diff --git a/.github/ISSUE_TEMPLATE/general-issue.md b/.github/ISSUE_TEMPLATE/general-issue.md
index 3ac587d1..5cf697b5 100644
--- a/.github/ISSUE_TEMPLATE/general-issue.md
+++ b/.github/ISSUE_TEMPLATE/general-issue.md
@@ -12,7 +12,7 @@ assignees: ''
 - Hardware description: <!-- hardware where you are using micro-ROS -->
 - RTOS: <!-- RTOS where you are using micro-ROS -->
 - Installation type: <!-- micro_ros_setup, modules, etc  -->
-- Version or commit hash: <!-- version of micro-ROS used: foxy, rolling  -->
+- Version or commit hash: <!-- version of micro-ROS used: humble, jazzy, kilted, rolling  -->
 
 #### Steps to reproduce the issue
 <!-- Detailed instructions on how to reliably reproduce this issue http://sscce.org/-->
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index feef92c5..8a756a63 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -8,7 +8,7 @@ on:
         type: string
 
 env:
-  ROS_DISTRO: rolling
+  ROS_DISTRO: kilted
 
 jobs:
 
diff --git a/.github/workflows/nightly.yml b/.github/workflows/nightly.yml
index 96683779..dd424379 100644
--- a/.github/workflows/nightly.yml
+++ b/.github/workflows/nightly.yml
@@ -10,6 +10,11 @@ on:
 
 jobs:
 
+    Kilted:
+        uses: micro-ROS/micro_ros_setup/.github/workflows/ci.yml@kilted
+        with:
+            ci_target_ref: 'kilted'
+
     Jazzy:
         uses: micro-ROS/micro_ros_setup/.github/workflows/ci.yml@jazzy
         with:
diff --git a/README.md b/README.md
index 109fa550..0971629b 100644
--- a/README.md
+++ b/README.md
@@ -86,7 +86,9 @@ This package targets the **ROS 2** installation. ROS 2 supported distributions a
 | Foxy         | EOL       | `foxy`     |
 | Galactic     | EOL       | `galactic` |
 | Humble       | Supported | `humble`   |
-| Iron         | Supported | `iron`     |
+| Iron         | EOL       | `iron`     |
+| Jazzy        | Supported | `jazzy`    |
+| Kilted       | Supported | `kilted`   |
 | Rolling      | Supported | `rolling`  |
 
 Some other prerequisites needed for building a firmware using this package are:
@@ -113,7 +115,7 @@ source /opt/ros/$ROS_DISTRO/setup.bash
 
 mkdir uros_ws && cd uros_ws
 
-git clone -b rolling https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
+git clone -b $ROS_DISTRO https://github.com/micro-ROS/micro_ros_setup.git src/micro_ros_setup
 
 rosdep update && rosdep install --from-paths src --ignore-src -y
 
diff --git a/config/agent_uros_packages.repos b/config/agent_uros_packages.repos
index dc132d91..cd373bf3 100644
--- a/config/agent_uros_packages.repos
+++ b/config/agent_uros_packages.repos
@@ -2,11 +2,11 @@ repositories:
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: kilted
   uros/micro-ROS-Agent:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
-    version: rolling
+    version: kilted
   uros/drive_base:
     type: git
     url: https://github.com/micro-ROS/drive_base.git
diff --git a/config/android/generic/client_uros_packages.repos b/config/android/generic/client_uros_packages.repos
index 6b087bd6..23ed6e94 100644
--- a/config/android/generic/client_uros_packages.repos
+++ b/config/android/generic/client_uros_packages.repos
@@ -12,36 +12,36 @@ repositories:
   uros/rcl:
     type: git
     url: https://github.com/micro-ROS/rcl
-    version: rolling
+    version: kilted
   uros/rclc:
     type: git
     url: https://github.com/ros2/rclc
-    version: rolling
+    version: kilted
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: kilted
   uros/rcutils:
     type: git
     url: https://github.com/micro-ROS/rcutils
-    version: rolling
+    version: kilted
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: kilted
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: kilted
   uros/rosidl_typesupport:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport.git
-    version: rolling
+    version: kilted
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: kilted
   uros/micro-ROS-demos:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-demos.git
-    version: rolling
+    version: kilted
diff --git a/config/client_uros_packages.repos b/config/client_uros_packages.repos
index e621d4da..09eb0501 100644
--- a/config/client_uros_packages.repos
+++ b/config/client_uros_packages.repos
@@ -12,32 +12,32 @@ repositories:
   uros/rcl:
     type: git
     url: https://github.com/micro-ROS/rcl
-    version: rolling
+    version: kilted
   uros/rclc:
     type: git
     url: https://github.com/ros2/rclc
-    version: rolling
+    version: kilted
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: kilted
   uros/rcutils:
     type: git
     url: https://github.com/micro-ROS/rcutils
-    version: rolling
+    version: kilted
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: kilted
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: kilted
   uros/rosidl_typesupport:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport.git
-    version: rolling
+    version: kilted
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: kilted
diff --git a/config/freertos/crazyflie21/board.repos b/config/freertos/crazyflie21/board.repos
index 6eea2d2f..bfe4b727 100644
--- a/config/freertos/crazyflie21/board.repos
+++ b/config/freertos/crazyflie21/board.repos
@@ -7,5 +7,5 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: kilted
 
diff --git a/config/freertos/esp32/board.repos b/config/freertos/esp32/board.repos
index e37e8a41..35fd7829 100644
--- a/config/freertos/esp32/board.repos
+++ b/config/freertos/esp32/board.repos
@@ -2,7 +2,7 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: kilted
 
 
 
diff --git a/config/freertos/nucleo_f446re/board.repos b/config/freertos/nucleo_f446re/board.repos
index 8dafe74e..baa5d269 100644
--- a/config/freertos/nucleo_f446re/board.repos
+++ b/config/freertos/nucleo_f446re/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: kilted
diff --git a/config/freertos/nucleo_f446ze/board.repos b/config/freertos/nucleo_f446ze/board.repos
index 8dafe74e..baa5d269 100644
--- a/config/freertos/nucleo_f446ze/board.repos
+++ b/config/freertos/nucleo_f446ze/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: kilted
diff --git a/config/freertos/nucleo_f746zg/board.repos b/config/freertos/nucleo_f746zg/board.repos
index 8dafe74e..baa5d269 100644
--- a/config/freertos/nucleo_f746zg/board.repos
+++ b/config/freertos/nucleo_f746zg/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: kilted
diff --git a/config/freertos/nucleo_f767zi/board.repos b/config/freertos/nucleo_f767zi/board.repos
index 8dafe74e..baa5d269 100644
--- a/config/freertos/nucleo_f767zi/board.repos
+++ b/config/freertos/nucleo_f767zi/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: kilted
diff --git a/config/freertos/olimex-stm32-e407/board.repos b/config/freertos/olimex-stm32-e407/board.repos
index e37e8a41..35fd7829 100644
--- a/config/freertos/olimex-stm32-e407/board.repos
+++ b/config/freertos/olimex-stm32-e407/board.repos
@@ -2,7 +2,7 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: kilted
 
 
 
diff --git a/config/host/generic/client_host_packages.repos b/config/host/generic/client_host_packages.repos
index f9d261aa..614ab21d 100644
--- a/config/host/generic/client_host_packages.repos
+++ b/config/host/generic/client_host_packages.repos
@@ -13,51 +13,51 @@ repositories:
   uros/rclc:
     type: git
     url: https://github.com/ros2/rclc.git
-    version: rolling
+    version: kilted
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: kilted
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: kilted
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: kilted
   uros/micro-ROS-demos:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-demos.git
-    version: rolling
+    version: kilted
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: kilted
 
 # Required messages packages
 
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces
-    version: rolling
+    version: kilted
 
   ros2/example_interfaces:
     type: git
     url: https://github.com/ros2/example_interfaces
-    version: rolling
+    version: kilted
 
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces
-    version: rolling
+    version: kilted
 
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs
-    version: rolling
+    version: kilted
 
   ros2/test_interface_files:
     type: git
     url: https://github.com/ros2/test_interface_files
-    version: rolling
+    version: kilted
diff --git a/config/raspbian/generic/create.sh b/config/raspbian/generic/create.sh
index 6ce11cc1..6028fc4d 100755
--- a/config/raspbian/generic/create.sh
+++ b/config/raspbian/generic/create.sh
@@ -18,5 +18,5 @@ pushd $FW_TARGETDIR/$DEV_WS_DIR >/dev/null
 popd >/dev/null
 
 pushd $FW_TARGETDIR >/dev/null
-    git clone -b rolling https://github.com/micro-ROS/raspbian_apps.git
+    git clone -b kilted https://github.com/micro-ROS/raspbian_apps.git
 popd >/dev/null
\ No newline at end of file
diff --git a/config/zephyr/generic/board.repos b/config/zephyr/generic/board.repos
index 9e7932ab..d41f3300 100644
--- a/config/zephyr/generic/board.repos
+++ b/config/zephyr/generic/board.repos
@@ -2,4 +2,4 @@ repositories:
   zephyr_apps:
     type: git
     url: https://github.com/micro-ROS/zephyr_apps
-    version: rolling
+    version: kilted
diff --git a/scripts/create_ws.sh b/scripts/create_ws.sh
index 8ca675d8..2fe9820c 100755
--- a/scripts/create_ws.sh
+++ b/scripts/create_ws.sh
@@ -40,7 +40,7 @@ then
 fi
 
 # ROS_DISTRO SPECIFIC
-curl -s https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos |\
+curl -s https://raw.githubusercontent.com/ros2/ros2/kilted/ros2.repos |\
     ros2 run micro_ros_setup yaml_filter.py ${PACKAGES} > ros2.repos
 vcs import --input ros2.repos --skip-existing
 vcs import --input $REPOS --skip-existing