diff --git a/.github/workflows/README.md b/.github/workflows/README.md
new file mode 100644
index 0000000000..34bfb4cc03
--- /dev/null
+++ b/.github/workflows/README.md
@@ -0,0 +1,24 @@
+## Build status
+
+ROS2 Distro | Branch | Build status | Documentation | Released packages
+:---------: | :----: | :----------: | :-----------: | :---------------:
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-testing.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-testing.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-testing.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-testing.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-testing.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-source-build.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_controllers/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-testing.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-testing.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-testing.yml?branch=galactic) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#galactic)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_controllers/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-testing.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-testing.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-testing.yml?branch=foxy) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#foxy)
+
+
+### Explanation of different build types
+
+**NOTE**: There are three build stages checking current and future compatibility of the package.
+
+1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.
+
+   Uses repos file: `$NAME$-not-released.<ros-distro>.repos`
+
+1. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source.
+   Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.
+
+   Uses repos file: `$NAME$.repos`
+
+1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
diff --git a/.github/workflows/ci-coverage-build.yml b/.github/workflows/ci-coverage-build.yml
new file mode 100644
index 0000000000..d9b4ec4494
--- /dev/null
+++ b/.github/workflows/ci-coverage-build.yml
@@ -0,0 +1,48 @@
+name: Coverage Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  coverage:
+    name: coverage build
+    runs-on: ubuntu-22.04
+    strategy:
+      fail-fast: false
+    env:
+      ROS_DISTRO: rolling
+    steps:
+      - uses: ros-tooling/setup-ros@0.3.4
+        with:
+          required-ros-distributions: ${{ env.ROS_DISTRO }}
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/action-ros-ci@0.2.6
+        with:
+          target-ros2-distro: ${{ env.ROS_DISTRO }}
+          import-token: ${{ secrets.GITHUB_TOKEN }}
+          # build all packages listed in the meta package
+          package-name:
+            diff_drive_controller
+
+          vcs-repo-file-url: |
+            https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers-not-released.${{ env.ROS_DISTRO }}.repos?token=${{ secrets.GITHUB_TOKEN }}
+          colcon-defaults: |
+            {
+              "build": {
+                "mixin": ["coverage-gcc"]
+              }
+            }
+          colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
+      - uses: codecov/codecov-action@v3.1.0
+        with:
+          file: ros_ws/lcov/total_coverage.info
+          flags: unittests
+          name: codecov-umbrella
+      - uses: actions/upload-artifact@v3.1.0
+        with:
+          name: colcon-logs-coverage-rolling
+          path: ros_ws/log
diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index dffa28d1c0..fba9f85911 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -4,11 +4,7 @@
 name: Format
 
 on:
-  workflow_dispatch:
   pull_request:
-  push:
-    branches:
-      - master
 
 jobs:
   pre-commit:
@@ -20,7 +16,7 @@ jobs:
       with:
         python-version: 3.9.7
     - name: Install system hooks
-      run: sudo apt install -qq clang-format-11 cppcheck
+      run: sudo apt install -qq clang-format-12 cppcheck
     - uses: pre-commit/action@v2.0.3
       with:
         extra_args: --all-files --hook-stage manual
diff --git a/.github/workflows/ci-ros-lint.yml b/.github/workflows/ci-ros-lint.yml
index 8eec08251f..9902dbdaaf 100644
--- a/.github/workflows/ci-ros-lint.yml
+++ b/.github/workflows/ci-ros-lint.yml
@@ -9,49 +9,33 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          linter: [copyright, cppcheck, lint_cmake]
+          linter: [cppcheck, copyright, lint_cmake]
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: ${{ matrix.linter }}
         package-name:
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            joint_state_broadcaster
-            joint_trajectory_controller
-            gripper_controllers
-            position_controllers
-            ros2_controllers
-            ros2_controllers_test_nodes
-            velocity_controllers
+          diff_drive_controller
 
-  ament_lint_cpplint:
-    name: ament_lint_cpplint
+
+  ament_lint_100:
+    name: ament_${{ matrix.linter }}
     runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
+      matrix:
+          linter: [cpplint]
     steps:
-    - uses: actions/checkout@v1
+    - uses: actions/checkout@v3
     - uses: ros-tooling/setup-ros@v0.2
     - uses: ros-tooling/action-ros-lint@v0.1
       with:
-        distribution: galactic
+        distribution: rolling
         linter: cpplint
-        arguments: "--filter=-whitespace/newline"
+        arguments: "--linelength=100 --filter=-whitespace/newline"
         package-name:
-            diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            joint_state_broadcaster
-            joint_trajectory_controller
-            gripper_controllers
-            position_controllers
-            ros2_controllers
-            ros2_controllers_test_nodes
-            velocity_controllers
+          diff_drive_controller
+          ros2_controllers
diff --git a/.github/workflows/foxy-abi-compatibility.yml b/.github/workflows/foxy-abi-compatibility.yml
index 7f9f1684ef..7ce17effd0 100644
--- a/.github/workflows/foxy-abi-compatibility.yml
+++ b/.github/workflows/foxy-abi-compatibility.yml
@@ -1,18 +1,20 @@
-name: ABI Compatibility Check
+name: Foxy - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
 
 jobs:
-# TODO(andyz): disabled because it started failing at the transition to Humble
-#  abi_check:
-#    runs-on: ubuntu-latest
-#    steps:
-#      - uses: actions/checkout@v3
-#      - uses: ros-industrial/industrial_ci@master
-#        env:
-#          ROS_DISTRO: foxy
-#          ROS_REPO: main
-#          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-#          NOT_TEST_BUILD: true
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: foxy
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/foxy-binary-build.yml b/.github/workflows/foxy-binary-build-main.yml
similarity index 60%
rename from .github/workflows/foxy-binary-build.yml
rename to .github/workflows/foxy-binary-build-main.yml
index bd3050cd37..b306d7e44d 100644
--- a/.github/workflows/foxy-binary-build.yml
+++ b/.github/workflows/foxy-binary-build-main.yml
@@ -1,7 +1,11 @@
-name: Foxy Binary Build
-# Build & test all dependencies from released (binary) packages.
+name: Foxy Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -10,12 +14,13 @@ on:
       - foxy
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '08 18 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_controllers-not-released.foxy.repos
       ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-binary-build-testing.yml b/.github/workflows/foxy-binary-build-testing.yml
new file mode 100644
index 0000000000..260751abea
--- /dev/null
+++ b/.github/workflows/foxy-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Foxy Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.foxy.repos
+      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-rhel-binary-build.yml b/.github/workflows/foxy-rhel-binary-build.yml
new file mode 100644
index 0000000000..8ce90c940f
--- /dev/null
+++ b/.github/workflows/foxy-rhel-binary-build.yml
@@ -0,0 +1,33 @@
+name: Foxy RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  foxy_rhel_binary:
+    name: Foxy RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: foxy
+    container: jaronl/ros:foxy-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/foxy-semi-binary-build.yml b/.github/workflows/foxy-semi-binary-build-main.yml
similarity index 64%
rename from .github/workflows/foxy-semi-binary-build.yml
rename to .github/workflows/foxy-semi-binary-build-main.yml
index a6fc83fbd5..75c3295124 100644
--- a/.github/workflows/foxy-semi-binary-build.yml
+++ b/.github/workflows/foxy-semi-binary-build-main.yml
@@ -1,7 +1,10 @@
-name: Foxy Semi-Binary Build
-# Build & test that compiles the main dependencies from source.
+name: Foxy Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - foxy
   pull_request:
     branches:
       - foxy
@@ -10,12 +13,13 @@ on:
       - foxy
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 18 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: foxy
+      ros_repo: main
       upstream_workspace: ros2_controllers.foxy.repos
       ref_for_scheduled_build: foxy
diff --git a/.github/workflows/foxy-semi-binary-build-testing.yml b/.github/workflows/foxy-semi-binary-build-testing.yml
new file mode 100644
index 0000000000..f6d663cc2c
--- /dev/null
+++ b/.github/workflows/foxy-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Foxy Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - foxy
+  pull_request:
+    branches:
+      - foxy
+  push:
+    branches:
+      - foxy
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: foxy
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.foxy.repos
+      ref_for_scheduled_build: foxy
diff --git a/.github/workflows/galactic-abi-compatibility.yml b/.github/workflows/galactic-abi-compatibility.yml
index 8689791128..06a48ef9c7 100644
--- a/.github/workflows/galactic-abi-compatibility.yml
+++ b/.github/workflows/galactic-abi-compatibility.yml
@@ -1,18 +1,20 @@
-name: ABI Compatibility Check
+name: Galactic - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
 
 jobs:
-# TODO(andyz): disabled because it started failing at the transition to Humble
-#  abi_check:
-#    runs-on: ubuntu-latest
-#    steps:
-#      - uses: actions/checkout@v3
-#      - uses: ros-industrial/industrial_ci@master
-#        env:
-#          ROS_DISTRO: galactic
-#          ROS_REPO: main
-#          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
-#          NOT_TEST_BUILD: true
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: galactic
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/galactic-binary-build.yml b/.github/workflows/galactic-binary-build-main.yml
similarity index 60%
rename from .github/workflows/galactic-binary-build.yml
rename to .github/workflows/galactic-binary-build-main.yml
index eeac89e8d1..14fe56407c 100644
--- a/.github/workflows/galactic-binary-build.yml
+++ b/.github/workflows/galactic-binary-build-main.yml
@@ -1,7 +1,11 @@
-name: Galactic Binary Build
-# Build & test all dependencies from released (binary) packages.'
+name: Galactic Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
@@ -10,12 +14,13 @@ on:
       - galactic
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '08 18 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_controllers-not-released.galactic.repos
       ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-binary-build-testing.yml b/.github/workflows/galactic-binary-build-testing.yml
new file mode 100644
index 0000000000..c4b22a3a7a
--- /dev/null
+++ b/.github/workflows/galactic-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Galactic Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: galactic
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.galactic.repos
+      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-rhel-binary-build.yml b/.github/workflows/galactic-rhel-binary-build.yml
new file mode 100644
index 0000000000..2116d5f4d5
--- /dev/null
+++ b/.github/workflows/galactic-rhel-binary-build.yml
@@ -0,0 +1,33 @@
+name: Galactic RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  galactic_rhel_binary:
+    name: Galactic RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: galactic
+    container: jaronl/ros:galactic-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/galactic-semi-binary-build.yml b/.github/workflows/galactic-semi-binary-build-main.yml
similarity index 64%
rename from .github/workflows/galactic-semi-binary-build.yml
rename to .github/workflows/galactic-semi-binary-build-main.yml
index f7f2cd0a53..7e498679cb 100644
--- a/.github/workflows/galactic-semi-binary-build.yml
+++ b/.github/workflows/galactic-semi-binary-build-main.yml
@@ -1,7 +1,10 @@
-name: Galactic Semi-Binary Build
-# Build & test that compiles the main dependencies from source.
+name: Galactic Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - galactic
   pull_request:
     branches:
       - galactic
@@ -10,12 +13,13 @@ on:
       - galactic
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 18 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: galactic
+      ros_repo: main
       upstream_workspace: ros2_controllers.galactic.repos
       ref_for_scheduled_build: galactic
diff --git a/.github/workflows/galactic-semi-binary-build-testing.yml b/.github/workflows/galactic-semi-binary-build-testing.yml
new file mode 100644
index 0000000000..82a74a358b
--- /dev/null
+++ b/.github/workflows/galactic-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Galactic Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - galactic
+  pull_request:
+    branches:
+      - galactic
+  push:
+    branches:
+      - galactic
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: galactic
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.galactic.repos
+      ref_for_scheduled_build: galactic
diff --git a/.github/workflows/humble-abi-compatibility.yml b/.github/workflows/humble-abi-compatibility.yml
new file mode 100644
index 0000000000..1be00cfc76
--- /dev/null
+++ b/.github/workflows/humble-abi-compatibility.yml
@@ -0,0 +1,20 @@
+name: Humble - ABI Compatibility Check
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+
+jobs:
+  abi_check:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - uses: ros-industrial/industrial_ci@master
+        env:
+          ROS_DISTRO: humble
+          ROS_REPO: main
+          ABICHECK_URL: github:${{ github.repository }}#${{ github.base_ref }}
+          NOT_TEST_BUILD: true
diff --git a/.github/workflows/humble-binary-build-main.yml b/.github/workflows/humble-binary-build-main.yml
new file mode 100644
index 0000000000..01708cf864
--- /dev/null
+++ b/.github/workflows/humble-binary-build-main.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_controllers-not-released.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-binary-build-testing.yml b/.github/workflows/humble-binary-build-testing.yml
new file mode 100644
index 0000000000..73ed0a4859
--- /dev/null
+++ b/.github/workflows/humble-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Humble Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-rhel-binary-build.yml b/.github/workflows/humble-rhel-binary-build.yml
new file mode 100644
index 0000000000..42a700a7db
--- /dev/null
+++ b/.github/workflows/humble-rhel-binary-build.yml
@@ -0,0 +1,33 @@
+name: Humble RHEL Binary Build
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every day to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+
+jobs:
+  humble_rhel_binary:
+    name: Humble RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: humble
+    container: jaronl/ros:humble-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/humble-semi-binary-build-main.yml b/.github/workflows/humble-semi-binary-build-main.yml
new file mode 100644
index 0000000000..10b1186b79
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-main.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: main
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/humble-semi-binary-build-testing.yml b/.github/workflows/humble-semi-binary-build-testing.yml
new file mode 100644
index 0000000000..ec73cc6b98
--- /dev/null
+++ b/.github/workflows/humble-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Humble Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: humble
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.humble.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/galactic-source-build.yml b/.github/workflows/humble-source-build.yml
similarity index 56%
rename from .github/workflows/galactic-source-build.yml
rename to .github/workflows/humble-source-build.yml
index d1c3aa97e8..6ab92814dc 100644
--- a/.github/workflows/galactic-source-build.yml
+++ b/.github/workflows/humble-source-build.yml
@@ -1,8 +1,11 @@
-name: Galactic Source Build
+name: Humble Source Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   push:
     branches:
-      - galactic
+      - master
   schedule:
     # Run every day to detect flakiness and broken dependencies
     - cron: '03 3 * * *'
@@ -11,5 +14,6 @@ jobs:
   source:
     uses: ./.github/workflows/reusable-ros-tooling-source-build.yml
     with:
-      ros_distro: galactic
-      ref: galactic
+      ros_distro: humble
+      ref: master
+      ros2_repo_branch: master-humble
diff --git a/.github/workflows/reusable-industrial-ci-with-cache.yml b/.github/workflows/reusable-industrial-ci-with-cache.yml
index 57ea222979..0ff359d091 100644
--- a/.github/workflows/reusable-industrial-ci-with-cache.yml
+++ b/.github/workflows/reusable-industrial-ci-with-cache.yml
@@ -20,8 +20,8 @@ on:
         required: true
         type: string
       ros_repo:
-        description: 'ROS_REPO to run for industrial_ci. Possible values: "all", "main", "testing"'
-        default: 'all'
+        description: 'ROS_REPO to run for industrial_ci. Possible values: "main", "testing"'
+        default: 'main'
         required: false
         type: string
       os_code_name:
@@ -49,27 +49,23 @@ on:
 
 jobs:
   reusable_industrial_ci_with_cache:
-    name: ${{ inputs.os_code_name }} ${{ matrix.ROS_REPO }} ${{ inputs.ros_distro }}
-    strategy:
-      fail-fast: false
-      matrix:
-        ROS_REPO: [ main, testing ]
+    name: ${{ inputs.ros_distro }} ${{ inputs.ros_repo }} ${{ inputs.os_code_name }}
     runs-on: ubuntu-latest
     env:
       CCACHE_DIR: ${{ github.workspace }}/${{ inputs.ccache_dir }}
       BASEDIR: ${{ github.workspace }}/${{ inputs.basedir }}
-      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ matrix.ROS_REPO }}-${{ github.job }}
+      CACHE_PREFIX: ${{ inputs.ros_distro }}-${{ inputs.os_code_name }}-${{ inputs.ros_repo }}-${{ github.job }}
     steps:
       - name: Checkout ${{ inputs.ref }} when build is not scheduled
-        if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name != 'schedule' }}
+        if: ${{ github.event_name != 'schedule' }}
         uses: actions/checkout@v3
       - name: Checkout ${{ inputs.ref }} on scheduled build
-        if: ${{ (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) && github.event_name == 'schedule' }}
+        if: ${{ github.event_name == 'schedule' }}
         uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref_for_scheduled_build }}
       - name: cache target_ws
-        if: ${{ ! matrix.env.CCOV && (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
+        if: ${{ ! matrix.env.CCOV }}
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.BASEDIR }}/target_ws
@@ -77,7 +73,6 @@ jobs:
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        if: ${{ inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO }}
         uses: pat-s/always-upload-cache@v2.1.5
         with:
           path: ${{ env.CCACHE_DIR }}
@@ -85,22 +80,17 @@ jobs:
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
-      - if: ${{ inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO }}
-        uses: 'ros-industrial/industrial_ci@master'
+      - uses: 'ros-industrial/industrial_ci@master'
         env:
           UPSTREAM_WORKSPACE: ${{ inputs.upstream_workspace }}
           ROS_DISTRO: ${{ inputs.ros_distro }}
-          ROS_REPO: ${{ matrix.ROS_REPO }}
+          ROS_REPO: ${{ inputs.ros_repo }}
           OS_CODE_NAME: ${{ inputs.os_code_name }}
           BEFORE_INSTALL_UPSTREAM_DEPENDENCIES: ${{ inputs.before_install_upstream_dependencies }}
       - name: prepare target_ws for cache
-        if: ${{ always() && ! matrix.env.CCOV && (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
+        if: ${{ always() && ! matrix.env.CCOV }}
         run: |
           du -sh ${{ env.BASEDIR }}/target_ws
           sudo find ${{ env.BASEDIR }}/target_ws -wholename '*/test_results/*' -delete
           sudo rm -rf ${{ env.BASEDIR }}/target_ws/src
           du -sh ${{ env.BASEDIR }}/target_ws
-      - name: Is job skipped?
-        if: ${{ ! (inputs.ros_repo == 'all' || inputs.ros_repo == matrix.ROS_REPO) }}
-        run: |
-          echo "This job is skpped!"
diff --git a/.github/workflows/reusable-ros-tooling-source-build.yml b/.github/workflows/reusable-ros-tooling-source-build.yml
index 287809991d..2ad549b0f8 100644
--- a/.github/workflows/reusable-ros-tooling-source-build.yml
+++ b/.github/workflows/reusable-ros-tooling-source-build.yml
@@ -13,41 +13,37 @@ on:
         description: 'Reference on which the repo should be checkout. Usually is this name of a branch or a tag.'
         required: true
         type: string
+      ros2_repo_branch:
+        description: 'Branch in the ros2/ros2 repozitory from which ".repos" should be used. Possible values: master (Rolling), humble, galactic, foxy.'
+        default: 'master'
+        required: false
+        type: string
 
 jobs:
   reusable_ros_tooling_source_build:
-    name: ${{ inputs.ros_distro }} ubuntu-20.04
-    runs-on: ubuntu-20.04
+    name: ${{ inputs.ros_distro }} ubuntu-22.04
+    runs-on: ubuntu-22.04
     strategy:
       fail-fast: false
     steps:
-      - uses: ros-tooling/setup-ros@v0.3
+      - uses: ros-tooling/setup-ros@0.3.4
         with:
           required-ros-distributions: ${{ inputs.ros_distro }}
       - uses: actions/checkout@v3
         with:
           ref: ${{ inputs.ref }}
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@0.2.6
         with:
           target-ros2-distro: ${{ inputs.ros_distro }}
           # build all packages listed in the meta package
           package-name:
             diff_drive_controller
-            effort_controllers
-            force_torque_sensor_broadcaster
-            forward_command_controller
-            joint_state_broadcaster
-            joint_trajectory_controller
-            gripper_controllers
-            position_controllers
-            ros2_controllers
-            ros2_controllers_test_nodes
-            velocity_controllers
+
           vcs-repo-file-url: |
-            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ref }}/ros2.repos
+            https://raw.githubusercontent.com/ros2/ros2/${{ inputs.ros2_repo_branch }}/ros2.repos
             https://raw.githubusercontent.com/${{ github.repository }}/${{ github.sha }}/ros2_controllers.${{ inputs.ros_distro }}.repos?token=${{ secrets.GITHUB_TOKEN }}
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
       - uses: actions/upload-artifact@v1
         with:
-          name: colcon-logs-ubuntu-20.04
+          name: colcon-logs-ubuntu-22.04
           path: ros_ws/log
diff --git a/.github/workflows/rolling-abi-compatibility.yml b/.github/workflows/rolling-abi-compatibility.yml
index 1b327f58fb..4589e92e3b 100644
--- a/.github/workflows/rolling-abi-compatibility.yml
+++ b/.github/workflows/rolling-abi-compatibility.yml
@@ -1,5 +1,8 @@
-name: ABI Compatibility Check
+name: Rolling - ABI Compatibility Check
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
diff --git a/.github/workflows/rolling-binary-build.yml b/.github/workflows/rolling-binary-build-main.yml
similarity index 60%
rename from .github/workflows/rolling-binary-build.yml
rename to .github/workflows/rolling-binary-build-main.yml
index 7e0a2e04d6..b51bbabe29 100644
--- a/.github/workflows/rolling-binary-build.yml
+++ b/.github/workflows/rolling-binary-build-main.yml
@@ -1,7 +1,11 @@
-name: Rolling Binary Build
-# Build & test all dependencies from released (binary) packages.
+name: Rolling Binary Build - main
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -10,12 +14,13 @@ on:
       - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '08 18 * * *'
+    - cron: '03 1 * * *'
 
 jobs:
   binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: main
       upstream_workspace: ros2_controllers-not-released.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-binary-build-testing.yml b/.github/workflows/rolling-binary-build-testing.yml
new file mode 100644
index 0000000000..a1db89b8d9
--- /dev/null
+++ b/.github/workflows/rolling-binary-build-testing.yml
@@ -0,0 +1,26 @@
+name: Rolling Binary Build - testing
+# author: Denis Štogl <denis@stoglrobotics.de>
+# description: 'Build & test all dependencies from released (binary) packages.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '03 1 * * *'
+
+jobs:
+  binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_controllers-not-released.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-rhel-binary-build.yml b/.github/workflows/rolling-rhel-binary-build.yml
index 62197a2db9..e85b439411 100644
--- a/.github/workflows/rolling-rhel-binary-build.yml
+++ b/.github/workflows/rolling-rhel-binary-build.yml
@@ -1,5 +1,8 @@
 name: Rolling RHEL Binary Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -12,20 +15,19 @@ on:
 
 
 jobs:
-# TODO(andyz): disabled because it started failing at the transition to Humble
-#  rolling_rhel_binary:
-#    name: Rolling RHEL binary build
-#    runs-on: ubuntu-latest
-#    env:
-#      ROS_DISTRO: rolling
-#    container: jaronl/ros:rolling-alma
-#    steps:
-#      - uses: actions/checkout@v3
-#        with:
-#          path: src/ros2_controllers
-#      - run: |
-#          rosdep update
-#          rosdep install -iy --from-path src/ros2_controllers
-#          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
-#          colcon build
-#          colcon test
+  rolling_rhel_binary:
+    name: Rolling RHEL binary build
+    runs-on: ubuntu-latest
+    env:
+      ROS_DISTRO: rolling
+    container: jaronl/ros:rolling-alma
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          path: src/ros2_controllers
+      - run: |
+          rosdep update
+          rosdep install -iy --from-path src/ros2_controllers
+          source /opt/ros/${{ env.ROS_DISTRO }}/setup.bash
+          colcon build
+          colcon test
diff --git a/.github/workflows/rolling-semi-binary-build.yml b/.github/workflows/rolling-semi-binary-build-main.yml
similarity index 64%
rename from .github/workflows/rolling-semi-binary-build.yml
rename to .github/workflows/rolling-semi-binary-build-main.yml
index 25666c0b0c..eca9483438 100644
--- a/.github/workflows/rolling-semi-binary-build.yml
+++ b/.github/workflows/rolling-semi-binary-build-main.yml
@@ -1,7 +1,10 @@
-name: Rolling Semi-Binary Build
-# Build & test that compiles the main dependencies from source.
+name: Rolling Semi-Binary Build - main
+# description: 'Build & test that compiles the main dependencies from source.'
 
 on:
+  workflow_dispatch:
+    branches:
+      - master
   pull_request:
     branches:
       - master
@@ -10,12 +13,13 @@ on:
       - master
   schedule:
     # Run every morning to detect flakiness and broken dependencies
-    - cron: '13 18 * * *'
+    - cron: '33 1 * * *'
 
 jobs:
   semi_binary:
     uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
     with:
       ros_distro: rolling
+      ros_repo: main
       upstream_workspace: ros2_controllers.rolling.repos
       ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-semi-binary-build-testing.yml b/.github/workflows/rolling-semi-binary-build-testing.yml
new file mode 100644
index 0000000000..62214adae9
--- /dev/null
+++ b/.github/workflows/rolling-semi-binary-build-testing.yml
@@ -0,0 +1,25 @@
+name: Rolling Semi-Binary Build - testing
+# description: 'Build & test that compiles the main dependencies from source.'
+
+on:
+  workflow_dispatch:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+  push:
+    branches:
+      - master
+  schedule:
+    # Run every morning to detect flakiness and broken dependencies
+    - cron: '33 1 * * *'
+
+jobs:
+  semi_binary:
+    uses: ./.github/workflows/reusable-industrial-ci-with-cache.yml
+    with:
+      ros_distro: rolling
+      ros_repo: testing
+      upstream_workspace: ros2_controllers.rolling.repos
+      ref_for_scheduled_build: master
diff --git a/.github/workflows/rolling-source-build.yml b/.github/workflows/rolling-source-build.yml
index 0a0ae8de43..1a137a795b 100644
--- a/.github/workflows/rolling-source-build.yml
+++ b/.github/workflows/rolling-source-build.yml
@@ -1,5 +1,8 @@
 name: Rolling Source Build
 on:
+  workflow_dispatch:
+    branches:
+      - master
   push:
     branches:
       - master
@@ -13,3 +16,4 @@ jobs:
     with:
       ros_distro: rolling
       ref: master
+      ros2_repo_branch: master-rolling
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index ba3dd242ac..fa8d75100e 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.3.0
     hooks:
       - id: check-added-large-files
       - id: check-ast
@@ -33,24 +33,29 @@ repos:
 
   # Python hooks
   - repo: https://github.com/asottile/pyupgrade
-    rev: v2.31.1
+    rev: v2.37.3
     hooks:
-      - id: pyupgrade
+    -   id: pyupgrade
         args: [--py36-plus]
 
+  - repo: https://github.com/psf/black
+    rev: 22.6.0
+    hooks:
+      - id: black
+        args: ["--line-length=99"]
+
   # PEP 257
   - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
     rev: v0.3.3
     hooks:
-      - id: pep257
-        args:
-          ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+    - id: pep257
+      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
-    rev: 4.0.1
+    rev: 5.0.4
     hooks:
-      - id: flake8
-        args: ["--ignore=E501"]
+    - id: flake8
+      args: ["--ignore=E501"]
 
   # CPP hooks
   - repo: local
@@ -58,10 +63,16 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-11
+        entry: clang-format-12
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
-        args: ["-fallback-style=none", "-i"]
+        args: ['-fallback-style=none', '-i']
+  # The same options as in ament_cppcheck are used, but its not working...
+  #- repo: https://github.com/pocc/pre-commit-hooks
+    #rev: v1.1.1
+    #hooks:
+      #- id: cppcheck
+        #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
 
   - repo: local
     hooks:
@@ -108,10 +119,10 @@ repos:
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8
-    rev: 0.10.1
+    rev: v1.0.0
     hooks:
       - id: doc8
-        args: ["--max-line-length=100", "--ignore=D001"]
+        args: ['--max-line-length=100', '--ignore=D001']
         exclude: CHANGELOG\.rst$
 
   - repo: https://github.com/pre-commit/pygrep-hooks
@@ -128,5 +139,5 @@ repos:
     rev: v2.1.0
     hooks:
       - id: codespell
-        args: ["--write-changes"]
-        exclude: CHANGELOG\.rst|\.(svg|pyc)$
+        args: ['--write-changes']
+        exclude: CHANGELOG\.rst|\.(svg|pyc|drawio)$
diff --git a/README.md b/README.md
index d7aa74a173..6a59d0054e 100644
--- a/README.md
+++ b/README.md
@@ -6,11 +6,10 @@ Commonly used and generalized controllers for ros2-control framework that are re
 
 ROS2 Distro | Branch | Build status | Documentation | Released packages
 :---------: | :----: | :----------: | :-----------: | :---------------:
-**Rolling** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-source-build.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
-**Rolling - last Focal** | [`master`](https://github.com/ros-controls/ros2_controllers/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-last-focal.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-last-focal.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-last-focal.yml?branch=master) | [Documentation](https://control.ros.org) <br /> [API Reference](https://control.ros.org/rolling/api/) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
-**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_controllers/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build.yml?branch=galactic) <br /> [![Galactic Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-source-build.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-source-build.yml?branch=galactic) | [Documentation](https://control.ros.org/galactic/) <br /> [API Reference](https://control.ros.org/galactic/api/) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#galactic)
-**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_controllers/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build.yml?branch=foxy) <br /> [![Foxy Source Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-source-build.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-source-build.yml?branch=foxy) | [Documentation](https://control.ros.org/foxy/) <br /> [API Reference](https://control.ros.org/foxy/api/) | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#foxy)
-
+**Rolling** | [`rolling`](https://github.com/ros-controls/ros2_controllers/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-binary-build-main.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/rolling-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#rolling)
+**Humble** | [`humble`](https://github.com/ros-controls/ros2_controllers/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-binary-build-main.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml/badge.svg?branch=master)](https://github.com/ros-controls/ros2_controllers/actions/workflows/humble-semi-binary-build-main.yml?branch=master) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#humble)
+**Galactic** | [`galactic`](https://github.com/ros-controls/ros2_controllers/tree/galactic) | [![Galactic Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-binary-build-main.yml?branch=galactic) <br /> [![Galactic Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml/badge.svg?branch=galactic)](https://github.com/ros-controls/ros2_controllers/actions/workflows/galactic-semi-binary-build-main.yml?branch=galactic) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#galactic)
+**Foxy** | [`foxy`](https://github.com/ros-controls/ros2_controllers/tree/foxy) | [![Foxy Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-binary-build-main.yml?branch=foxy) <br /> [![Foxy Semi-Binary Build](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml/badge.svg?branch=foxy)](https://github.com/ros-controls/ros2_controllers/actions/workflows/foxy-semi-binary-build-main.yml?branch=foxy) |  | [ros2_controllers](https://index.ros.org/p/ros2_controllers/#foxy)
 
 ### Explanation of different build types
 
@@ -25,8 +24,6 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
 
    Uses repos file: `src/$NAME$/$NAME$.repos`
 
-1. Source build - also core ROS packages are build from source. It shows potential issues in the mid future.
-
 
 ## Acknowledgements
 
diff --git a/ros2_controllers-not-released.foxy.repos b/ros2_controllers-not-released.foxy.repos
index 56f46b6f79..1b3910e7e7 100644
--- a/ros2_controllers-not-released.foxy.repos
+++ b/ros2_controllers-not-released.foxy.repos
@@ -1 +1,6 @@
 repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/ros2_controllers-not-released.galactic.repos b/ros2_controllers-not-released.galactic.repos
index 56f46b6f79..1b3910e7e7 100644
--- a/ros2_controllers-not-released.galactic.repos
+++ b/ros2_controllers-not-released.galactic.repos
@@ -1 +1,6 @@
 repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/ros2_controllers-not-released.humble.repos b/ros2_controllers-not-released.humble.repos
new file mode 100644
index 0000000000..1b3910e7e7
--- /dev/null
+++ b/ros2_controllers-not-released.humble.repos
@@ -0,0 +1,6 @@
+repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/ros2_controllers-not-released.rolling.repos b/ros2_controllers-not-released.rolling.repos
index 56f46b6f79..1b3910e7e7 100644
--- a/ros2_controllers-not-released.rolling.repos
+++ b/ros2_controllers-not-released.rolling.repos
@@ -1 +1,6 @@
 repositories:
+  ## EXAMPLE DEPENDENCY
+#   <some_ros_package>:
+#     type: git
+#     url: git@github.com:<some_github_namespace>/<some_ros_package>.git
+#     version: master
diff --git a/ros2_controllers.humble.repos b/ros2_controllers.humble.repos
new file mode 100644
index 0000000000..3a667e7d9a
--- /dev/null
+++ b/ros2_controllers.humble.repos
@@ -0,0 +1,13 @@
+repositories:
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: master
+  control_msgs:
+    type: git
+    url: https://github.com/ros-controls/control_msgs.git
+    version: galactic-devel
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: master
diff --git a/ros2_controllers.rolling.repos b/ros2_controllers.rolling.repos
index 5b2339a137..3a667e7d9a 100644
--- a/ros2_controllers.rolling.repos
+++ b/ros2_controllers.rolling.repos
@@ -1,17 +1,13 @@
 repositories:
-  ros-controls/ros2_control:
+  ros2_control:
     type: git
     url: https://github.com/ros-controls/ros2_control.git
     version: master
   control_msgs:
     type: git
     url: https://github.com/ros-controls/control_msgs.git
-    version: foxy-devel
+    version: galactic-devel
   realtime_tools:
     type: git
     url: https://github.com/ros-controls/realtime_tools.git
-    version: foxy-devel
-  angles:
-    type: git
-    url: https://github.com/ros/angles.git
-    version: ros2
+    version: master