lbr-stack · thomaskroi1996 · Nov 18, 2025 · Nov 21, 2025 · Nov 21, 2025 · Nov 21, 2025
diff --git a/.github/workflows/backport.yaml b/.github/workflows/backport.yaml
@@ -30,5 +30,5 @@ jobs:
         uses: korthout/backport-action@v3
         with:
           label_pattern: ""
-          target_branches: humble
+          target_branches: jazzy
           merge_commits: skip
diff --git a/.github/workflows/build-ubuntu-24.04-fri-1.11.yml b/.github/workflows/build-ubuntu-24.04-fri-1.11.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-1.11
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build-ubuntu-24.04-fri-1.14.yml b/.github/workflows/build-ubuntu-24.04-fri-1.14.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-1.14
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build-ubuntu-24.04-fri-1.15.yml b/.github/workflows/build-ubuntu-24.04-fri-1.15.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-1.15
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build-ubuntu-24.04-fri-1.16.yml b/.github/workflows/build-ubuntu-24.04-fri-1.16.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-1.16
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build-ubuntu-24.04-fri-2.5.yml b/.github/workflows/build-ubuntu-24.04-fri-2.5.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-2.5
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build-ubuntu-24.04-fri-2.7.yml b/.github/workflows/build-ubuntu-24.04-fri-2.7.yml
@@ -2,7 +2,7 @@ name: ubuntu-24.04-fri-2.7
 on:
   pull_request:
     branches:
-      - rolling
+      - jazzy
   workflow_dispatch:
   schedule:
     - cron: "0 0 * * 0"

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -17,8 +17,8 @@ jobs:
     runs-on: ${{ inputs.os }}
     steps:
       - uses: ros-tooling/setup-ros@v0.7
-      - uses: ros-tooling/action-ros-ci@v0.2
+      - uses: ros-tooling/action-ros-ci@v0.4
         with:
           package-name: lbr_fri_ros2_stack
-          target-ros2-distro: rolling
-          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/repos-fri-${{ inputs.fri_version }}.yaml
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -1,20 +1,78 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 Changelog for package LBR FRI ROS 2 Stack
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Jazzy v2.3.0 (2025-11-17)
+Jazzy v2.4.3 (2025-12-09)
+--------------------------
+* ``lbr_bringup``: Switched to declarative launch files and removed mixins from launch files: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/338
+
+Jazzy v2.4.2 (2025-12-08)
+--------------------------
+* ``lbr_description``: Added ``joint_limits_path`` argument to ``xacro`` files (defaults to KUKA values and user will currently need a custom launch file to configure): https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/333
+
+Jazzy v2.4.1 (2025-12-08)
+--------------------------
+* ``lbr_bringup``: Run a single ``controller_manager`` ``spawner`` for all controllers: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/329
+
+Jazzy v2.4.0 (2025-12-06)
+--------------------------
+This release removes the asynchronous force-torque estimation from the system interface (introduced in https://github.com/lbr-stack/lbr_fri_ros2_stack/releases/tag/humble-v2.2.0)
+and instead provides a synchronous estimation in the form of a chainable ROS 2 controller. It further adds some controller updates, API fixes, and safety improvements. 
+
+* ``lbr_bringup``: Added new chainable wrench interface controller to ``hardware.launch.py`` and added launch event handler for preceeding controllers 
+* ``lbr_demos``: Updated topics ``/lbr/state`` -> ``/lbr/lbr_state``
+* ``lbr_description``:
+
+  * Removed now redundant ``estimated_ft_sensor`` from ``lbr_system_config.yaml`` and removed thus unused ``hardware`` prefix
+  * Removed all ``hardware`` specifiers from ``lbr_system_interface.xacro``
+* ``lbr_fri_ros2``:
+
+  * Removed now redundant asynchronous ``lbr_fri_ros2::FTEstimator`` worker (also removed from ``lbr_ros2_control::SystemInterface``)
+  * Renamed ``lbr_fri_ros::FTEstimatorImpl`` -> ``lbr_fri_ros2::WrenchEstimator``
+  * Fixed twist clamping bug: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/313
+* ``lbr_ros2_control``:
+
+  * Changes to ``lbr_ros2_control::SystemInterface``:
+
+    * Removed force-torque estimation from ``lbr_ros2_control::SystemInterface``
+    * Exit ``on_activate`` in ``lbr_ros2_control::SystemInterface`` with error on ``IDLE``: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/321
+  * Changes to controllers:  
+
+    * ``lbr_ros2_control::EstimatedWrenchInterface``: Added new chainable controller for synchronous force-torque estimation and state interface
+    * ``lbr_ros2_control::TwistController``: Stop twist controller on any joint limits: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/314
+    * ``lbr_ros2_control::LBRStateBroadcaster``:
+
+      * ``/lbr/state`` -> ``/lbr/lbr_state`` consistent with https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/271
+      * Removed deprecated ``trylock()`` from ``lbr_ros2_control::LBRStateBroadcaster``: https://github.com/ros-controls/realtime_tools/pull/323
+  * ``lbr_ros2_control::AdmittanceController``:
+
+    * Fixed missing integration step in the admittance controller: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/320
+    * Added an adjustable load data safety tolerance: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/325
+    * Replaced veloctiy command filtering with force state filtering: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/327
+* Related pull requests:
+
+  * Twist clamping and ``lbr_ros2_control::TwistController`` controller updates: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/315
+  * ``lbr_ros2_control::AdmittanceController`` integration step and ``lbr_ros2_control::SystemInterface::on_activate`` exit: https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/322
+  * ``lbr_ros2_control::SystemInterface`` force-torque estimation removal (including new chainable controller): https://github.com/lbr-stack/lbr_fri_ros2_stack/pull/324
+
+Jazzy v2.3.0 (2025-11-21)
 --------------------------
 * ``lbr_fri_ros2``:
 
-    * Interfaces now default to return by value for simplicity.
-    * Added a new ``StateGuard`` that tests for load data calibration on activation in compliant control modes and shuts the connection otherwise.
+  * Interfaces now default to return by value for simplicity.
+  * Added a new ``StateGuard`` that tests for load data calibration on activation in compliant control modes and shuts the connection otherwise
+  * Instead of disconnecting on ``CommandGuard`` limits, ``CommandInterfaces`` now execute a neutral command
+* ``lbr_description``:
+
+  * Updated joint limits (upper / lower) to be 1 degree stricter to avoid hardware limits.
+  * Added ``safety_controller`` tag to URDF files. Note, in Jazzy this is only utilised when ``enforce_command_limits:=true`` for the controller manager (default configured in ``lbr_controllers.yaml`` here). 
 * ``lbr_ros2_control``:
 
-  * Migrated to Jazzy following guidelines at https://control.ros.org/jazzy/doc/ros2_control/doc/migration.html#migration-of-command-stateinterfaces.
+  * Migrated to Jazzy following guidelines at https://control.ros.org/jazzy/doc/ros2_control/doc/migration.html#migration-of-command-stateinterfaces
   * Removed the default error from ``AdmittanceController`` with the introduction of load data checks. Also now supports the default ``lbr_system_config.yaml``.
-  * WARN: KUKA's Cartesian impedance controller seems quite prone to singularities, and should thus be used with caution and only in ``T1`` mode.
+  * WARN: KUKA's Cartesian impedance controller seems quite prone to singularities, and should thus be used with caution and only in ``T1`` mode
 
     * ``LBRWrenchCommandController`` (uses Cartesian impedance) is now a ``ChainableControllerInterface`` to support separate wrench and joint position commands: https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/250
-    * Future releases will chain the ``LBRTorqueCommandController``, which uses KUKA's joint impedance controller without singularity issues.
+    * Future releases will chain the ``LBRTorqueCommandController``, which uses KUKA's joint impedance controller without singularity issues
     * Topics were updated to reflect the chained controller structure:
 
       * ``/lbr/wrench`` -> ``/lbr/lbr_wrench_command``
@@ -66,10 +124,10 @@ Humble v2.1.2 (2024-10-18)
 
 Humble v2.1.1 (2024-09-27)
 --------------------------
-* Adds support for the new Gazebo and removes support for Gazebo Classic (End-of-Life January 2025, refer https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563).
+* Adds support for the new Gazebo and removes support for Gazebo Classic (End-of-Life January 2025, refer https://community.gazebosim.org/t/gazebo-classic-end-of-life/2563)
 
   * ``lbr_bringup``: Updated launch files and dependencies.
-  * ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble). 
+  * ``lbr_description``: Updated ``<gazebo>`` tag to include Gazebo plugin (see https://github.com/ros-controls/gz_ros2_control/tree/humble)
   * ``lbr_ros2_control``: Changed ``gazebo_ros2_control/GazeboSystem`` -> ``ign_ros2_control/IgnitionSystem```
 
 Humble v2.1.0 (2024-09-10)

diff --git a/CITATION.cff b/CITATION.cff
@@ -19,6 +19,6 @@ authors:
 
 
 title: "LBR-Stack: ROS 2 and Python Integration of KUKA FRI for Med and IIWA Robots"
-version: 2.3.0
+version: 2.4.3
 doi: 10.21105/joss.06138
-date-released: 2025-03-26
+date-released: 2025-12-09
diff --git a/README.md b/README.md
@@ -1,5 +1,5 @@
 # lbr_fri_ros2_stack
-[![License](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)](https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/rolling?tab=Apache-2.0-1-ov-file#readme) 
+[![License](https://img.shields.io/github/license/lbr-stack/lbr_fri_ros2_stack)](https://github.com/lbr-stack/lbr_fri_ros2_stack/tree/jazzy?tab=Apache-2.0-1-ov-file#readme) 
 [![Documentation Status](https://readthedocs.org/projects/lbr-stack/badge/?version=latest)](https://lbr-stack.readthedocs.io/en/latest/?badge=latest)
 [![JOSS](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef/status.svg)](https://joss.theoj.org/papers/c43c82bed833c02503dd47f2637192ef) 
 [![Code Style: Black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
@@ -15,24 +15,32 @@ ROS 2 packages for the KUKA LBR, including communication to the real robot via t
             <th align="left" width="25%">LBR Med 14 R820</th>
         </tr>
         <tr>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800"></td>
-            <td align="center"><img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820"></td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa7_r800.png" alt="LBR IIWA 7 R800">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/iiwa14_r820.png" alt="LBR IIWA 14 R820">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med7_r800.png" alt="LBR Med 7 R800">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/doc/img/foxglove/med14_r820.png" alt="LBR Med 14 R820">
+            </td>
         </tr>
     </table>
 </body>
 
 ## Status
 | OS             | ROS Distribution | FRI Version |  Build Status |
 | :------------- | :--------------- | :---------- |  :----------- |
-| `Ubuntu-24.04` | `rolling`         | `1.11`      |  [![ubuntu-24.04-fri-1.11](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml) |
-| `Ubuntu-24.04` | `rolling`         | `1.14`      |  [![ubuntu-24.04-fri-1.14](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml) |
-| `Ubuntu-24.04` | `rolling`         | `1.15`      |  [![ubuntu-24.04-fri-1.15](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml) |
-| `Ubuntu-24.04` | `rolling`         | `1.16`      |  [![ubuntu-24.04-fri-1.16](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml) |
-| `Ubuntu-24.04` | `rolling`         | `2.5`      |  [![ubuntu-24.04-fri-2.5](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml) |
-| `Ubuntu-24.04` | `rolling`         | `2.6`      |  [![ubuntu-24.04-fri-2.6](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml) |
-| `Ubuntu-24.04` | `rolling`         | `2.7`      |  [![ubuntu-24.04-fri-2.7](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `1.11`      |  [![ubuntu-24.04-fri-1.11](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.11.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `1.14`      |  [![ubuntu-24.04-fri-1.14](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.14.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `1.15`      |  [![ubuntu-24.04-fri-1.15](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.15.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `1.16`      |  [![ubuntu-24.04-fri-1.16](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-1.16.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `2.5`      |  [![ubuntu-24.04-fri-2.5](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `2.6`      |  [![ubuntu-24.04-fri-2.6](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.5.yml) |
+| `Ubuntu-24.04` | `jazzy`         | `2.7`      |  [![ubuntu-24.04-fri-2.7](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml/badge.svg)](https://github.com/lbr-stack/lbr_fri_ros2_stack/actions/workflows/build-ubuntu-24.04-fri-2.7.yml) |
 
 ## Documentation
 Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io/en/latest).
@@ -47,10 +55,10 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
 2. Create a workspace, clone, and install dependencies
 
     ```shell
-    source /opt/ros/rolling/setup.bash
+    source /opt/ros/jazzy/setup.bash
     export FRI_CLIENT_VERSION=1.15
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
     rosdep install --from-paths src -i -r -y
     ```
 
@@ -86,15 +94,28 @@ Full documentation available on [Read the Docs](https://lbr-stack.readthedocs.io
 Now, run the [demos](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_demos/doc/lbr_demos.html). To get started with the real robot, checkout the [Hardware Setup](https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html).
 
 ## Repositories Using This Project
-- [KUKA ROS2 controllers](https://github.com/idra-lab/kuka_lbr_control) — A repository for controlling KUKA LBR iiwa and med robots using various control algorithms.
+- [KUKA ROS 2 Controllers](https://github.com/idra-lab/kuka_lbr_control): A repository for controlling KUKA LBR IIWA and Med robots using various control algorithms.
 
-<div align="center">
-
-| Kinematics Control | Gravity compensation | Impedance Control |
-| :----------------- | :--------------------| :---------------- |
-| <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/kin.gif' width=360/> | <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/grav.gif' width=360/> | <img src='https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/imp.gif' width=360/> |
-
-</div>
+<body>
+    <table style="width:100%; table-layout:fixed;">
+        <tr>
+            <th  align="left" width="33%">Kinematics Control</th>
+            <th  align="left" width="33%">Gravity Compensation</th>
+            <th  align="left" width="33%">Impedance Control</th>
+        </tr>
+        <tr>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/kin.gif" alt="Kinematics Control">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/grav.gif" alt="Gravity Compensation">
+            </td>
+            <td align="center">
+                <img src="https://raw.githubusercontent.com/idra-lab/kuka_lbr_control/main/assets/videos/imp.gif" alt="Impedance Control">
+            </td>
+        </tr>
+    </table>
+</body>
 
 ## Citation
 If you enjoyed using this repository for your work, we would really appreciate ❤️ if you could leave a ⭐ and / or cite it, as it helps us to continue offering support.

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:rolling-ros-base-jammy
+FROM ros:jazzy-ros-base
 
 # change default shell to bash
 SHELL ["/bin/bash", "-c"]

diff --git a/docker/doc/docker.rst b/docker/doc/docker.rst
@@ -14,7 +14,7 @@ To run the ``lbr_fri_ros2_stack`` in a Docker container, follow the instructions
 
     export FRI_CLIENT_VERSION=1.15 # replace by your FRI client version
     mkdir -p lbr-stack/src && cd lbr-stack
-    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/rolling/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
+    vcs import src --input https://raw.githubusercontent.com/lbr-stack/lbr_fri_ros2_stack/jazzy/lbr_fri_ros2_stack/repos-fri-${FRI_CLIENT_VERSION}.yaml
 
 #. Install `Docker <https://docs.docker.com/engine/install/>`_:octicon:`link-external`.