diff --git a/.circleci/config.yml b/.circleci/config.yml
index 5041d365ac8..c752c1fcd15 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -482,7 +482,7 @@ _environments:
 executors:
   release_exec:
     docker:
-      - image: ghcr.io/ros-navigation/navigation2:main
+      - image: ghcr.io/ros-navigation/navigation2:humble
     resource_class: large
     working_directory: /opt/overlay_ws
     environment:
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 77a326648db..01731dda48c 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -4,7 +4,7 @@
         "dockerfile": "../Dockerfile",
         "context": "..",
         "target": "dever",
-        "cacheFrom": "ghcr.io/ros-navigation/navigation2:main"
+        "cacheFrom": "ghcr.io/ros-navigation/navigation2:humble"
     },
     "runArgs": [
         "--name=nav2"
diff --git a/.github/mergify.yml b/.github/mergify.yml
index 9abbb04672f..f91d5df4d38 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -26,6 +26,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: backport to humble_main at reviewers discretion
+    conditions:
+      - base=main
+      - "label=backport-humble-main"
+    actions:
+      backport:
+        branches:
+          - humble_main
+
   - name: delete head branch after merge
     conditions:
       - merged
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
deleted file mode 100644
index 62645e662aa..00000000000
--- a/.github/workflows/lint.yml
+++ /dev/null
@@ -1,44 +0,0 @@
-name: Lint
-on:
-  pull_request:
-
-jobs:
-  ament_lint_general:
-    name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-latest
-    container:
-      image: rostooling/setup-ros-docker:ubuntu-noble-ros-rolling-ros-base-latest
-    strategy:
-      fail-fast: false
-      matrix:
-          linter: [xmllint, cpplint, uncrustify, pep257, flake8, mypy]
-    steps:
-    - uses: actions/checkout@v4
-
-    - name: Install typeshed for mypy
-      if: matrix.linter == 'mypy'
-      run: sudo apt update && sudo apt install -y python3-typeshed
-
-    - uses: ros-tooling/action-ros-lint@v0.1
-      with:
-        linter: ${{ matrix.linter }}
-        distribution: rolling
-        package-name: "*"
-        arguments: ${{ matrix.linter == 'mypy' && '--config tools/pyproject.toml' || '' }}
-
-  pre-commit:
-    name: pre-commit
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-      - uses: actions/setup-python@v5
-      - uses: pre-commit/action@v3.0.1
-        env:
-          SKIP: >-
-            ament_lint_cmake,
-            ament_cpplint,
-            ament_uncrustify,
-            ament_xmllint,
-            ament_flake8,
-            ament_pep257,
-            ament_mypy
diff --git a/.github/workflows/update_ci_image.yaml b/.github/workflows/update_ci_image.yaml
index fac69ee5737..8e914771645 100644
--- a/.github/workflows/update_ci_image.yaml
+++ b/.github/workflows/update_ci_image.yaml
@@ -10,6 +10,7 @@ on:
       - main
       - jazzy
       - humble
+      - humble_main
     paths:
       - '**/package.xml'
       - '**/*.repos'
diff --git a/Dockerfile b/Dockerfile
index fb3555eb8fb..0b170bf7561 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -6,7 +6,7 @@
 # docker build -t nav2:latest \
 #   --build-arg UNDERLAY_MIXINS \
 #   --build-arg OVERLAY_MIXINS ./
-ARG FROM_IMAGE=ros:rolling
+ARG FROM_IMAGE=ros:humble
 ARG UNDERLAY_WS=/opt/underlay_ws
 ARG OVERLAY_WS=/opt/overlay_ws
 
diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
index 3cb30254fa3..31d031aeafa 100644
--- a/nav2_amcl/CMakeLists.txt
+++ b/nav2_amcl/CMakeLists.txt
@@ -146,12 +146,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  set(ament_cmake_cpplint_FOUND TRUE)
-
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")
diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
index 2a4d3ad90cf..06523c85046 100644
--- a/nav2_behavior_tree/CMakeLists.txt
+++ b/nav2_behavior_tree/CMakeLists.txt
@@ -297,8 +297,6 @@ install(FILES nav2_tree_nodes.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${GENERATED_DIR}/plugins_list.hpp DESTINATION include/${PROJECT_NAME}/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_find_gtest()
diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
index 3f43b50e9b9..4a6f43b925f 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp
@@ -26,6 +26,7 @@
 
 #include "nav2_msgs/action/navigate_to_pose.hpp"
 #include "nav2_behavior_tree/bt_action_server.hpp"
+#include "nav2_util/copy_all_parameter_values.hpp"
 #include "nav2_util/node_utils.hpp"
 #include "rcl_action/action_server.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
@@ -164,7 +165,7 @@ bool BtActionServer<ActionT>::on_configure()
     node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
   nav2_util::declare_parameter_if_not_declared(
     node, "transform_tolerance", rclcpp::ParameterValue(0.1));
-  rclcpp::copy_all_parameter_values(node, client_node_);
+  nav2_util::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
   double action_server_result_timeout =
diff --git a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
index 54e3ab11e4b..87011ee1507 100644
--- a/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
+++ b/nav2_behavior_tree/plugins/decorator/goal_updater_node.cpp
@@ -38,7 +38,7 @@ GoalUpdater::GoalUpdater(
   initialize();
 
     // Spin multiple times due to rclcpp regression in Jazzy requiring a 'warm up' spin
-  callback_group_executor_.spin_all(std::chrono::milliseconds(1));
+  callback_group_executor_.spin_some();
 }
 
 void GoalUpdater::initialize()
diff --git a/nav2_behaviors/CMakeLists.txt b/nav2_behaviors/CMakeLists.txt
index d1085c038a8..4a89cac3a7e 100644
--- a/nav2_behaviors/CMakeLists.txt
+++ b/nav2_behaviors/CMakeLists.txt
@@ -201,8 +201,6 @@ install(DIRECTORY plugins/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
   find_package(rclcpp_action REQUIRED)
 
diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
index 5537046d246..3ccc3b86358 100644
--- a/nav2_bringup/CMakeLists.txt
+++ b/nav2_bringup/CMakeLists.txt
@@ -14,8 +14,6 @@ install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_package()
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
index 05f54d67d8e..858e6a9784f 100644
--- a/nav2_bringup/launch/bringup_launch.py
+++ b/nav2_bringup/launch/bringup_launch.py
@@ -21,7 +21,7 @@
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, PythonExpression
-from launch_ros.actions import Node, PushROSNamespace
+from launch_ros.actions import Node, PushRosNamespace
 from launch_ros.descriptions import ParameterFile
 from nav2_common.launch import RewrittenYaml
 
@@ -132,7 +132,7 @@ def generate_launch_description() -> LaunchDescription:
     # Specify the actions
     bringup_cmd_group = GroupAction(
         [
-            PushROSNamespace(namespace),
+            PushRosNamespace(namespace),
             Node(
                 condition=IfCondition(use_composition),
                 name='nav2_container',
diff --git a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
index 8c7d51bdfe6..669886e55c2 100644
--- a/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/cloned_multi_tb3_simulation_launch.py
@@ -20,37 +20,24 @@
 
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
-from launch.actions import (AppendEnvironmentVariable, DeclareLaunchArgument, ExecuteProcess,
-                            ForEach, GroupAction, IncludeLaunchDescription, LogInfo,
-                            OpaqueFunction, RegisterEventHandler)
+from launch.actions import (
+    AppendEnvironmentVariable,
+    DeclareLaunchArgument,
+    ExecuteProcess,
+    GroupAction,
+    IncludeLaunchDescription,
+    LogInfo,
+    OpaqueFunction,
+    RegisterEventHandler,
+)
 from launch.conditions import IfCondition
 from launch.event_handlers import OnShutdown
-from launch.launch_context import LaunchContext
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import LaunchConfiguration, TextSubstitution
-import yaml
+from nav2_common.launch import ParseMultiRobotPose
 
 
-def count_robots(context: LaunchContext) -> list[LogInfo]:
-    """Count the number of robots from the 'robots' launch argument."""
-    robots_str = LaunchConfiguration('robots').perform(context).strip()
-    log_msg = ''
-
-    if not robots_str:
-        log_msg = 'No robots provided in the launch argument.'
-
-    try:
-        robots_list = [yaml.safe_load(robot.strip()) for robot in
-                       robots_str.split(';') if robot.strip()]
-        log_msg = f'number_of_robots={len(robots_list)}'
-    except yaml.YAMLError as e:
-        log_msg = f'Error parsing the robots launch argument: {e}'
-
-    return [LogInfo(msg=[log_msg])]
-
-
-def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[GroupAction]:
-    """Generate the actions to launch a robot with the given name and pose."""
+def generate_robot_actions(context, *args, **kwargs):
     bringup_dir = get_package_share_directory('nav2_bringup')
     launch_dir = os.path.join(bringup_dir, 'launch')
     use_rviz = LaunchConfiguration('use_rviz')
@@ -61,11 +48,17 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
     graph_filepath = LaunchConfiguration('graph')
     use_robot_state_pub = LaunchConfiguration('use_robot_state_pub')
 
+    robots_substitution = ParseMultiRobotPose(LaunchConfiguration('robots'))
+    robots_list = robots_substitution.perform(context)
+
     # Define commands for launching the navigation instances
-    group = GroupAction(
+    bringup_cmd_group = []
+    for robot_name in robots_list:
+        init_pose = robots_list[robot_name]
+        group = GroupAction(
             [
                 LogInfo(
-                    msg=['Launching namespace=', name, ' init_pose=', str(pose),]
+                    msg=['Launching namespace=', robot_name, ' init_pose=', str(init_pose), ]
                 ),
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource(
@@ -73,7 +66,7 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
                     ),
                     condition=IfCondition(use_rviz),
                     launch_arguments={
-                        'namespace': TextSubstitution(text=name),
+                        'namespace': TextSubstitution(text=robot_name),
                         'rviz_config': rviz_config_file,
                     }.items(),
                 ),
@@ -82,7 +75,7 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
                         os.path.join(bringup_dir, 'launch', 'tb3_simulation_launch.py')
                     ),
                     launch_arguments={
-                        'namespace': name,
+                        'namespace': robot_name,
                         'map': map_yaml_file,
                         'graph': graph_filepath,
                         'use_sim_time': 'True',
@@ -92,33 +85,32 @@ def generate_robot_actions(name: str = '', pose: dict[str, float] = {}) -> list[
                         'use_simulator': 'False',
                         'headless': 'False',
                         'use_robot_state_pub': use_robot_state_pub,
-                        'x_pose': TextSubstitution(text=str(pose.get('x', 0.0))),
-                        'y_pose': TextSubstitution(text=str(pose.get('y', 0.0))),
-                        'z_pose': TextSubstitution(text=str(pose.get('z', 0.0))),
-                        'roll': TextSubstitution(text=str(pose.get('roll', 0.0))),
-                        'pitch': TextSubstitution(text=str(pose.get('pitch', 0.0))),
-                        'yaw': TextSubstitution(text=str(pose.get('yaw', 0.0))),
-                        'robot_name': TextSubstitution(text=name),
+                        'x_pose': TextSubstitution(text=str(init_pose['x'])),
+                        'y_pose': TextSubstitution(text=str(init_pose['y'])),
+                        'z_pose': TextSubstitution(text=str(init_pose['z'])),
+                        'roll': TextSubstitution(text=str(init_pose['roll'])),
+                        'pitch': TextSubstitution(text=str(init_pose['pitch'])),
+                        'yaw': TextSubstitution(text=str(init_pose['yaw'])),
+                        'robot_name': TextSubstitution(text=robot_name),
                     }.items(),
                 ),
             ]
         )
-    return [group]
+
+        bringup_cmd_group.append(group)
+    bringup_cmd_group.append(LogInfo(msg=['number_of_robots=', str(len(robots_list))]))
+    return bringup_cmd_group
 
 
-def generate_launch_description() -> LaunchDescription:
+def generate_launch_description():
     """
     Bring up the multi-robots with given launch arguments.
 
     Launch arguments consist of robot name(which is namespace) and pose for initialization.
     Keep general yaml format for pose information.
-
-    ex) robots:='{name: 'robot1', pose: {x: 1.0, y: 1.0, yaw: 1.5707}};
-                 {name: 'robot2', pose: {x: 1.0, y: 1.0, yaw: 1.5707}}'
-    ex) robots:='{name: 'robot3', pose: {x: 1.0, y: 1.0, z: 1.0,
-                                    roll: 0.0, pitch: 1.5707, yaw: 1.5707}};
-                 {name: 'robot4', pose: {x: 1.0, y: 1.0, z: 1.0,
-                                    roll: 0.0, pitch: 1.5707, yaw: 1.5707}}'
+    ex) robots:='robot1={x: 1.0, y: 1.0, yaw: 1.5707}; robot2={x: 1.0, y: 1.0, yaw: 1.5707}'
+    ex) robots:='robot3={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707};
+                 robot4={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}'
     """
     # Get the launch directory
     bringup_dir = get_package_share_directory('nav2_bringup')
@@ -144,10 +136,8 @@ def generate_launch_description() -> LaunchDescription:
 
     declare_robots_cmd = DeclareLaunchArgument(
         'robots',
-        default_value=(
-            "{name: 'robot1', pose: {x: 0.5, y: 0.5, yaw: 0}};"
-            "{name: 'robot2', pose: {x: -0.5, y: -0.5, z: 0, roll: 0, pitch: 0, yaw: 1.5707}}"
-        ),
+        default_value="""robot1={x: 0.5, y: 0.5, yaw: 0};
+                   robot2={x: -0.5, y: -0.5, z: 0, roll: 0, pitch: 0, yaw: 1.5707}""",
         description='Robots and their initialization poses in YAML format',
     )
 
@@ -198,7 +188,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
     )
 
@@ -208,9 +198,9 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+        'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(sim_dir)).parent.resolve()))
 
     # Create the launch description and populate
@@ -255,8 +245,6 @@ def generate_launch_description() -> LaunchDescription:
     ld.add_action(
         LogInfo(condition=IfCondition(log_settings), msg=['autostart: ', autostart])
     )
-
-    ld.add_action(OpaqueFunction(function=count_robots))
-    ld.add_action(ForEach(LaunchConfiguration('robots'), function=generate_robot_actions))
+    ld.add_action(OpaqueFunction(function=generate_robot_actions))
 
     return ld
diff --git a/nav2_bringup/launch/tb3_simulation_launch.py b/nav2_bringup/launch/tb3_simulation_launch.py
index 808580af0d4..cc40ed90c56 100644
--- a/nav2_bringup/launch/tb3_simulation_launch.py
+++ b/nav2_bringup/launch/tb3_simulation_launch.py
@@ -206,7 +206,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
     gazebo_server = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
         condition=IfCondition(use_simulator)
     )
@@ -224,7 +224,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             [use_simulator, ' and not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     gz_robot = IncludeLaunchDescription(
diff --git a/nav2_bringup/launch/tb4_simulation_launch.py b/nav2_bringup/launch/tb4_simulation_launch.py
index ba78b556ddc..f92181332bf 100644
--- a/nav2_bringup/launch/tb4_simulation_launch.py
+++ b/nav2_bringup/launch/tb4_simulation_launch.py
@@ -235,7 +235,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', headless], world])
     gazebo_server = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
         condition=IfCondition(use_simulator)
     )
@@ -246,7 +246,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     gazebo_client = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -256,7 +256,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             [use_simulator, ' and not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     gz_robot = IncludeLaunchDescription(
diff --git a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
index ae5c0bb4458..4210a98f2c3 100644
--- a/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
+++ b/nav2_bringup/launch/unique_multi_tb3_simulation_launch.py
@@ -137,7 +137,7 @@ def generate_launch_description() -> LaunchDescription:
     world_sdf_xacro = ExecuteProcess(
         cmd=['xacro', '-o', world_sdf, ['headless:=', 'False'], world])
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf],
         output='screen',
     )
 
@@ -221,9 +221,9 @@ def generate_launch_description() -> LaunchDescription:
         nav_instances_cmds.append(group)
 
     set_env_vars_resources = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
+        'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models'))
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(sim_dir)).parent.resolve()))
 
     # Create the launch description and populate
diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
index 5ced439631c..c6c1ad670a0 100644
--- a/nav2_bt_navigator/CMakeLists.txt
+++ b/nav2_bt_navigator/CMakeLists.txt
@@ -122,8 +122,6 @@ install(DIRECTORY include/
 install(DIRECTORY behavior_trees DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories(include/${PROJECT_NAME})
diff --git a/nav2_collision_monitor/CMakeLists.txt b/nav2_collision_monitor/CMakeLists.txt
index b56fde855c8..ba483721f0b 100644
--- a/nav2_collision_monitor/CMakeLists.txt
+++ b/nav2_collision_monitor/CMakeLists.txt
@@ -136,12 +136,6 @@ install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY params DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_find_gtest()
diff --git a/nav2_collision_monitor/launch/collision_detector_node.launch.py b/nav2_collision_monitor/launch/collision_detector_node.launch.py
index 43714ab3607..d1e22f7e236 100644
--- a/nav2_collision_monitor/launch/collision_detector_node.launch.py
+++ b/nav2_collision_monitor/launch/collision_detector_node.launch.py
@@ -21,7 +21,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, NotEqualsSubstitution, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushRosNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode
 from nav2_common.launch import RewrittenYaml
 
@@ -87,7 +87,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
-            PushROSNamespace(
+            PushRosNamespace(
                 condition=IfCondition(
                     NotEqualsSubstitution(LaunchConfiguration('namespace'), '')
                 ),
@@ -117,7 +117,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(use_composition),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
-            PushROSNamespace(
+            PushRosNamespace(
                 condition=IfCondition(
                     NotEqualsSubstitution(LaunchConfiguration('namespace'), '')
                 ),
diff --git a/nav2_collision_monitor/launch/collision_monitor_node.launch.py b/nav2_collision_monitor/launch/collision_monitor_node.launch.py
index 5bad8f7b7d3..bdec44d921e 100644
--- a/nav2_collision_monitor/launch/collision_monitor_node.launch.py
+++ b/nav2_collision_monitor/launch/collision_monitor_node.launch.py
@@ -21,7 +21,7 @@
 from launch.actions import DeclareLaunchArgument, GroupAction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, NotEqualsSubstitution, PythonExpression
-from launch_ros.actions import LoadComposableNodes, Node, PushROSNamespace, SetParameter
+from launch_ros.actions import LoadComposableNodes, Node, PushRosNamespace, SetParameter
 from launch_ros.descriptions import ComposableNode, ParameterFile
 from nav2_common.launch import RewrittenYaml
 
@@ -90,7 +90,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(PythonExpression(['not ', use_composition])),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
-            PushROSNamespace(
+            PushRosNamespace(
                 condition=IfCondition(
                     NotEqualsSubstitution(LaunchConfiguration('namespace'), '')
                 ),
@@ -120,7 +120,7 @@ def generate_launch_description() -> LaunchDescription:
         condition=IfCondition(use_composition),
         actions=[
             SetParameter('use_sim_time', use_sim_time),
-            PushROSNamespace(
+            PushRosNamespace(
                 condition=IfCondition(
                     NotEqualsSubstitution(LaunchConfiguration('namespace'), '')
                 ),
diff --git a/nav2_collision_monitor/src/collision_detector_node.cpp b/nav2_collision_monitor/src/collision_detector_node.cpp
index 7f87bc1bb92..072795c7e6f 100644
--- a/nav2_collision_monitor/src/collision_detector_node.cpp
+++ b/nav2_collision_monitor/src/collision_detector_node.cpp
@@ -82,7 +82,7 @@ CollisionDetector::on_activate(const rclcpp_lifecycle::State & /*state*/)
   }
 
   // Creating timer
-  timer_ = this->create_timer(
+  timer_ = this->create_wall_timer(
     std::chrono::duration<double>{1.0 / frequency_},
     std::bind(&CollisionDetector::process, this));
 
diff --git a/nav2_common/nav2_common/launch/__init__.py b/nav2_common/nav2_common/launch/__init__.py
index b8eaaba2a9f..61ea85dd793 100644
--- a/nav2_common/nav2_common/launch/__init__.py
+++ b/nav2_common/nav2_common/launch/__init__.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from .has_node_params import HasNodeParams
+from .parse_multirobot_pose import ParseMultiRobotPose
 from .replace_string import ReplaceString
 from .rewritten_yaml import RewrittenYaml
 
@@ -20,4 +21,5 @@
     'HasNodeParams',
     'RewrittenYaml',
     'ReplaceString',
+    'ParseMultiRobotPose',
 ]
diff --git a/nav2_common/nav2_common/launch/parse_multirobot_pose.py b/nav2_common/nav2_common/launch/parse_multirobot_pose.py
new file mode 100644
index 00000000000..ced8352ac42
--- /dev/null
+++ b/nav2_common/nav2_common/launch/parse_multirobot_pose.py
@@ -0,0 +1,66 @@
+# Copyright (c) 2023 LG Electronics.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Dict, Text
+
+import launch
+from launch.launch_context import LaunchContext
+import yaml
+
+
+class ParseMultiRobotPose(launch.Substitution):
+    """
+    A custom substitution to parse the robots argument for multi-robot poses.
+
+    Expects input in the format:
+    robots:="robot1={x: 1.0, y: 1.0, yaw: 0.0};
+             robot2={x: 1.0, y: 1.0, z: 1.0, roll: 0.0, pitch: 1.5707, yaw: 1.5707}"`
+
+    The individual robots are separated by a `;` and each robot consists of a name and pose object.
+    The name corresponds to the namespace of the robot and name of the Gazebo object.
+    The pose consists of X, Y, Z, Roll, Pitch, Yaw each of which can be omitted in which case it is
+    inferred as 0.
+    """
+
+    def __init__(self, robots_argument: launch.SomeSubstitutionsType) -> None:
+        super().__init__()
+        self.__robots_argument = robots_argument
+
+    def describe(self) -> Text:
+        """Return a description of this substitution as a string."""
+        return ''
+
+    def perform(self, context: LaunchContext) -> Dict:
+        """Resolve and parse the robots argument string into a dictionary."""
+        robots_str = self.__robots_argument.perform(context)
+        if not robots_str:
+            return {}
+
+        multirobots = {}
+        for robot_entry in robots_str.split(';'):
+            key_val = robot_entry.strip().split('=')
+            if len(key_val) != 2:
+                continue
+
+            robot_name, pose_str = key_val[0].strip(), key_val[1].strip()
+            robot_pose = yaml.safe_load(pose_str)
+            # Set default values if not provided
+            robot_pose.setdefault('x', 0.0)
+            robot_pose.setdefault('y', 0.0)
+            robot_pose.setdefault('z', 0.0)
+            robot_pose.setdefault('roll', 0.0)
+            robot_pose.setdefault('pitch', 0.0)
+            robot_pose.setdefault('yaw', 0.0)
+            multirobots[robot_name] = robot_pose
+        return multirobots
diff --git a/nav2_constrained_smoother/CMakeLists.txt b/nav2_constrained_smoother/CMakeLists.txt
index c859303edfa..cdbddac748d 100644
--- a/nav2_constrained_smoother/CMakeLists.txt
+++ b/nav2_constrained_smoother/CMakeLists.txt
@@ -48,10 +48,6 @@ target_link_libraries(${library_name} PRIVATE
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   find_package(angles REQUIRED)
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 76725b8d47f..4919522d5b6 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -146,10 +146,6 @@ target_link_libraries(stopped_goal_checker PRIVATE
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
 
diff --git a/nav2_core/CMakeLists.txt b/nav2_core/CMakeLists.txt
index 1d0e6b724f5..1f7b64bf470 100644
--- a/nav2_core/CMakeLists.txt
+++ b/nav2_core/CMakeLists.txt
@@ -46,10 +46,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories(include/${PROJECT_NAME})
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index fc8b8071d8d..fd1755ed899 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -46,17 +46,17 @@ target_include_directories(nav2_costmap_2d_core
     "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
     "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
 )
-target_link_libraries(nav2_costmap_2d_core PUBLIC
-  ${geometry_msgs_TARGETS}
-  ${map_msgs_TARGETS}
-  ${nav_msgs_TARGETS}
-  ${nav2_msgs_TARGETS}
-  nav2_util::nav2_util_core
-  pluginlib::pluginlib
-  ${std_srvs_TARGETS}
-  tf2::tf2
-  tf2_ros::tf2_ros
-  tf2_sensor_msgs::tf2_sensor_msgs
+ament_target_dependencies(nav2_costmap_2d_core
+  geometry_msgs
+  map_msgs
+  nav_msgs
+  nav2_msgs
+  nav2_util
+  pluginlib
+  std_srvs
+  tf2
+  tf2_ros
+  tf2_sensor_msgs
 )
 
 add_library(layers SHARED
@@ -168,11 +168,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
diff --git a/nav2_costmap_2d/test/integration/dyn_params_tests.cpp b/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
index 7376af89ecf..9bb7af22ead 100644
--- a/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
+++ b/nav2_costmap_2d/test/integration/dyn_params_tests.cpp
@@ -76,8 +76,8 @@ TEST(DynParamTestNode, testDynParamsSet)
     rclcpp::Parameter("robot_base_frame", "wrong_test_frame"),
   });
 
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
-  rclcpp::spin_all(costmap->get_node_base_interface(), std::chrono::milliseconds(50));
+  rclcpp::spin_some(node->get_node_base_interface());
+  rclcpp::spin_some(costmap->get_node_base_interface());
 
   EXPECT_EQ(costmap->get_parameter("robot_radius").as_double(), 1.234);
   EXPECT_EQ(costmap->get_parameter("footprint_padding").as_double(), 2.345);
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
index 508091931b6..6e4f915adc2 100644
--- a/nav2_docking/opennav_docking/CMakeLists.txt
+++ b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -67,7 +67,7 @@ target_link_libraries(${library_name} PUBLIC
   rclcpp_lifecycle::rclcpp_lifecycle
   ${rcl_interfaces_TARGETS}
   tf2_ros::tf2_ros
-  yaml-cpp::yaml-cpp
+  yaml-cpp
 )
 target_link_libraries(${library_name} PRIVATE
   rclcpp_components::component
@@ -174,12 +174,10 @@ install(DIRECTORY test/dock_files
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_index_cpp REQUIRED)
 
-  ament_lint_auto_find_test_dependencies()
   ament_find_gtest()
   add_subdirectory(test)
 endif()
diff --git a/nav2_docking/opennav_docking/test/test_docking_server.py b/nav2_docking/opennav_docking/test/test_docking_server.py
index 06e2fa1d105..6d1a8d6db4d 100644
--- a/nav2_docking/opennav_docking/test/test_docking_server.py
+++ b/nav2_docking/opennav_docking/test/test_docking_server.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
 from math import acos, cos, sin
 import os
 import time
diff --git a/nav2_docking/opennav_docking_bt/CMakeLists.txt b/nav2_docking/opennav_docking_bt/CMakeLists.txt
index a852c4124b7..01e460e587a 100644
--- a/nav2_docking/opennav_docking_bt/CMakeLists.txt
+++ b/nav2_docking/opennav_docking_bt/CMakeLists.txt
@@ -57,9 +57,7 @@ install(DIRECTORY include/
 install(DIRECTORY behavior_trees DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_lint_auto_find_test_dependencies()
   add_subdirectory(test)
 endif()
 
diff --git a/nav2_docking/opennav_docking_core/CMakeLists.txt b/nav2_docking/opennav_docking_core/CMakeLists.txt
index 3d62476effc..702c84a8e07 100644
--- a/nav2_docking/opennav_docking_core/CMakeLists.txt
+++ b/nav2_docking/opennav_docking_core/CMakeLists.txt
@@ -33,10 +33,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories(include/${PROJECT_NAME})
diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
index 28d47ed3dd5..f6d39eaa8e4 100644
--- a/nav2_dwb_controller/costmap_queue/CMakeLists.txt
+++ b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -21,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
 
   find_package(rclcpp REQUIRED)
diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
index e689b318058..5e80caf9697 100644
--- a/nav2_dwb_controller/dwb_core/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -63,11 +63,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
 
diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
index 17833b75692..0e6f2cbeb1d 100644
--- a/nav2_dwb_controller/dwb_critics/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -65,10 +65,6 @@ install(FILES default_critics.xml
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
 
diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
index 75a00b9b7f7..142a11745b9 100644
--- a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -39,11 +39,6 @@ target_link_libraries(standard_traj_generator PRIVATE
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
 
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
index fd801fef661..4a0d05639a1 100644
--- a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -77,11 +77,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_find_gtest()
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
index e79ea8d01fc..41536430399 100644
--- a/nav2_graceful_controller/CMakeLists.txt
+++ b/nav2_graceful_controller/CMakeLists.txt
@@ -81,11 +81,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
index 85179764ee3..432a145aad5 100644
--- a/nav2_lifecycle_manager/CMakeLists.txt
+++ b/nav2_lifecycle_manager/CMakeLists.txt
@@ -71,9 +71,6 @@ install(TARGETS
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(rclcpp_lifecycle REQUIRED)
diff --git a/nav2_loopback_sim/nav2_loopback_sim/utils.py b/nav2_loopback_sim/nav2_loopback_sim/utils.py
index be3b4e73c29..c85cefab626 100644
--- a/nav2_loopback_sim/nav2_loopback_sim/utils.py
+++ b/nav2_loopback_sim/nav2_loopback_sim/utils.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-
+from __future__ import annotations
 import math
 
 from geometry_msgs.msg import Quaternion, Transform
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
index c193685363b..0da63fba591 100644
--- a/nav2_map_server/CMakeLists.txt
+++ b/nav2_map_server/CMakeLists.txt
@@ -49,7 +49,7 @@ target_link_libraries(${map_io_library_name} PUBLIC
 target_link_libraries(${map_io_library_name} PRIVATE
   ${GRAPHICSMAGICKCPP_LIBRARIES}
   tf2::tf2
-  yaml-cpp::yaml-cpp
+  yaml-cpp
 )
 
 add_library(${library_name} SHARED
@@ -71,7 +71,7 @@ target_link_libraries(${library_name} PUBLIC
 target_link_libraries(${library_name} PRIVATE
   ${lifecycle_msgs_TARGETS}
   rclcpp_components::component
-  yaml-cpp::yaml-cpp
+  yaml-cpp
 )
 
 add_executable(${map_server_executable}
@@ -156,11 +156,6 @@ install(DIRECTORY include/
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
   add_subdirectory(test)
diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
index 3f2b40688cd..4abc1e888ef 100644
--- a/nav2_mppi_controller/CMakeLists.txt
+++ b/nav2_mppi_controller/CMakeLists.txt
@@ -116,10 +116,7 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   ament_find_gtest()
 
diff --git a/nav2_mppi_controller/package.xml b/nav2_mppi_controller/package.xml
index 2ca388340cf..3ed96f7abdb 100644
--- a/nav2_mppi_controller/package.xml
+++ b/nav2_mppi_controller/package.xml
@@ -29,6 +29,7 @@
   <depend>visualization_msgs</depend>
   <depend>eigen3_cmake_module</depend>
   <depend>eigen</depend>
+  <depend>benchmark</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index 478756e2871..c57faaa6bb5 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -61,9 +61,7 @@ install(FILES global_planner_plugin.xml
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 
   ament_find_gtest()
   add_subdirectory(test)
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index a5bce30e77f..d6ad5b51842 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -72,9 +72,7 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 
   ament_find_gtest()
   add_subdirectory(test)
diff --git a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
index 91364c36bca..77af38c103f 100644
--- a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
+++ b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
@@ -61,13 +61,10 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(tf2_geometry_msgs REQUIRED)
 
+  find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
   add_subdirectory(test)
 endif()
diff --git a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp
index 7b1be9855d2..765a0e85dc0 100644
--- a/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp
+++ b/nav2_regulated_pure_pursuit_controller/include/nav2_regulated_pure_pursuit_controller/parameter_handler.hpp
@@ -93,13 +93,12 @@ class ParameterHandler
    * @brief Callback executed when a parameter change is detected
    * @param event ParameterEvent message
    */
-  void
+  rcl_interfaces::msg::SetParametersResult
   updateParametersCallback(std::vector<rclcpp::Parameter> parameters);
   rcl_interfaces::msg::SetParametersResult
   validateParameterUpdatesCallback(std::vector<rclcpp::Parameter> parameters);
   // Dynamic parameters handler
   std::mutex mutex_;
-  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
   rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
   Parameters params_;
   std::string plugin_name_;
diff --git a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
index e69a21875a4..984d3f31af6 100644
--- a/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
+++ b/nav2_regulated_pure_pursuit_controller/src/parameter_handler.cpp
@@ -189,23 +189,15 @@ ParameterHandler::ParameterHandler(
     params_.use_cost_regulated_linear_velocity_scaling = false;
   }
 
-  post_set_params_handler_ = node->add_post_set_parameters_callback(
-    std::bind(
-      &ParameterHandler::updateParametersCallback,
-      this, std::placeholders::_1));
   on_set_params_handler_ = node->add_on_set_parameters_callback(
     std::bind(
-      &ParameterHandler::validateParameterUpdatesCallback,
+      &ParameterHandler::updateParametersCallback,
       this, std::placeholders::_1));
 }
 
 ParameterHandler::~ParameterHandler()
 {
   auto node = node_.lock();
-  if (post_set_params_handler_ && node) {
-    node->remove_post_set_parameters_callback(post_set_params_handler_.get());
-  }
-  post_set_params_handler_.reset();
   if (on_set_params_handler_ && node) {
     node->remove_on_set_parameters_callback(on_set_params_handler_.get());
   }
@@ -246,18 +238,25 @@ rcl_interfaces::msg::SetParametersResult ParameterHandler::validateParameterUpda
   }
   return result;
 }
-void
+rcl_interfaces::msg::SetParametersResult
 ParameterHandler::updateParametersCallback(
   std::vector<rclcpp::Parameter> parameters)
 {
+  rcl_interfaces::msg::SetParametersResult result;
   std::lock_guard<std::mutex> lock_reinit(mutex_);
 
-  for (const auto & parameter : parameters) {
+  for (auto parameter : parameters) {
     const auto & type = parameter.get_type();
     const auto & name = parameter.get_name();
 
     if (type == ParameterType::PARAMETER_DOUBLE) {
       if (name == plugin_name_ + ".inflation_cost_scaling_factor") {
+        if (parameter.as_double() <= 0.0) {
+          RCLCPP_WARN(
+            logger_, "The value inflation_cost_scaling_factor is incorrectly set, "
+            "it should be >0. Ignoring parameter update.");
+          continue;
+        }
         params_.inflation_cost_scaling_factor = parameter.as_double();
       } else if (name == plugin_name_ + ".desired_linear_vel") {
         params_.desired_linear_vel = parameter.as_double();
@@ -313,12 +312,21 @@ ParameterHandler::updateParametersCallback(
       } else if (name == plugin_name_ + ".use_cancel_deceleration") {
         params_.use_cancel_deceleration = parameter.as_bool();
       } else if (name == plugin_name_ + ".allow_reversing") {
+        if (params_.use_rotate_to_heading && parameter.as_bool()) {
+          RCLCPP_WARN(
+            logger_, "Both use_rotate_to_heading and allow_reversing "
+            "parameter cannot be set to true. Rejecting parameter update.");
+          continue;
+        }
         params_.allow_reversing = parameter.as_bool();
       } else if (name == plugin_name_ + ".interpolate_curvature_after_goal") {
         params_.interpolate_curvature_after_goal = parameter.as_bool();
       }
     }
   }
+
+  result.successful = true;
+  return result;
 }
 
 }  // namespace nav2_regulated_pure_pursuit_controller
diff --git a/nav2_rotation_shim_controller/CMakeLists.txt b/nav2_rotation_shim_controller/CMakeLists.txt
index fafa98863c1..72ef7ec2501 100644
--- a/nav2_rotation_shim_controller/CMakeLists.txt
+++ b/nav2_rotation_shim_controller/CMakeLists.txt
@@ -55,11 +55,8 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
+  find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
   add_subdirectory(test)
 endif()
diff --git a/nav2_route/CMakeLists.txt b/nav2_route/CMakeLists.txt
index db7825a0c96..be868d234c2 100644
--- a/nav2_route/CMakeLists.txt
+++ b/nav2_route/CMakeLists.txt
@@ -240,10 +240,6 @@ install(DIRECTORY graphs DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY test/test_graphs DESTINATION share/${PROJECT_NAME}/test)
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
   add_subdirectory(test)
 endif()
diff --git a/nav2_route/include/nav2_route/plugins/route_operation_client.hpp b/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
index e0862ed81e2..dd2678dd166 100644
--- a/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
+++ b/nav2_route/include/nav2_route/plugins/route_operation_client.hpp
@@ -121,7 +121,7 @@ class RouteOperationClient : public RouteOperation
     // indicate the endpoint for the particular service call.
     if (!main_srv_name_.empty()) {
       main_client_ = node->create_client<SrvT>(
-        main_srv_name_, rclcpp::SystemDefaultsQoS(), callback_group_);
+        main_srv_name_, rclcpp::SystemDefaultsQoS().get_rmw_qos_profile(), callback_group_);
     }
   }
 
@@ -162,7 +162,7 @@ class RouteOperationClient : public RouteOperation
     } else {
       auto node = node_.lock();
       auto client = node->create_client<SrvT>(
-        srv_name, rclcpp::SystemDefaultsQoS(), callback_group_);
+        srv_name, rclcpp::SystemDefaultsQoS().get_rmw_qos_profile(), callback_group_);
       response = callService(client, req);
     }
 
diff --git a/nav2_route/test/test_graph_loader.cpp b/nav2_route/test/test_graph_loader.cpp
index 145d84aea3a..b1a49340518 100644
--- a/nav2_route/test/test_graph_loader.cpp
+++ b/nav2_route/test/test_graph_loader.cpp
@@ -107,8 +107,8 @@ TEST(GraphLoader, test_transformation_api)
   tf_broadcaster->sendTransform(transform);
   rclcpp::Rate(1).sleep();
   tf_broadcaster->sendTransform(transform);
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(1));
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
+  rclcpp::spin_some(node->get_node_base_interface());
+  rclcpp::spin_some(node->get_node_base_interface());
 
   graph[0].coords.frame_id = "map_test";
   EXPECT_EQ(graph[0].coords.frame_id, "map_test");
diff --git a/nav2_route/test/test_graph_saver.cpp b/nav2_route/test/test_graph_saver.cpp
index e6a3913f51a..5be1228fa4a 100644
--- a/nav2_route/test/test_graph_saver.cpp
+++ b/nav2_route/test/test_graph_saver.cpp
@@ -143,8 +143,8 @@ TEST(GraphSaver, test_transformation_api)
   tf_broadcaster->sendTransform(transform);
   rclcpp::Rate(1).sleep();
   tf_broadcaster->sendTransform(transform);
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(1));
-  rclcpp::spin_all(node->get_node_base_interface(), std::chrono::milliseconds(50));
+  rclcpp::spin_some(node->get_node_base_interface());
+  rclcpp::spin_some(node->get_node_base_interface());
 
   GraphSaver graph_saver(node, tf, frame);
   std::string file_path = "test.geojson";
diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
index 2b9e6c30c44..50612582dbc 100644
--- a/nav2_rviz_plugins/CMakeLists.txt
+++ b/nav2_rviz_plugins/CMakeLists.txt
@@ -91,7 +91,7 @@ target_link_libraries(${library_name} PUBLIC
 target_link_libraries(${library_name} PRIVATE
   ament_index_cpp::ament_index_cpp
   pluginlib::pluginlib
-  yaml-cpp::yaml-cpp
+  yaml-cpp
 )
 
 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)
@@ -117,8 +117,6 @@ install(
 install(DIRECTORY rviz launch DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 endif()
 
 ament_export_include_directories(include/${PROJECT_NAME})
diff --git a/nav2_simple_commander/launch/assisted_teleop_example_launch.py b/nav2_simple_commander/launch/assisted_teleop_example_launch.py
index 756ad7d5946..805ea288331 100644
--- a/nav2_simple_commander/launch/assisted_teleop_example_launch.py
+++ b/nav2_simple_commander/launch/assisted_teleop_example_launch.py
@@ -58,7 +58,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -66,7 +66,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -76,7 +76,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -127,7 +127,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/follow_path_example_launch.py b/nav2_simple_commander/launch/follow_path_example_launch.py
index fc205c27016..0d268c4f616 100644
--- a/nav2_simple_commander/launch/follow_path_example_launch.py
+++ b/nav2_simple_commander/launch/follow_path_example_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/inspection_demo_launch.py b/nav2_simple_commander/launch/inspection_demo_launch.py
index 01f3443cc22..8825e370b9f 100644
--- a/nav2_simple_commander/launch/inspection_demo_launch.py
+++ b/nav2_simple_commander/launch/inspection_demo_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/nav_through_poses_example_launch.py b/nav2_simple_commander/launch/nav_through_poses_example_launch.py
index c4a73c4887a..186577abde0 100644
--- a/nav2_simple_commander/launch/nav_through_poses_example_launch.py
+++ b/nav2_simple_commander/launch/nav_through_poses_example_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/nav_to_pose_example_launch.py b/nav2_simple_commander/launch/nav_to_pose_example_launch.py
index 832ed7cdce7..1eec6eb0dfb 100644
--- a/nav2_simple_commander/launch/nav_to_pose_example_launch.py
+++ b/nav2_simple_commander/launch/nav_to_pose_example_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/picking_demo_launch.py b/nav2_simple_commander/launch/picking_demo_launch.py
index 41f0180ad69..3abe1576cfa 100644
--- a/nav2_simple_commander/launch/picking_demo_launch.py
+++ b/nav2_simple_commander/launch/picking_demo_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/recoveries_example_launch.py b/nav2_simple_commander/launch/recoveries_example_launch.py
index 7c94600edfd..a655650d4c2 100644
--- a/nav2_simple_commander/launch/recoveries_example_launch.py
+++ b/nav2_simple_commander/launch/recoveries_example_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/route_example_launch.py b/nav2_simple_commander/launch/route_example_launch.py
index 8490f70556a..552e14ab4b3 100644
--- a/nav2_simple_commander/launch/route_example_launch.py
+++ b/nav2_simple_commander/launch/route_example_launch.py
@@ -61,7 +61,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -117,7 +117,7 @@ def generate_launch_description() -> LaunchDescription:
         output='screen')
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/security_demo_launch.py b/nav2_simple_commander/launch/security_demo_launch.py
index e7ae653e0f0..4963f2f6ee9 100644
--- a/nav2_simple_commander/launch/security_demo_launch.py
+++ b/nav2_simple_commander/launch/security_demo_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/launch/waypoint_follower_example_launch.py b/nav2_simple_commander/launch/waypoint_follower_example_launch.py
index 22952fc6739..57b565d54ed 100644
--- a/nav2_simple_commander/launch/waypoint_follower_example_launch.py
+++ b/nav2_simple_commander/launch/waypoint_follower_example_launch.py
@@ -57,7 +57,7 @@ def generate_launch_description() -> LaunchDescription:
         PythonLaunchDescriptionSource(
             os.path.join(get_package_share_directory('ros_gz_sim'), 'launch',
                          'gz_sim.launch.py')),
-        launch_arguments={'gz_args': ['-r -s ', world_sdf]}.items())
+        launch_arguments={'ign_args': ['-r -s ', world_sdf]}.items())
 
     remove_temp_sdf_file = RegisterEventHandler(event_handler=OnShutdown(
         on_shutdown=[
@@ -65,7 +65,7 @@ def generate_launch_description() -> LaunchDescription:
         ]))
 
     set_env_vars_resources = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             os.path.join(sim_dir, 'worlds'))
     start_gazebo_client_cmd = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -75,7 +75,7 @@ def generate_launch_description() -> LaunchDescription:
         ),
         condition=IfCondition(PythonExpression(
             ['not ', headless])),
-        launch_arguments={'gz_args': ['-v4 -g ']}.items(),
+        launch_arguments={'ign_args': ['-v4 -g ']}.items(),
     )
 
     spawn_robot_cmd = IncludeLaunchDescription(
@@ -126,7 +126,7 @@ def generate_launch_description() -> LaunchDescription:
     )
 
     set_env_vars_resources2 = AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(desc_dir)).parent.resolve()))
 
     ld = LaunchDescription()
diff --git a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
index 50fd706ec57..9327bd57c0e 100644
--- a/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
+++ b/nav2_simple_commander/nav2_simple_commander/robot_navigator.py
@@ -38,8 +38,6 @@
 from rclpy.duration import Duration as rclpyDuration
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy, QoSHistoryPolicy, QoSProfile, QoSReliabilityPolicy
-from rclpy.task import Future
-from rclpy.type_support import GetResultServiceResponse
 
 
 # Task Result enum for the result of the task being executed
@@ -77,9 +75,8 @@ def __init__(self, node_name: str = 'basic_navigator', namespace: str = '') -> N
         self.initial_pose.header.frame_id = 'map'
 
         self.goal_handle: Optional[ClientGoalHandle[Any, Any, Any]] = None
-        self.result_future: \
-            Optional[Future[GetResultServiceResponse[Any]]] = None
-        self.feedback: Any = None
+        self.result_future = None
+        self.feedback: str = ''
         self.status: Optional[int] = None
 
         # Since the route server's compute and track action server is likely
@@ -87,8 +84,7 @@ def __init__(self, node_name: str = 'basic_navigator', namespace: str = '') -> N
         # we must track its futures and feedback separately. Additionally, the
         # route tracking feedback is uniquely important to be complete and ordered
         self.route_goal_handle: Optional[ClientGoalHandle[Any, Any, Any]] = None
-        self.route_result_future: \
-            Optional[Future[GetResultServiceResponse[Any]]] = None
+        self.route_result_future = None
         self.route_feedback: list[Any] = []
 
         # Error code and messages from servers
diff --git a/nav2_simple_commander/nav2_simple_commander/utils.py b/nav2_simple_commander/nav2_simple_commander/utils.py
index 8aed7434ec5..a04896d9990 100644
--- a/nav2_simple_commander/nav2_simple_commander/utils.py
+++ b/nav2_simple_commander/nav2_simple_commander/utils.py
@@ -22,7 +22,7 @@
 
 
 def find_os_processes(name: str) -> list[tuple[str, str]]:
-    """Find all the processes that are running gz sim."""
+    """Find all the processes that are running ign gazebo."""
     ps_output = subprocess.check_output(['ps', 'aux'], text=True)
     ps_lines = ps_output.split('\n')
     gz_sim_processes = []
diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
index 4ae1a98ad9e..5f1989fbe6b 100644
--- a/nav2_smac_planner/CMakeLists.txt
+++ b/nav2_smac_planner/CMakeLists.txt
@@ -171,9 +171,6 @@ install(DIRECTORY include/
 install(DIRECTORY lattice_primitives/sample_primitives DESTINATION share/${PROJECT_NAME})
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  set(AMENT_LINT_AUTO_FILE_EXCLUDE include/nav2_smac_planner/thirdparty/robin_hood.h)
-  ament_lint_auto_find_test_dependencies()
   find_package(ament_cmake_gtest REQUIRED)
   ament_find_gtest()
   add_subdirectory(test)
diff --git a/nav2_smoother/CMakeLists.txt b/nav2_smoother/CMakeLists.txt
index 7e93a035c08..20b1a5511a6 100644
--- a/nav2_smoother/CMakeLists.txt
+++ b/nav2_smoother/CMakeLists.txt
@@ -110,10 +110,6 @@ pluginlib_export_plugin_description_file(nav2_core plugins.xml)
 
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_index_cpp REQUIRED)
diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
index 14accf51e39..55ca0ddbd82 100644
--- a/nav2_system_tests/CMakeLists.txt
+++ b/nav2_system_tests/CMakeLists.txt
@@ -10,7 +10,6 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
   find_package(ament_index_cpp REQUIRED)
-  find_package(ament_lint_auto REQUIRED)
   find_package(angles REQUIRED)
   find_package(behaviortree_cpp REQUIRED)
   find_package(geometry_msgs REQUIRED)
@@ -34,8 +33,6 @@ if(BUILD_TESTING)
   find_package(tf2_ros REQUIRED)
   find_package(visualization_msgs REQUIRED)
 
-  ament_lint_auto_find_test_dependencies()
-
   ament_find_gtest()
 
   set(local_controller_plugin_lib local_controller)
@@ -114,7 +111,6 @@ if(BUILD_TESTING)
   add_subdirectory(src/updown)
   add_subdirectory(src/waypoint_follower)
   add_subdirectory(src/route)
-  add_subdirectory(src/gps_navigation)
   add_subdirectory(src/behaviors/wait)
   add_subdirectory(src/behaviors/spin)
   add_subdirectory(src/behaviors/backup)
diff --git a/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py b/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py
index 3a934d0b6eb..14e3737c710 100755
--- a/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py
+++ b/nav2_system_tests/src/behaviors/assisted_teleop/test_assisted_teleop_behavior_launch.py
@@ -58,14 +58,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py b/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py
index 291dbb4b836..eb5b5a07e76 100755
--- a/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py
+++ b/nav2_system_tests/src/behaviors/backup/test_backup_behavior.launch.py
@@ -58,14 +58,14 @@ def generate_launch_description() -> LaunchDescription:
             ),
             # Simulation for odometry
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py
index 016d9ef163f..d635adf9539 100755
--- a/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py
+++ b/nav2_system_tests/src/behaviors/drive_on_heading/test_drive_on_heading_behavior.launch.py
@@ -58,14 +58,14 @@ def generate_launch_description() -> LaunchDescription:
             ),
             # Simulation for odometry
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py b/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py
index cadef8c367a..5c48acad34f 100755
--- a/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py
+++ b/nav2_system_tests/src/behaviors/spin/test_spin_behavior.launch.py
@@ -58,14 +58,14 @@ def generate_launch_description() -> LaunchDescription:
             ),
             # Simulation for odometry
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py b/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py
index 2efe32f7662..c2956735ae3 100755
--- a/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py
+++ b/nav2_system_tests/src/behaviors/wait/test_wait_behavior_launch.py
@@ -61,17 +61,17 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
                     os.path.join(ros_gz_sim_dir, 'launch', 'gz_sim.launch.py')
                 ),
-                launch_arguments={'gz_args': ['-r -s ', world_sdf_xacro]}.items(),
+                launch_arguments={'ign_args': ['-r -s ', world_sdf_xacro]}.items(),
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
@@ -128,7 +128,7 @@ def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
     ls = LaunchService(argv=argv)
     ls.include_launch_description(ld)
     return_code = lts.run(ls)
-    kill_os_processes('gz sim')
+    kill_os_processes('ign gazebo')
     return return_code
 
 
diff --git a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
index b9ccee55d04..cf2eedb5623 100755
--- a/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
+++ b/nav2_system_tests/src/costmap_filters/test_keepout_launch.py
@@ -75,14 +75,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             # Launch gazebo server for simulation
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/costmap_filters/test_speed_launch.py b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
index 8746c7c7266..dae001a4603 100755
--- a/nav2_system_tests/src/costmap_filters/test_speed_launch.py
+++ b/nav2_system_tests/src/costmap_filters/test_speed_launch.py
@@ -73,14 +73,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             # Launch gazebo server for simulation
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py
index d071eba1a6e..4b2766d25f9 100755
--- a/nav2_system_tests/src/gps_navigation/test_case_py.launch.py
+++ b/nav2_system_tests/src/gps_navigation/test_case_py.launch.py
@@ -55,14 +55,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve()),
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/localization/test_localization_launch.py b/nav2_system_tests/src/localization/test_localization_launch.py
index c573f39dd56..aa33e3e37ed 100755
--- a/nav2_system_tests/src/localization/test_localization_launch.py
+++ b/nav2_system_tests/src/localization/test_localization_launch.py
@@ -41,15 +41,15 @@ def main(argv: list[str] = sys.argv[1:]):  # type: ignore[no-untyped-def]
     map_yaml_file = os.path.join(nav2_bringup_dir, 'maps', 'tb3_sandbox.yaml')
 
     set_env_vars_resources = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+        'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
     )
     set_env_vars_resources2 = AppendEnvironmentVariable(
-        'GZ_SIM_RESOURCE_PATH',
+        'IGN_GAZEBO_RESOURCE_PATH',
         str(Path(os.path.join(sim_dir)).parent.resolve())
     )
 
     start_gazebo_server = ExecuteProcess(
-        cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+        cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
         output='screen',
     )
 
diff --git a/nav2_system_tests/src/route/test_route_launch.py b/nav2_system_tests/src/route/test_route_launch.py
index 81848d5c6ce..752470fb815 100755
--- a/nav2_system_tests/src/route/test_route_launch.py
+++ b/nav2_system_tests/src/route/test_route_launch.py
@@ -83,14 +83,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/system/test_multi_robot_launch.py b/nav2_system_tests/src/system/test_multi_robot_launch.py
index e39a6993f77..f3636eb4047 100755
--- a/nav2_system_tests/src/system/test_multi_robot_launch.py
+++ b/nav2_system_tests/src/system/test_multi_robot_launch.py
@@ -23,7 +23,7 @@
                             SetEnvironmentVariable)
 from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.substitutions import TextSubstitution
-from launch_ros.actions import Node, PushROSNamespace
+from launch_ros.actions import Node, PushRosNamespace
 from launch_testing.legacy import LaunchTestService
 
 
@@ -119,7 +119,7 @@ def generate_launch_description() -> LaunchDescription:
         group = GroupAction(
             [
                 # Instances use the robot's name for namespace
-                PushROSNamespace(robot['name']),
+                PushRosNamespace(robot['name']),
                 IncludeLaunchDescription(
                     PythonLaunchDescriptionSource(
                         os.path.join(bringup_dir, 'launch', 'bringup_launch.py')
diff --git a/nav2_system_tests/src/system/test_system_launch.py b/nav2_system_tests/src/system/test_system_launch.py
index e93efc9a646..63dcbfedea7 100755
--- a/nav2_system_tests/src/system/test_system_launch.py
+++ b/nav2_system_tests/src/system/test_system_launch.py
@@ -85,14 +85,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/system/test_system_with_obstacle_launch.py b/nav2_system_tests/src/system/test_system_with_obstacle_launch.py
index 8413da01458..41e5c66878d 100755
--- a/nav2_system_tests/src/system/test_system_with_obstacle_launch.py
+++ b/nav2_system_tests/src/system/test_system_with_obstacle_launch.py
@@ -85,14 +85,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
@@ -118,7 +118,7 @@ def generate_launch_description() -> LaunchDescription:
                     '-entity', 'cardboard_box',
                     '-file', cardbox_sdf,
                     '-x', '-1.0', '-y', '0.6', '-z', '0.15',
-                    '-R', '0.0', '-P', '0.0', '-Y', '0.0',]
+                    '-R', '0.0', '-P', '0.0', '-Y', '0.0', ]
             ),
             Node(
                 package='robot_state_publisher',
diff --git a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py
index 81ae8bd483c..76859718b7a 100755
--- a/nav2_system_tests/src/system/test_wrong_init_pose_launch.py
+++ b/nav2_system_tests/src/system/test_wrong_init_pose_launch.py
@@ -85,14 +85,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/system_failure/test_system_failure_launch.py b/nav2_system_tests/src/system_failure/test_system_failure_launch.py
index 8b8e2542c6d..46654ffac52 100755
--- a/nav2_system_tests/src/system_failure/test_system_failure_launch.py
+++ b/nav2_system_tests/src/system_failure/test_system_failure_launch.py
@@ -70,14 +70,14 @@ def generate_launch_description() -> LaunchDescription:
             SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
             # Launch gazebo server for simulation
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
             ),
             AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH',
+                'IGN_GAZEBO_RESOURCE_PATH',
                 str(Path(os.path.join(sim_dir)).parent.resolve())
             ),
             ExecuteProcess(
-                cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+                cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
                 output='screen',
             ),
             IncludeLaunchDescription(
diff --git a/nav2_system_tests/src/waypoint_follower/test_case_launch.py b/nav2_system_tests/src/waypoint_follower/test_case_launch.py
index 0c92849d806..9e5c8ccd3e6 100755
--- a/nav2_system_tests/src/waypoint_follower/test_case_launch.py
+++ b/nav2_system_tests/src/waypoint_follower/test_case_launch.py
@@ -65,14 +65,14 @@ def generate_launch_description() -> LaunchDescription:
         SetEnvironmentVariable('RCUTILS_LOGGING_BUFFERED_STREAM', '1'),
         SetEnvironmentVariable('RCUTILS_LOGGING_USE_STDOUT', '1'),
         AppendEnvironmentVariable(
-                'GZ_SIM_RESOURCE_PATH', os.path.join(sim_dir, 'models')
+                'IGN_GAZEBO_RESOURCE_PATH', os.path.join(sim_dir, 'models')
         ),
         AppendEnvironmentVariable(
-            'GZ_SIM_RESOURCE_PATH',
+            'IGN_GAZEBO_RESOURCE_PATH',
             str(Path(os.path.join(sim_dir)).parent.resolve())
         ),
         ExecuteProcess(
-            cmd=['gz', 'sim', '-r', '-s', world_sdf_xacro],
+            cmd=['ign', 'gazebo', '-r', '-s', world_sdf_xacro],
             output='screen',
         ),
         IncludeLaunchDescription(
diff --git a/nav2_theta_star_planner/CMakeLists.txt b/nav2_theta_star_planner/CMakeLists.txt
index de6778fe2ba..e91c76894d7 100644
--- a/nav2_theta_star_planner/CMakeLists.txt
+++ b/nav2_theta_star_planner/CMakeLists.txt
@@ -60,9 +60,7 @@ install(FILES theta_star_planner.xml
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   set(gtest_disable_pthreads OFF)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
 
diff --git a/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt
index 275873fe906..b926872ffda 100644
--- a/nav2_util/CMakeLists.txt
+++ b/nav2_util/CMakeLists.txt
@@ -31,11 +31,7 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_pytest REQUIRED)
-  # skip copyright linting
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   add_subdirectory(test)
diff --git a/nav2_util/include/nav2_util/copy_all_parameter_values.hpp b/nav2_util/include/nav2_util/copy_all_parameter_values.hpp
new file mode 100644
index 00000000000..95070b1b472
--- /dev/null
+++ b/nav2_util/include/nav2_util/copy_all_parameter_values.hpp
@@ -0,0 +1,82 @@
+// Copyright 2023 Open Navigation LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_UTIL__COPY_ALL_PARAMETER_VALUES_HPP_
+#define NAV2_UTIL__COPY_ALL_PARAMETER_VALUES_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rcl_interfaces/srv/list_parameters.hpp"
+#include "rcl_interfaces/msg/parameter_descriptor.hpp"
+#include "rcl_interfaces/msg/set_parameters_result.hpp"
+
+#include "rclcpp/parameter.hpp"
+#include "rclcpp/logger.hpp"
+#include "rclcpp/logging.hpp"
+
+namespace nav2_util
+{
+
+/**
+ * Copy all parameters from one source node to another destination node.
+ * May throw exceptions if parameters from source are uninitialized or undeclared.
+ * \param source Node to copy parameters from
+ * \param destination Node to copy parameters to
+ * \param override_existing_params Default false. Whether to override existing destination params
+ * if both the source and destination contain the same parameter.
+ */
+template<typename NodeT1, typename NodeT2>
+void
+copy_all_parameter_values(
+  const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false)
+{
+  using Parameters = std::vector<rclcpp::Parameter>;
+  using Descriptions = std::vector<rcl_interfaces::msg::ParameterDescriptor>;
+  auto source_params = source->get_node_parameters_interface();
+  auto dest_params = destination->get_node_parameters_interface();
+  rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger();
+
+  std::vector<std::string> param_names = source_params->list_parameters({}, 0).names;
+  Parameters params = source_params->get_parameters(param_names);
+  Descriptions descriptions = source_params->describe_parameters(param_names);
+
+  for (unsigned int idx = 0; idx != params.size(); idx++) {
+    if (!dest_params->has_parameter(params[idx].get_name())) {
+      dest_params->declare_parameter(
+        params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]);
+    } else if (override_existing_params) {
+      try {
+        rcl_interfaces::msg::SetParametersResult result =
+          dest_params->set_parameters_atomically({params[idx]});
+        if (!result.successful) {
+          // Parameter update rejected or read-only
+          RCLCPP_WARN(
+            logger,
+            "Unable to set parameter (%s): %s!",
+            params[idx].get_name().c_str(), result.reason.c_str());
+        }
+      } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) {
+        RCLCPP_WARN(
+          logger,
+          "Unable to set parameter (%s): incompatable parameter type (%s)!",
+          params[idx].get_name().c_str(), e.what());
+      }
+    }
+  }
+}
+
+}  // namespace nav2_util
+
+#endif  // NAV2_UTIL__COPY_ALL_PARAMETER_VALUES_HPP_
diff --git a/nav2_util/include/nav2_util/service_client.hpp b/nav2_util/include/nav2_util/service_client.hpp
index 5d8ffcbe99b..3de1b309be2 100644
--- a/nav2_util/include/nav2_util/service_client.hpp
+++ b/nav2_util/include/nav2_util/service_client.hpp
@@ -53,22 +53,8 @@ class ServiceClient
     // When a nullptr is passed, the client will use the default callback group
     client_ = node_->template create_client<ServiceT>(
       service_name,
-      rclcpp::SystemDefaultsQoS(),
+      rclcpp::SystemDefaultsQoS().get_rmw_qos_profile(),
       callback_group_);
-    rcl_service_introspection_state_t introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
-    if (!node_->has_parameter("service_introspection_mode")) {
-      node_->declare_parameter("service_introspection_mode", "disabled");
-    }
-    std::string service_introspection_mode =
-      node_->get_parameter("service_introspection_mode").as_string();
-    if (service_introspection_mode == "metadata") {
-      introspection_state = RCL_SERVICE_INTROSPECTION_METADATA;
-    } else if (service_introspection_mode == "contents") {
-      introspection_state = RCL_SERVICE_INTROSPECTION_CONTENTS;
-    }
-
-    this->client_->configure_introspection(
-        node_->get_clock(), rclcpp::SystemDefaultsQoS(), introspection_state);
   }
 
   using RequestType = typename ServiceT::Request;
diff --git a/nav2_util/include/nav2_util/service_server.hpp b/nav2_util/include/nav2_util/service_server.hpp
index acdc374a9ea..f4c8fa3814f 100644
--- a/nav2_util/include/nav2_util/service_server.hpp
+++ b/nav2_util/include/nav2_util/service_server.hpp
@@ -51,23 +51,8 @@ class ServiceServer
       const std::shared_ptr<RequestType> request, std::shared_ptr<ResponseType> response) {
         this->callback_(request_header, request, response);
       },
-      qos,
+      qos.get_rmw_qos_profile(),
       callback_group);
-
-    rcl_service_introspection_state_t introspection_state = RCL_SERVICE_INTROSPECTION_OFF;
-    if(!node->has_parameter("service_introspection_mode")) {
-      node->declare_parameter("service_introspection_mode", "disabled");
-    }
-    std::string service_introspection_mode =
-      node->get_parameter("service_introspection_mode").as_string();
-    if (service_introspection_mode == "metadata") {
-      introspection_state = RCL_SERVICE_INTROSPECTION_METADATA;
-    } else if (service_introspection_mode == "contents") {
-      introspection_state = RCL_SERVICE_INTROSPECTION_CONTENTS;
-    }
-
-    this->server_->configure_introspection(
-    node->get_clock(), rclcpp::SystemDefaultsQoS(), introspection_state);
   }
 
 protected:
diff --git a/nav2_util/src/CMakeLists.txt b/nav2_util/src/CMakeLists.txt
index 41261f512a5..9fe31972549 100644
--- a/nav2_util/src/CMakeLists.txt
+++ b/nav2_util/src/CMakeLists.txt
@@ -38,10 +38,10 @@ add_executable(lifecycle_bringup
 )
 target_link_libraries(lifecycle_bringup PRIVATE ${library_name} rclcpp::rclcpp)
 
-add_executable(base_footprint_publisher
-  base_footprint_publisher.cpp
-)
-target_link_libraries(base_footprint_publisher PRIVATE ${library_name} rclcpp::rclcpp ${tf2_msgs_TARGETS})
+# add_executable(base_footprint_publisher
+#   base_footprint_publisher.cpp
+# )
+# target_link_libraries(base_footprint_publisher PRIVATE ${library_name} rclcpp::rclcpp ${tf2_msgs_TARGETS})
 
 install(TARGETS
   ${library_name}
diff --git a/nav2_util/test/CMakeLists.txt b/nav2_util/test/CMakeLists.txt
index 9ba40dfe512..cb2f161a434 100644
--- a/nav2_util/test/CMakeLists.txt
+++ b/nav2_util/test/CMakeLists.txt
@@ -38,10 +38,10 @@ target_link_libraries(test_odometry_utils ${library_name} ${nav_msgs_TARGETS} ${
 ament_add_gtest(test_robot_utils test_robot_utils.cpp)
 target_link_libraries(test_robot_utils ${library_name} ${geometry_msgs_TARGETS})
 
-ament_add_gtest(test_base_footprint_publisher test_base_footprint_publisher.cpp)
-target_include_directories(test_base_footprint_publisher PRIVATE "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>")
+# ament_add_gtest(test_base_footprint_publisher test_base_footprint_publisher.cpp)
+# target_include_directories(test_base_footprint_publisher PRIVATE "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/src>")
 
-target_link_libraries(test_base_footprint_publisher ${library_name} tf2_ros::tf2_ros rclcpp::rclcpp ${geometry_msgs_TARGETS})
+# target_link_libraries(test_base_footprint_publisher ${library_name} tf2_ros::tf2_ros rclcpp::rclcpp ${geometry_msgs_TARGETS})
 
 ament_add_gtest(test_array_parser test_array_parser.cpp)
 target_link_libraries(test_array_parser ${library_name})
diff --git a/nav2_util/test/test_copy_all_parameter_values.cpp b/nav2_util/test/test_copy_all_parameter_values.cpp
new file mode 100644
index 00000000000..da4f92af2b9
--- /dev/null
+++ b/nav2_util/test/test_copy_all_parameter_values.cpp
@@ -0,0 +1,88 @@
+// Copyright 2023 Open Navigation LLC
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+#include "nav2_util/copy_all_parameter_values.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+class TestNode : public ::testing::Test
+{
+protected:
+  static void SetUpTestCase()
+  {
+    rclcpp::init(0, nullptr);
+  }
+
+  static void TearDownTestCase()
+  {
+    rclcpp::shutdown();
+  }
+};
+
+TEST_F(TestNode, TestParamCopying)
+{
+  auto node1 = std::make_shared<rclcpp::Node>("test_node1");
+  auto node2 = std::make_shared<rclcpp::Node>("test_node2");
+
+  // Tests for (1) multiple types, (2) recursion, (3) overriding values
+  node1->declare_parameter("Foo1", rclcpp::ParameterValue(std::string(("bar1"))));
+  node1->declare_parameter("Foo2", rclcpp::ParameterValue(0.123));
+  node1->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("bar"))));
+  node1->declare_parameter("Foo.bar", rclcpp::ParameterValue(std::string(("steve"))));
+  node2->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("barz2"))));
+
+  // Show Node2 is empty of Node1's parameters, but contains its own
+  EXPECT_FALSE(node2->has_parameter("Foo1"));
+  EXPECT_FALSE(node2->has_parameter("Foo2"));
+  EXPECT_FALSE(node2->has_parameter("Foo.bar"));
+  EXPECT_TRUE(node2->has_parameter("Foo"));
+  EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2"));
+
+  bool override = false;
+  nav2_util::copy_all_parameter_values(node1, node2, override);
+
+  // Test new parameters exist, of expected value, and original param is not overridden
+  EXPECT_TRUE(node2->has_parameter("Foo1"));
+  EXPECT_EQ(node2->get_parameter("Foo1").as_string(), std::string("bar1"));
+  EXPECT_TRUE(node2->has_parameter("Foo2"));
+  EXPECT_EQ(node2->get_parameter("Foo2").as_double(), 0.123);
+  EXPECT_TRUE(node2->has_parameter("Foo.bar"));
+  EXPECT_EQ(node2->get_parameter("Foo.bar").as_string(), std::string("steve"));
+  EXPECT_TRUE(node2->has_parameter("Foo"));
+  EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2"));
+
+  // Test if parameter overrides are permissible that Node2's value is overridden
+  override = true;
+  nav2_util::copy_all_parameter_values(node1, node2, override);
+  EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("bar"));
+}
+
+TEST_F(TestNode, TestParamCopyingExceptions)
+{
+  auto node1 = std::make_shared<rclcpp::Node>("test_node1");
+  auto node2 = std::make_shared<rclcpp::Node>("test_node2");
+
+  // Tests for Parameter value conflicts handled
+  node1->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("bar"))));
+  node2->declare_parameter("Foo", rclcpp::ParameterValue(0.123));
+
+  bool override = true;
+  EXPECT_NO_THROW(
+    nav2_util::copy_all_parameter_values(node1, node2, override));
+
+  // Tests for Parameter read-only handled
+  node1->declare_parameter("Foo1", rclcpp::ParameterValue(std::string(("bar"))));
+  node2->declare_parameter("Foo1", rclcpp::ParameterValue(0.123));
+  EXPECT_NO_THROW(nav2_util::copy_all_parameter_values(node1, node2, override));
+}
diff --git a/nav2_velocity_smoother/CMakeLists.txt b/nav2_velocity_smoother/CMakeLists.txt
index 7e1e3cb6b96..1433bc85205 100644
--- a/nav2_velocity_smoother/CMakeLists.txt
+++ b/nav2_velocity_smoother/CMakeLists.txt
@@ -57,10 +57,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
 
   find_package(ament_cmake_gtest REQUIRED)
   find_package(nav_msgs REQUIRED)
diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
index e204367ada8..f1b90ce1d0f 100644
--- a/nav2_voxel_grid/CMakeLists.txt
+++ b/nav2_voxel_grid/CMakeLists.txt
@@ -30,11 +30,6 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  set(ament_cmake_copyright_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-
   find_package(ament_cmake_gtest REQUIRED)
 
   ament_find_gtest()
diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt
index 7dd40fdddd8..4d4531fb40d 100644
--- a/nav2_waypoint_follower/CMakeLists.txt
+++ b/nav2_waypoint_follower/CMakeLists.txt
@@ -145,9 +145,7 @@ install(DIRECTORY include/
 )
 
 if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
   find_package(ament_cmake_gtest REQUIRED)
-  ament_lint_auto_find_test_dependencies()
 
   ament_find_gtest()
   add_subdirectory(test)
diff --git a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
index 8b5b2aaf150..3966b91fc29 100644
--- a/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
+++ b/nav2_waypoint_follower/include/nav2_waypoint_follower/plugins/photo_at_waypoint.hpp
@@ -26,7 +26,7 @@
 #include "nav2_core/waypoint_task_executor.hpp"
 #include "opencv2/core.hpp"
 #include "opencv2/opencv.hpp"
-#include "cv_bridge/cv_bridge.hpp"
+#include "cv_bridge/cv_bridge.h"
 #include "image_transport/image_transport.hpp"
 
 
diff --git a/tools/distro.Dockerfile b/tools/distro.Dockerfile
index 255d8fecfdb..eff8a616c7c 100644
--- a/tools/distro.Dockerfile
+++ b/tools/distro.Dockerfile
@@ -6,14 +6,14 @@
 #
 # Example build command:
 # export DOCKER_BUILDKIT=1
-# export FROM_IMAGE="ros:rolling"
+# export FROM_IMAGE="ros:humble"
 # export OVERLAY_MIXINS="release ccache lld"
-# docker build -t nav2:rolling \
+# docker build -t nav2:humble \
 #   --build-arg FROM_IMAGE \
 #   --build-arg OVERLAY_MIXINS \
 #   -f distro.Dockerfile ../
 
-ARG FROM_IMAGE=ros:rolling
+ARG FROM_IMAGE=ros:humble
 ARG OVERLAY_WS=/opt/overlay_ws
 
 # multi-stage for caching
diff --git a/tools/underlay.repos b/tools/underlay.repos
index 2384238ee5b..0918320f01f 100644
--- a/tools/underlay.repos
+++ b/tools/underlay.repos
@@ -2,7 +2,7 @@ repositories:
   BehaviorTree/BehaviorTree.CPP:
     type: git
     url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
-    version: 4.6.2
+    version: 4.7.0
   # ros/angles:
   #   type: git
   #   url: https://github.com/ros/angles.git
@@ -31,11 +31,15 @@ repositories:
   #   type: git
   #   url:  https://github.com/cra-ros-pkg/robot_localization.git
   #   version: ros2
-  # ros-navigation/nav2_minimal_turtlebot_simulation:
-  #   type: git
-  #   url:  https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
-  #  version: 091b5ff12436890a54de6325df3573ae110e912b
+  ros-navigation/nav2_minimal_turtlebot_simulation:
+    type: git
+    url:  https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git
+    version: main
   ros/common_interfaces:
     type: git
     url:  https://github.com/ros2/common_interfaces.git
-    version: rolling
+    version: humble
+  ros2/launch:
+    type: git
+    url:  https://github.com/ros2/launch.git
+    version: humble