diff --git a/built_packages b/built_packages
index 2bfe4639..21fd23a4 100755
--- a/built_packages
+++ b/built_packages
@@ -1,8 +1,8 @@
 
 https://github.com/ament/ament_cmake.git 2cae26affb1ae40a807a57f90fa2e38823005f05
 https://github.com/ament/ament_index.git f019d6c40991799a13b18c9c3dcc583e3fde0381
-https://github.com/ament/ament_lint.git c46779e97681f78ef096a785a4b4e0fc66c69630
-https://github.com/ament/ament_package.git 25f8af52e1dac7f4597161e42ab041607cb49a4e
+https://github.com/ament/ament_lint.git d8ae34c112a2a9256179f656f0a1a797e2ed4301
+https://github.com/ament/ament_package.git 5e949331b6c26eb7c6c71439ec8fa3b566e43e21
 https://github.com/ament/googletest.git 083afd688a0d14239a831e1734e66a15664389c1
 https://github.com/ament/uncrustify_vendor.git ec8f8b4d03483671e8ea2b3039f1015f92b0ef89
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
@@ -10,7 +10,7 @@ https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896
 https://github.com/micro-ROS/micro_ros_msgs.git 325af0192ca40bd671b680b149dbe067a003c53b
 https://github.com/micro-ROS/micro_ros_utilities ae51419e61900bc521bce76ed2f8b0002a1a826a
 https://github.com/micro-ROS/rcl 3cb648546d77f5c2532a1c2886ad7b98711275e4
-https://github.com/micro-ROS/rcutils 09d49f07b64690137540836d4a125b33869e88f6
+https://github.com/micro-ROS/rcutils 00d62aedd3d864da5d4afd77a644e07d6c384c39
 https://github.com/micro-ROS/rmw-microxrcedds.git d8b8fbabded1200e3f4e328d2538e40224d48ea5
 https://github.com/micro-ROS/rosidl_typesupport.git 520d9243f17e0cfe53c658b8051ebe2f89ad7c68
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 61bbb48d23378fb5eecf28aa202c0430c2761c37
@@ -25,8 +25,8 @@ https://github.com/ros2/rcl_logging.git 1b7a4e34884005f28eeb04065b5d94565c67b11d
 https://github.com/ros2/rclc f99f91dc8263b8cb29317f8240abfa42b86117b7
 https://github.com/ros2/rcpputils.git 66cad68a198a147d50780dbb56e9f9c0a4728555
 https://github.com/ros2/rmw.git e5901447f14762975c7a8ea658f0ac731f4fb1c2
-https://github.com/ros2/rmw_implementation.git 8fcd9754b88dfde971ce036ec973261a44325e01
-https://github.com/ros2/rosidl.git b3aa373bbbfbb3b007c40dadf377f1589e820c5b
+https://github.com/ros2/rmw_implementation.git edc29883e9644f62aa95686ebdf9e8f2c150a7c1
+https://github.com/ros2/rosidl.git cec5735a953dece9c6d919c627baab6e823454ab
 https://github.com/ros2/rosidl_dds.git ab8497770c652edb40d6b1591118198cbcf14237
 https://github.com/ros2/rosidl_defaults.git 1f1ee2a6169837b10302ffb2a52fb2f2a57239b2
 https://github.com/ros2/test_interface_files.git a0c8f5e338490ddf8b98238dce35c06810115e8b
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index 1269dae4..b4f91592 100755
Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index 335b106b..770b13e6 100755
Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index a7613451..134f59cb 100755
Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index 78a9816c..9ffd92bc 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 8eabab88..e4974dbe 100755
Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 8c44f05f..7139585e 100755
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diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index 6e666a02..f83c7757 100755
Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index 26e6468f..ef3049e3 100755
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diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index 1dab5496..5646d514 100755
Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 94930dc7..8bd8c9d4 100755
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diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 94930dc7..8bd8c9d4 100755
Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/rcutils/time.h b/src/rcutils/time.h
index 0fb765e7..72ea1365 100755
--- a/src/rcutils/time.h
+++ b/src/rcutils/time.h
@@ -104,6 +104,33 @@ RCUTILS_WARN_UNUSED
 rcutils_ret_t
 rcutils_steady_time_now(rcutils_time_point_value_t * now);
 
+/// Retrieve the current time as a rcutils_time_point_value_t object.
+/**
+ * This function returns the time from a monotonically increasing slew-free clock.
+ *
+ * The resolution (e.g. nanoseconds vs microseconds) is not guaranteed.
+ *
+ * The now argument must point to an allocated rcutils_time_point_value_t object,
+ * as the result is copied into this variable.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[out] now a struct in which the current time is stored
+ * \return #RCUTILS_RET_OK if the current time was successfully obtained, or
+ * \return #RCUTILS_RET_INVALID_ARGUMENT if any arguments are invalid, or
+ * \return #RCUTILS_RET_ERROR if an unspecified error occur.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+rcutils_ret_t
+rcutils_raw_steady_time_now(rcutils_time_point_value_t * now);
+
 /// Return a time point as nanoseconds in a string.
 /**
  * The number is always fixed width, with left padding zeros up to the maximum