diff --git a/.devcontainer/nouveau/devcontainer.json b/.devcontainer/nouveau/devcontainer.json
index 5dbcef35..a9cb299d 100644
--- a/.devcontainer/nouveau/devcontainer.json
+++ b/.devcontainer/nouveau/devcontainer.json
@@ -22,6 +22,10 @@
   },
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
index 9359454f..b6f36a06 100644
--- a/.devcontainer/nvidia/devcontainer.json
+++ b/.devcontainer/nvidia/devcontainer.json
@@ -26,6 +26,10 @@
   },
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.devcontainer/robot/devcontainer.json b/.devcontainer/robot/devcontainer.json
index d57e5f09..38e9e5a8 100644
--- a/.devcontainer/robot/devcontainer.json
+++ b/.devcontainer/robot/devcontainer.json
@@ -23,6 +23,10 @@
   "containerEnv": {},
   "customizations": {
     "vscode": {
+      "settings": {
+        "python.autoComplete.extraPaths": ["${workspaceFolder}/install/"],
+        "python.analysis.extraPaths": ["${workspaceFolder}/install/"]
+      },
       "extensions": [
         "ms-azuretools.vscode-docker",
         "ms-python.python",
diff --git a/.github/ISSUE_TEMPLATE/documentation.yaml b/.github/ISSUE_TEMPLATE/documentation.yaml
index d0dcbb2c..c44b1e6b 100644
--- a/.github/ISSUE_TEMPLATE/documentation.yaml
+++ b/.github/ISSUE_TEMPLATE/documentation.yaml
@@ -1,5 +1,5 @@
 name: Documentation Improvement
-description: Report an issue related to the BlueROV2 driver documentation.
+description: Report an issue related to the Blue documentation.
 title: "[DOC]: <Please write a descriptive title after the '[DOC]: ' prefix>"
 labels: [documentation, needs triage]
 
@@ -16,9 +16,9 @@ body:
       label: Documentation Change Type
       description: Please indicate what type of documentation issue you are reporting.
       options:
-        - Adding new documentation to the BlueROV2 driver documentation
-        - Changing existing BlueROV2 driver documentation
-        - Removing existing BlueROV2 driver documentation
+        - Adding new documentation to the Blue documentation
+        - Changing existing documentation
+        - Removing existing documentation
     validations:
       required: true
 
diff --git a/.github/mergify.yml b/.github/mergify.yml
index 89c72613..186c6951 100644
--- a/.github/mergify.yml
+++ b/.github/mergify.yml
@@ -1,5 +1,5 @@
 pull_request_rules:
-  - name: backport to iron at reviewers discretion
+  - name: backport to iron at reviewers' discretion
     conditions:
       - base=main
       - "label=backport-iron"
@@ -8,7 +8,7 @@ pull_request_rules:
         branches:
           - iron
 
-  - name: backport to humble at reviewers discretion
+  - name: backport to humble at reviewers' discretion
     conditions:
       - base=main
       - "label=backport-humble"
@@ -17,6 +17,15 @@ pull_request_rules:
         branches:
           - humble
 
+  - name: backport to jazzy at reviewers' discretion
+    conditions:
+      - base=main
+      - "label=backport-jazzy"
+    actions:
+      backport:
+        branches:
+          - jazzy
+
   - name: ask to resolve conflict
     conditions:
       - conflict
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/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 3c605782..15272365 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -2,12 +2,7 @@
   "configurations": [
     {
       "name": "Linux",
-      "includePath": [
-        "${workspaceFolder}/**",
-        "/opt/ros/iron/include/**",
-        "/usr/include/eigen3/**",
-        "/home/ros/ws_ros/**"
-      ],
+      "includePath": ["${workspaceFolder}/**", "/opt/ros/rolling/include/**"],
       "defines": [],
       "compilerPath": "/usr/bin/gcc",
       "cStandard": "c99",
diff --git a/.vscode/settings.json b/.vscode/settings.json
index f6d45d50..864f8c9b 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -24,13 +24,11 @@
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
     "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
-    "${workspaceFolder}/install/"
+    "/opt/ros/iron/local/lib/python3.10/dist-packages/"
   ],
   "python.analysis.extraPaths": [
     "/opt/ros/iron/lib/python3.10/site-packages/",
-    "/opt/ros/iron/local/lib/python3.10/dist-packages/",
-    "${workspaceFolder}/install/"
+    "/opt/ros/iron/local/lib/python3.10/dist-packages/"
   ],
   "[python]": {
     "editor.tabSize": 4,