title ${{ github.event.inputs.release_name }} \
+                  --notes-from-tag \
+                  --prerelease
+
+            - name: Create release
+              if: ${{ github.event.inputs.automatic_mode == true && github.event.inputs.prerelease == false}}
+              run: |
+                  gh release create ${{ github.event.inputs.version }} \
+                  --title ${{ github.event.inputs.release_name }} \
+                  --notes-from-tag
diff --git a/.github/workflows/ros-docker-image.yaml b/.github/workflows/ros-docker-image.yaml
index 8d46ff7..08cdcda 100644
--- a/.github/workflows/ros-docker-image.yaml
+++ b/.github/workflows/ros-docker-image.yaml
@@ -2,71 +2,66 @@
 name: Build/Publish ROS Docker Image
 
 on:
-  workflow_dispatch:
-    inputs:
-      build_type:
-        description: Is it a "development" or a "stable" release?
-        required: true
-        default: development
-        type: choice
-        options:
-          - development
-          - stable
-      target_distro:
-        description: In case of "stable" release specify the ROS distro of the existing docker image (eg.
-          humble)
-        type: string
-        default: ardent
-      target_release:
-        description: In case of "stable" release specify the version of the existing docker image (eg.
-          1.0.12)
-        type: string
-        default: 0.0.0
-      target_date:
-        description: In case of "stable" release specify the date of the existing docker image in format
-          YYYYMMDD (eg. 20220124)
-        type: string
-        default: '20131206'
-  repository_dispatch:
-    types: [rebuild, ros-package-update]
-  pull_request:
-    types:
-      - closed
-      - opened
+    workflow_dispatch:
+        inputs:
+            build_type:
+                description: Is it a "development" or a "stable" release?
+                required: true
+                default: development
+                type: choice
+                options:
+                    - development
+                    - stable
+            target_distro:
+                description:
+                    In case of "stable" release specify the ROS distro of the existing docker image (eg.
+                    humble)
+                type: string
+                default: humble
+            target_release:
+                description:
+                    In case of "stable" release specify the version of the existing docker image (eg.
+                    1.0.12)
+                type: string
+                default: 0.0.0
+            target_date:
+                description:
+                    In case of "stable" release specify the date of the existing docker image in format
+                    YYYYMMDD (eg. 20220124)
+                type: string
+                default: "20131206"
 
 jobs:
-  build:
-    runs-on: ubuntu-22.04
-    strategy:
-      fail-fast: false
-      matrix:
+    build:
+        runs-on: ubuntu-22.04
+        strategy:
+            fail-fast: false
+            matrix:
+                include:
+                    - dockerfile: Dockerfile.hardware
+                      platforms: linux/arm64
+                      ros_distro: humble
+                    - dockerfile: Dockerfile.simulation
+                      repo_name: panther-gazebo
+                      platforms: linux/amd64
+                      ros_distro: humble
 
-        include:
-          - dockerfile: Dockerfile.hardware
-            platforms: linux/arm64
-            ros_distro: humble
-          - dockerfile: Dockerfile.simulation
-            repo_name: panther-gazebo
-            platforms: linux/amd64
-            ros_distro: humble
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v2
 
-    steps:
-
-      - name: Checkout
-        uses: actions/checkout@v2
-
-      - name: Build Docker Image
-        uses: husarion-ci/ros-docker-img-action@v0.5
-        with:
-          dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
-          dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
-          main_branch_name: ros2-devel
-          dockerfile: ${{ matrix.dockerfile }}
-          repo_name: ${{ matrix.repo_name }}
-          build_type: ${{ inputs.build_type }}
-          ros_distro: ${{ matrix.ros_distro }}
-          platforms: ${{ matrix.platforms }}
-          # variables important only for stable release
-          target_distro: ${{ inputs.target_distro }}
-          target_release: ${{ inputs.target_release }}
-          target_date: ${{ inputs.target_date }}
+            - name: Build Docker Image
+              uses: husarion-ci/ros-docker-img-action@v0.5
+              with:
+                  dockerhub_username: ${{ secrets.DOCKERHUB_USERNAME }}
+                  dockerhub_token: ${{ secrets.DOCKERHUB_TOKEN }}
+                  main_branch_name: ros2
+                  dockerfile: ${{ matrix.dockerfile }}
+                  repo_name: ${{ matrix.repo_name }}
+                  build_type: ${{ inputs.build_type }}
+                  ros_distro: ${{ matrix.ros_distro }}
+                  platforms: ${{ matrix.platforms }}
+                  # variables important only for stable release
+                  target_distro: ${{ inputs.target_distro }}
+                  target_release: ${{ inputs.target_release }}
+                  target_date: ${{ inputs.target_date }}
diff --git a/Dockerfile.hardware b/Dockerfile.hardware
index dc5d48f..e6533ac 100644
--- a/Dockerfile.hardware
+++ b/Dockerfile.hardware
@@ -13,7 +13,7 @@ RUN apt-get update  && \
     apt-get install -y \
         ros-dev-tools && \
     # Setup workspace
-    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
+    git clone -b ros2 https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_hardware.repos && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers && \
     # Install dependencies
diff --git a/Dockerfile.simulation b/Dockerfile.simulation
index 3c8bb3f..29b8459 100644
--- a/Dockerfile.simulation
+++ b/Dockerfile.simulation
@@ -13,7 +13,7 @@ RUN apt-get update  && \
     apt-get install -y \
         ros-dev-tools && \
     # Setup workspace
-    git clone -b ros2-devel https://github.com/husarion/panther_ros.git src/panther_ros && \
+    git clone -b ros2 https://github.com/husarion/panther_ros.git src/panther_ros && \
     vcs import src < src/panther_ros/panther/panther_hardware.repos && \
     vcs import src < src/panther_ros/panther/panther_simulation.repos && \
     cp -r src/ros2_controllers/imu_sensor_broadcaster src && rm -rf src/ros2_controllers && \
diff --git a/README.md b/README.md
index 3747345..9ba248d 100644
--- a/README.md
+++ b/README.md
@@ -4,8 +4,8 @@ Docker images dedicated to Husarion Panther ROS system and simulation.
 
 ## Docker Images
 
-Docker images are automatically deployed to Docker Hub. Image tag includes information about the ROS distribution, the version of the [panther_ros](https://github.com/husarion/panther_ros/tree/ros2-devel) repository, and the date of release. Additionally stable image versions are tagged with `stable` and recommended for production use.
-Below, you can find a list of available Docker images. To access the latest tag, simply follow provided links:
+Docker images are automatically deployed to Docker Hub. The image tag includes information about the ROS distribution, the version of the [panther_ros](https://github.com/husarion/panther_ros/tree/ros2) repository, and the date of release. Additionally, stable image versions are tagged with `stable` and recommended for production use.
+Below, you can find a list of available Docker images. To access the latest tag, simply follow the provided links:
 
 - [husarion/panther](https://hub.docker.com/r/husarion/panther) - ROS packages for Panther robot,
 - [husarion/panther-gazebo](https://hub.docker.com/r/husarion/panther-gazebo) - Simulation for Panther robot in Gazebo-classic.