diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index 213fd52dd0d54..b613be9768db2 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -10,6 +10,22 @@ release_platforms:
   ubuntu:
   - jammy
 repositories:
+  aandd_ekew_driver_py:
+    doc:
+      type: git
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py.git
+      version: humble
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py-release.git
+      version: 0.0.1-1
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py.git
+      version: humble
+    status: maintained
   acado_vendor:
     release:
       tags:
@@ -642,7 +658,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-1
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -808,6 +824,15 @@ repositories:
       version: humble
     status: maintained
   classic_bags:
+    doc:
+      type: git
+      url: https://github.com/MetroRobots/classic_bags.git
+      version: main
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/classic_bags-release.git
+      version: 0.1.0-1
     source:
       type: git
       url: https://github.com/MetroRobots/classic_bags.git
@@ -1076,7 +1101,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/crane_plus-release.git
-      version: 2.0.0-1
+      version: 2.0.1-1
     source:
       type: git
       url: https://github.com/rt-net/crane_plus.git
@@ -1280,7 +1305,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/luxonis/depthai-ros-release.git
-      version: 2.8.0-1
+      version: 2.8.1-2
     source:
       test_pull_requests: true
       type: git
@@ -1825,7 +1850,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -2215,6 +2240,15 @@ repositories:
       url: https://github.com/tier4/heaphook.git
       version: main
     status: maintained
+  hebi_cpp_api:
+    doc:
+      type: git
+      url: https://github.com/HebiRobotics/hebi_cpp_api_ros.git
+      version: ros2
+    source:
+      type: git
+      url: https://github.com/HebiRobotics/hebi_cpp_api_ros.git
+      version: ros2
   hey5_description:
     doc:
       type: git
@@ -3077,7 +3111,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/marti_common-release.git
-      version: 3.5.4-1
+      version: 3.6.1-1
     source:
       test_pull_requests: true
       type: git
@@ -3137,7 +3171,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
@@ -3157,7 +3191,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mavros-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/mavlink/mavros.git
@@ -3237,6 +3271,18 @@ repositories:
       version: main
     status: developed
   metro_nav:
+    doc:
+      type: git
+      url: https://github.com/MetroRobots/metro_nav.git
+      version: main
+    release:
+      packages:
+      - base2d_kinematics
+      - base2d_kinematics_msgs
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/metro_nav-release.git
+      version: 0.2.0-1
     source:
       type: git
       url: https://github.com/MetroRobots/metro_nav.git
@@ -3342,15 +3388,22 @@ repositories:
     release:
       packages:
       - mola_common
+      - mola_demos
+      - mola_imu_preintegration
       - mola_input_euroc_dataset
       - mola_input_kitti_dataset
+      - mola_input_rawlog
+      - mola_input_ros2
       - mola_kernel
+      - mola_launcher
+      - mola_test_datasets
+      - mola_viz
       - mola_yaml
       - mp2p_icp
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mola-release.git
-      version: 0.2.1-1
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/MOLAorg/mola.git
@@ -3404,7 +3457,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.5.4-1
+      version: 2.5.5-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -3561,7 +3614,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -3719,6 +3772,20 @@ repositories:
       url: https://github.com/nerian-vision/nerian_stereo_ros2.git
       version: master
     status: developed
+  network_interface:
+    doc:
+      type: git
+      url: https://github.com/astuff/network_interface.git
+      version: ros2_master
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/astuff/network_interface-release.git
+      version: 2003.1.1-2
+    source:
+      type: git
+      url: https://github.com/astuff/network_interface.git
+      version: ros2_master
   nlohmann_json_schema_validator_vendor:
     doc:
       type: git
@@ -5127,15 +5194,27 @@ repositories:
       version: humble
     status: maintained
   reach:
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/reach-release.git
+      version: 1.5.2-1
     source:
       type: git
       url: https://github.com/ros-industrial/reach.git
       version: master
+    status: developed
   reach_ros:
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/reach_ros2-release.git
+      version: 1.3.1-3
     source:
       type: git
       url: https://github.com/ros-industrial/reach_ros2.git
       version: master
+    status: developed
   realsense2_camera:
     doc:
       type: git
@@ -5751,7 +5830,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_control-release.git
-      version: 2.30.0-1
+      version: 2.31.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_control.git
@@ -8210,7 +8289,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ur_description-release.git
-      version: 2.1.0-1
+      version: 2.1.1-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
@@ -8276,17 +8355,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
@@ -8711,15 +8790,20 @@ repositories:
       version: master
     status: maintained
   weight_scale_interfaces:
+    doc:
+      type: git
+      url: https://github.com/TechMagicKK/weight_scale_interfaces.git
+      version: main
     release:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/TechMagicKK/weight_scale_interfaces-release.git
-      version: 0.0.1-1
+      version: 0.0.2-1
     source:
       type: git
       url: https://github.com/TechMagicKK/weight_scale_interfaces.git
       version: main
+    status: maintained
   wireless:
     doc:
       type: git
diff --git a/iron/distribution.yaml b/iron/distribution.yaml
index 3f4077ef896b2..4db1ee6df5e19 100644
--- a/iron/distribution.yaml
+++ b/iron/distribution.yaml
@@ -245,7 +245,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ament_lint-release.git
-      version: 0.14.1-2
+      version: 0.14.2-1
     source:
       test_pull_requests: true
       type: git
@@ -561,7 +561,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-1
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -704,6 +704,22 @@ repositories:
       url: https://github.com/ros/class_loader.git
       version: iron
     status: maintained
+  classic_bags:
+    doc:
+      type: git
+      url: https://github.com/MetroRobots/classic_bags.git
+      version: main
+    release:
+      tags:
+        release: release/iron/{package}/{version}
+      url: https://github.com/ros2-gbp/classic_bags-release.git
+      version: 0.1.0-1
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/MetroRobots/classic_bags.git
+      version: main
+    status: developed
   color_names:
     doc:
       type: git
@@ -938,7 +954,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/luxonis/depthai-ros-release.git
-      version: 2.7.5-1
+      version: 2.8.0-1
     source:
       test_pull_requests: true
       type: git
@@ -1451,7 +1467,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -1643,7 +1659,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/geometry2-release.git
-      version: 0.31.4-1
+      version: 0.31.5-1
     source:
       test_pull_requests: true
       type: git
@@ -1713,7 +1729,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/gps_umd-release.git
-      version: 2.0.2-1
+      version: 2.0.3-1
     source:
       test_pull_requests: true
       type: git
@@ -2575,7 +2591,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/marti_common-release.git
-      version: 3.5.4-1
+      version: 3.6.1-1
     source:
       test_pull_requests: true
       type: git
@@ -2617,7 +2633,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/mavlink/mavlink-gbp-release.git
@@ -2637,7 +2653,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mavros-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/mavlink/mavros.git
@@ -2777,15 +2793,22 @@ repositories:
     release:
       packages:
       - mola_common
+      - mola_demos
+      - mola_imu_preintegration
       - mola_input_euroc_dataset
       - mola_input_kitti_dataset
+      - mola_input_rawlog
+      - mola_input_ros2
       - mola_kernel
+      - mola_launcher
+      - mola_test_datasets
+      - mola_viz
       - mola_yaml
       - mp2p_icp
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mola-release.git
-      version: 0.2.1-1
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/MOLAorg/mola.git
@@ -2841,7 +2864,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.7.4-1
+      version: 2.8.0-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -2858,7 +2881,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_msgs-release.git
-      version: 2.2.2-1
+      version: 2.3.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_msgs.git
@@ -3009,7 +3032,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -3111,7 +3134,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/SteveMacenski/navigation2-release.git
-      version: 1.2.2-1
+      version: 1.2.2-2
     source:
       type: git
       url: https://github.com/ros-planning/navigation2.git
@@ -4200,7 +4223,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rcl-release.git
-      version: 6.0.2-1
+      version: 6.0.3-1
     source:
       test_pull_requests: true
       type: git
@@ -4300,7 +4323,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rclcpp-release.git
-      version: 21.0.2-1
+      version: 21.0.3-1
     source:
       test_pull_requests: true
       type: git
@@ -4316,7 +4339,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rclpy-release.git
-      version: 4.1.2-1
+      version: 4.1.3-1
     source:
       test_pull_requests: true
       type: git
@@ -4587,7 +4610,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rmf_ros2-release.git
-      version: 2.2.1-1
+      version: 2.2.2-1
     source:
       type: git
       url: https://github.com/open-rmf/rmf_ros2.git
@@ -4721,7 +4744,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rmf_visualization-release.git
-      version: 2.1.0-1
+      version: 2.1.1-1
     source:
       type: git
       url: https://github.com/open-rmf/rmf_visualization.git
@@ -4980,6 +5003,7 @@ repositories:
       - joint_state_broadcaster
       - joint_trajectory_controller
       - position_controllers
+      - range_sensor_broadcaster
       - ros2_controllers
       - ros2_controllers_test_nodes
       - rqt_joint_trajectory_controller
@@ -4989,7 +5013,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 3.14.0-1
+      version: 3.15.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -5147,7 +5171,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ros2cli-release.git
-      version: 0.25.2-1
+      version: 0.25.3-1
     source:
       test_pull_requests: true
       type: git
@@ -5348,7 +5372,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rosbag2-release.git
-      version: 0.22.2-1
+      version: 0.22.3-1
     source:
       test_pull_requests: true
       type: git
@@ -5491,7 +5515,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rosidl_dynamic_typesupport-release.git
-      version: 0.0.3-2
+      version: 0.0.4-1
     source:
       test_pull_requests: true
       type: git
@@ -5696,7 +5720,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rqt_bag-release.git
-      version: 1.3.3-1
+      version: 1.3.4-1
     source:
       type: git
       url: https://github.com/ros-visualization/rqt_bag.git
@@ -6130,7 +6154,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/rviz-release.git
-      version: 12.4.3-1
+      version: 12.4.4-1
     source:
       test_pull_requests: true
       type: git
@@ -6767,7 +6791,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/tinyxml2_vendor-release.git
-      version: 0.8.2-3
+      version: 0.8.3-1
     source:
       test_pull_requests: true
       type: git
@@ -6807,7 +6831,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/PickNikRobotics/topic_based_ros2_control-release.git
-      version: 0.1.1-1
+      version: 0.2.0-1
   topic_tools:
     doc:
       type: git
@@ -7098,7 +7122,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git
-      version: 1.3.2-1
+      version: 1.3.3-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
@@ -7113,7 +7137,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ur_description-release.git
-      version: 2.1.0-1
+      version: 2.1.1-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
@@ -7178,17 +7202,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
diff --git a/noetic/distribution.yaml b/noetic/distribution.yaml
index 84edfe2844ad7..d61db12a81b7e 100644
--- a/noetic/distribution.yaml
+++ b/noetic/distribution.yaml
@@ -1550,7 +1550,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/clearpath-gbp/cpr_onav_description-release.git
-      version: 0.1.6-1
+      version: 0.1.7-1
     source:
       type: git
       url: https://github.com/cpr-application/cpr_onav_description.git
@@ -1915,7 +1915,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/luxonis/depthai-ros-release.git
-      version: 2.8.0-1
+      version: 2.8.1-1
     source:
       test_pull_requests: true
       type: git
@@ -5301,7 +5301,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/mavlink/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/mavlink/mavlink-gbp-release.git
@@ -5322,7 +5322,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/mavlink/mavros-release.git
-      version: 1.16.0-1
+      version: 1.17.0-1
     source:
       test_pull_requests: true
       type: git
@@ -6164,7 +6164,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/ual-arm-ros-pkg-release/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/ual-arm-ros-pkg/mvsim.git
@@ -8476,17 +8476,23 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/ros2-gbp/reach-release.git
-      version: 1.5.1-1
+      version: 1.5.2-1
     source:
       type: git
       url: https://github.com/ros-industrial/reach.git
       version: master
     status: developed
   reach_ros:
+    release:
+      tags:
+        release: release/noetic/{package}/{version}
+      url: https://github.com/ros-industrial-release/reach_ros-release.git
+      version: 1.1.1-1
     source:
       type: git
       url: https://github.com/ros-industrial/reach_ros.git
       version: master
+    status: developed
   realsense2_camera:
     doc:
       type: git
@@ -9426,7 +9432,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/ros-gbp/rosbag_snapshot-release.git
-      version: 1.0.4-1
+      version: 1.0.5-1
     source:
       test_pull_requests: true
       type: git
@@ -9552,7 +9558,7 @@ repositories:
       tags:
         release: release/noetic/{package}/{version}
       url: https://github.com/ros-gbp/rosdoc_lite-release.git
-      version: 0.2.10-1
+      version: 0.2.11-1
     source:
       type: git
       url: https://github.com/ros-infrastructure/rosdoc_lite.git
diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 510f713c2832d..ed323c41d3dcd 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -585,7 +585,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-2
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -1485,7 +1485,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -2347,7 +2347,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/launch-release.git
-      version: 3.0.1-1
+      version: 3.1.0-1
     source:
       test_pull_requests: true
       type: git
@@ -2530,7 +2530,7 @@ repositories:
     doc:
       type: git
       url: https://github.com/swri-robotics/marti_common.git
-      version: dashing-devel
+      version: ros2-devel
     release:
       packages:
       - swri_cli_tools
@@ -2549,18 +2549,18 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/marti_common-release.git
-      version: 3.6.0-1
+      version: 3.6.1-1
     source:
       test_pull_requests: true
       type: git
       url: https://github.com/swri-robotics/marti_common.git
-      version: dashing-devel
+      version: ros2-devel
     status: developed
   marti_messages:
     doc:
       type: git
       url: https://github.com/swri-robotics/marti_messages.git
-      version: dashing-devel
+      version: ros2-devel
     release:
       packages:
       - marti_can_msgs
@@ -2575,12 +2575,12 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/marti_messages-release.git
-      version: 1.5.0-1
+      version: 1.5.1-1
     source:
       test_pull_requests: true
       type: git
       url: https://github.com/swri-robotics/marti_messages.git
-      version: dashing-devel
+      version: ros2-devel
     status: developed
   mavlink:
     doc:
@@ -2591,7 +2591,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/mavlink/mavlink-gbp-release.git
@@ -2611,7 +2611,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mavros-release.git
-      version: 2.4.0-2
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/mavlink/mavros.git
@@ -2766,15 +2766,22 @@ repositories:
     release:
       packages:
       - mola_common
+      - mola_demos
+      - mola_imu_preintegration
       - mola_input_euroc_dataset
       - mola_input_kitti_dataset
+      - mola_input_rawlog
+      - mola_input_ros2
       - mola_kernel
+      - mola_launcher
+      - mola_test_datasets
+      - mola_viz
       - mola_yaml
       - mp2p_icp
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mola-release.git
-      version: 0.2.1-1
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/MOLAorg/mola.git
@@ -2830,7 +2837,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.7.4-1
+      version: 2.8.0-2
     source:
       test_commits: false
       test_pull_requests: false
@@ -2847,7 +2854,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_msgs-release.git
-      version: 2.2.2-1
+      version: 2.3.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_msgs.git
@@ -2998,7 +3005,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -3716,6 +3723,24 @@ repositories:
       url: https://gitlab.com/ApexAI/point_cloud_msg_wrapper
       version: rolling
     status: developed
+  point_cloud_transport:
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/ros-perception/point_cloud_transport.git
+      version: rolling
+  point_cloud_transport_plugins:
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/ros-perception/point_cloud_transport_plugins.git
+      version: rolling
+  point_cloud_transport_tutorial:
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/ros-perception/point_cloud_transport_tutorial.git
+      version: rolling
   pointcloud_to_laserscan:
     doc:
       type: git
@@ -4212,7 +4237,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/rclcpp-release.git
-      version: 22.2.0-1
+      version: 23.0.0-1
     source:
       test_pull_requests: true
       type: git
@@ -4228,7 +4253,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/rclpy-release.git
-      version: 5.1.0-1
+      version: 5.2.0-1
     source:
       test_pull_requests: true
       type: git
@@ -4906,6 +4931,7 @@ repositories:
       - joint_state_broadcaster
       - joint_trajectory_controller
       - position_controllers
+      - range_sensor_broadcaster
       - ros2_controllers
       - ros2_controllers_test_nodes
       - rqt_joint_trajectory_controller
@@ -4916,7 +4942,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 3.14.0-1
+      version: 3.15.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -6906,7 +6932,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ur_description-release.git
-      version: 2.2.0-1
+      version: 2.2.1-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
@@ -6971,17 +6997,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
diff --git a/rosdep/base.yaml b/rosdep/base.yaml
index a9262749f05fa..3a20233534d14 100644
--- a/rosdep/base.yaml
+++ b/rosdep/base.yaml
@@ -1920,6 +1920,7 @@ hdf5:
   ubuntu: [libhdf5-dev]
 hdf5-tools:
   debian: [hdf5-tools]
+  nixos: [hdf5]
   ubuntu: [hdf5-tools]
 hostapd:
   arch: [hostapd]
@@ -3469,6 +3470,19 @@ libftgl-dev:
   fedora: [ftgl-devel]
   gentoo: [media-libs/ftgl]
   ubuntu: [libftgl-dev]
+libfyaml-dev:
+  alpine: [libfyaml-dev]
+  debian:
+    '*': [libfyaml-dev]
+    bullseye: null
+  fedora: [libfyaml-devel]
+  nixos: [libfyaml]
+  opensuse:
+    '*': [libfyaml]
+    '15.2': null
+  ubuntu:
+    '*': [libfyaml-dev]
+    focal: null
 libgazebo-dev:
   debian:
     bullseye: [libgazebo-dev]
@@ -4633,6 +4647,7 @@ libpaho-mqtt-dev:
   alpine: [paho-mqtt-c-dev]
   debian: [libpaho-mqtt-dev]
   fedora: [paho-c-devel]
+  nixos: [paho-mqtt-c]
   opensuse: [libpaho-mqtt-devel]
   ubuntu:
     '*': [libpaho-mqtt-dev]
@@ -4645,6 +4660,7 @@ libpaho-mqttpp:
     bionic: null
     focal: null
 libpaho-mqttpp-dev:
+  nixos: [paho-mqtt-cpp]
   ubuntu:
     '*': [libpaho-mqttpp-dev]
     bionic: null
@@ -5821,6 +5837,7 @@ libtins-dev:
   arch: [libtins]
   debian: [libtins-dev]
   fedora: [libtins-devel]
+  nixos: [libtins]
   opensuse: [libtins-devel]
   rhel:
     '*': [libtins-devel]
@@ -8444,7 +8461,7 @@ wx-common:
   debian: [wx-common]
   fedora: [wxGTK3-devel]
   gentoo: [x11-libs/wxGTK]
-  nixos: [wxGTK]
+  nixos: [wxGTK32]
   openembedded: [wxwidgets@meta-ros-common]
   rhel:
     '*': [wxGTK3-devel]
@@ -8459,7 +8476,7 @@ wxwidgets:
   freebsd: [wxgtk2]
   gentoo: [x11-libs/wxGTK]
   macports: [wxWidgets-python]
-  nixos: [wxGTK]
+  nixos: [wxGTK32]
   openembedded: [wxwidgets@meta-ros-common]
   opensuse: [wxGTK-devel]
   rhel:
diff --git a/rosdep/python.yaml b/rosdep/python.yaml
index fb35bc76350f7..af532297b1ef2 100644
--- a/rosdep/python.yaml
+++ b/rosdep/python.yaml
@@ -312,6 +312,7 @@ meson:
   alpine: [meson]
   debian: [meson]
   fedora: [meson]
+  nixos: [meson]
   opensuse: [meson]
   rhel: [meson]
   ubuntu: [meson]
@@ -7107,6 +7108,7 @@ python3-myst-parser-pip:
 python3-natsort:
   debian: [python3-natsort]
   fedora: [python3-natsort]
+  nixos: [python3Packages.natsort]
   opensuse: [python3-natsort]
   rhel: [python3-natsort]
   ubuntu: [python3-natsort]
@@ -7558,6 +7560,7 @@ python3-ply:
   debian: [python3-ply]
   fedora: [python3-ply]
   gentoo: [dev-python/ply]
+  nixos: [python3Packages.ply]
   opensuse: [python3-ply]
   rhel:
     '*': [python3-ply]