diff --git a/.devcontainer/nouveau/Dockerfile b/.devcontainer/nouveau/Dockerfile
index d362c8b2..9b733eea 100644
--- a/.devcontainer/nouveau/Dockerfile
+++ b/.devcontainer/nouveau/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+FROM ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
diff --git a/.devcontainer/nvidia/Dockerfile b/.devcontainer/nvidia/Dockerfile
index 3135e7fa..9af299fe 100644
--- a/.devcontainer/nvidia/Dockerfile
+++ b/.devcontainer/nvidia/Dockerfile
@@ -1,4 +1,4 @@
-FROM ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+FROM ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop-nvidia
 
 # Install ROS dependencies
 # This is done in a previous stage, but we include it again here in case anyone wants to
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 5a8289e3..5f434bb0 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=rolling
+ARG ROS_DISTRO=jazzy
 FROM ros:$ROS_DISTRO-ros-base as ci
 
 ENV DEBIAN_FRONTEND=noninteractive
diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml
index f18588de..3783b19d 100644
--- a/.docker/compose/nouveau-desktop.yaml
+++ b/.docker/compose/nouveau-desktop.yaml
@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
+    image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml
index da240d51..ebc6777f 100644
--- a/.docker/compose/nvidia-desktop.yaml
+++ b/.docker/compose/nvidia-desktop.yaml
@@ -1,7 +1,7 @@
 version: "3"
 services:
   blue:
-    image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
+    image: ghcr.io/robotic-decision-making-lab/blue:jazzy-desktop-nvidia
     environment:
       - DISPLAY=${DISPLAY}
       - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
diff --git a/.github/workflows/ci-docs.yaml b/.github/workflows/ci-docs.yaml
index 53df3f65..0418984d 100644
--- a/.github/workflows/ci-docs.yaml
+++ b/.github/workflows/ci-docs.yaml
@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - main
-      - 33-feature-ros2-control
   pull_request:
     paths:
       - docs/**
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 8c56c7f7..a8ee2165 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -3,7 +3,7 @@ name: Check Implementation
 on:
   push:
     branches:
-      - main
+      - jazzy
   pull_request:
   workflow_dispatch:
 
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - IMAGE: jazzy-ci
+            ROS_DISTRO: jazzy
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
diff --git a/.github/workflows/docker.yaml b/.github/workflows/docker.yaml
index c93452a5..37946067 100644
--- a/.github/workflows/docker.yaml
+++ b/.github/workflows/docker.yaml
@@ -5,7 +5,7 @@ on:
     - cron: "0 17 * * 6"
   push:
     branches:
-      - main
+      - jazzy
   pull_request:
     paths:
       - .docker/**
@@ -22,7 +22,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -63,7 +63,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -111,7 +111,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
@@ -152,7 +152,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [rolling]
+        ROS_DISTRO: [jazzy]
     runs-on: ubuntu-latest
     permissions:
       packages: write
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 2024987f..cb600042 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -4,7 +4,7 @@ on:
   pull_request:
   push:
     branches:
-      - main
+      - jazzy
   workflow_dispatch:
 
 jobs:
@@ -18,7 +18,7 @@ jobs:
       - name: Setup Python
         uses: actions/setup-python@v5
         with:
-          python-version: "3.10"
+          python-version: "3.12"
 
       - name: Install clang-format-14
         run: sudo apt-get install clang-format-14
diff --git a/.ruff.toml b/.ruff.toml
index fef81564..8b967529 100644
--- a/.ruff.toml
+++ b/.ruff.toml
@@ -1 +1 @@
-target-version = "py310"
+target-version = "py312"
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3c605782..defea1f3 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,7 +4,7 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/iron/include/**",
+        "/opt/ros/jazzy/include/**",
         "/usr/include/eigen3/**",
         "/home/ros/ws_ros/**"
       ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f6d45d50..a673cf7a 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -23,13 +23,13 @@
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.10/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.10/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "python.analysis.extraPaths": [
-    "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.10/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.10/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "[python]": {