diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index d957411..0b57f9b 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -7,8 +7,8 @@ on:
 
 jobs:
     micro_ros_demos:
-        runs-on: ubuntu-20.04
-        container: microros/base:rolling
+        runs-on: ubuntu-22.04
+        container: microros/base:humble
         defaults:
           run:
             shell: bash
@@ -19,17 +19,17 @@ jobs:
             cd /uros_ws
             apt update
             rosdep update
-            source /opt/ros/rolling/setup.bash
+            source /opt/ros/$ROS_DISTRO/setup.bash
             source install/local_setup.bash
             rosdep update
             ros2 run micro_ros_setup create_firmware_ws.sh host
             rm -rf src/uros/micro-ROS-demos
-        - uses: actions/checkout@v2
+        - uses: actions/checkout@v4
           with:
             path: uros_ws/src/uros/micro-ROS-demos
         - name: Build
           run: |
             cd /uros_ws
-            source /opt/ros/rolling/setup.bash
+            source /opt/ros/$ROS_DISTRO/setup.bash
             source install/local_setup.bash
             ros2 run micro_ros_setup build_firmware.sh
diff --git a/README.md b/README.md
index 07024c1..98c4278 100644
--- a/README.md
+++ b/README.md
@@ -4,13 +4,13 @@
 
 ## Overview
 
-The primary purpose for this repository is to organise all packages for the [Micro-ROS project](https://microros.github.io/micro-ROS/) functionalities demonstrations.
+The primary purpose for this repository is to organise all packages for the [Micro-ROS project](https://microros.github.io/) functionalities demonstrations.
 All packages contained in this repository are a part of the Micro-ROS project stack.
 
 ## Previous step
 
 To run all the demonstrations, you need to set up the ROS2 environment and build all the required packages.
-Click [here](https://github.com/microROS/micro-ROS-doc) to read further about how to do this previous step.
+Click [here](https://github.com/micro-ROS/micro_ros_setup?tab=readme-ov-file#building) to read further about how to do this previous step.
 
 ## Package clusters
 
diff --git a/messages/complex_msg/CHANGELOG.rst b/messages/complex_msg/CHANGELOG.rst
new file mode 100644
index 0000000..916c644
--- /dev/null
+++ b/messages/complex_msg/CHANGELOG.rst
@@ -0,0 +1,13 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package complex_msgs
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.0.2 (2024-05-31)
+------------------
+
+3.0.1 (2023-06-12)
+------------------
+
+3.0.0 (2022-05-25)
+------------------
+* Foxy migration (`#25 <https://github.com/micro-ROS/micro-ROS-demos/issues/25>`_)
diff --git a/messages/complex_msg/package.xml b/messages/complex_msg/package.xml
index 68450ea..6b4a5f6 100644
--- a/messages/complex_msg/package.xml
+++ b/messages/complex_msg/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>complex_msgs</name>
-  <version>1.0.0</version>
+  <version>3.0.2</version>
   <description>Example of a complex msg.</description>
   <maintainer email="javiermoreno@eproxima.com">Javier Moreno</maintainer>
   <license>Apache-2.0</license>
diff --git a/rclc/CHANGELOG.rst b/rclc/CHANGELOG.rst
new file mode 100644
index 0000000..96f43c8
--- /dev/null
+++ b/rclc/CHANGELOG.rst
@@ -0,0 +1,46 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package micro_ros_demos_rclc
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+3.0.2 (2024-05-31)
+------------------
+* addtwoints_server: correct node name (`#75 <https://github.com/micro-ROS/micro-ROS-demos/issues/75>`_) (`#76 <https://github.com/micro-ROS/micro-ROS-demos/issues/76>`_)
+  (cherry picked from commit 70f3cbf27ce12dc9e57e5095b4233553e207d866)
+  Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
+* Contributors: mergify[bot]
+
+3.0.1 (2023-06-12)
+------------------
+
+3.0.0 (2022-05-25)
+------------------
+* Update rclc parameter demo (`#62 <https://github.com/micro-ROS/micro-ROS-demos/issues/62>`_)
+* Fix ping demo (`#58 <https://github.com/micro-ROS/micro-ROS-demos/issues/58>`_) (`#60 <https://github.com/micro-ROS/micro-ROS-demos/issues/60>`_)
+* Add pthreads to cmake (`#55 <https://github.com/micro-ROS/micro-ROS-demos/issues/55>`_)
+* Add actions to examples (`#53 <https://github.com/micro-ROS/micro-ROS-demos/issues/53>`_)
+* Add basic support for rclc demos to support Android (`#51 <https://github.com/micro-ROS/micro-ROS-demos/issues/51>`_) (`#52 <https://github.com/micro-ROS/micro-ROS-demos/issues/52>`_)
+* Add multithread example (`#47 <https://github.com/micro-ROS/micro-ROS-demos/issues/47>`_)
+* Fix Package (`#46 <https://github.com/micro-ROS/micro-ROS-demos/issues/46>`_)
+* Add epoch example and param example (`#45 <https://github.com/micro-ROS/micro-ROS-demos/issues/45>`_)
+* Fix comment
+* Add example on static type handling (`#44 <https://github.com/micro-ROS/micro-ROS-demos/issues/44>`_)
+* Initial Rolling support
+* Modify RMW API include (`#41 <https://github.com/micro-ROS/micro-ROS-demos/issues/41>`_)
+* multichange tool (`#42 <https://github.com/micro-ROS/micro-ROS-demos/issues/42>`_)
+* Ping demo: fix indent (`#40 <https://github.com/micro-ROS/micro-ROS-demos/issues/40>`_)
+* Fix external transport example (`#39 <https://github.com/micro-ROS/micro-ROS-demos/issues/39>`_)
+* Add client-to-agent ping example (`#38 <https://github.com/micro-ROS/micro-ROS-demos/issues/38>`_)
+* Add external transport example (`#37 <https://github.com/micro-ROS/micro-ROS-demos/issues/37>`_)
+* Fix service server demo (`#36 <https://github.com/micro-ROS/micro-ROS-demos/issues/36>`_)
+* Rework demos and add CI (`#33 <https://github.com/micro-ROS/micro-ROS-demos/issues/33>`_)
+* Add some examples for graph introspection (`#34 <https://github.com/micro-ROS/micro-ROS-demos/issues/34>`_)
+* Rework demos (`#32 <https://github.com/micro-ROS/micro-ROS-demos/issues/32>`_)
+* Fix indentation
+* Update Services examples (`#31 <https://github.com/micro-ROS/micro-ROS-demos/issues/31>`_)
+* Add configured examples with domain ID (`#30 <https://github.com/micro-ROS/micro-ROS-demos/issues/30>`_)
+* Add autodiscover micro-ROS agent example (`#29 <https://github.com/micro-ROS/micro-ROS-demos/issues/29>`_)
+* fix spin time (`#28 <https://github.com/micro-ROS/micro-ROS-demos/issues/28>`_)
+* Fix warning
+* Fix warnings
+* Foxy migration (`#25 <https://github.com/micro-ROS/micro-ROS-demos/issues/25>`_)
+* Dashing migration (`#11 <https://github.com/micro-ROS/micro-ROS-demos/issues/11>`_)
diff --git a/rclc/addtwoints_server/main.c b/rclc/addtwoints_server/main.c
index 900472b..9dc31cb 100644
--- a/rclc/addtwoints_server/main.c
+++ b/rclc/addtwoints_server/main.c
@@ -30,7 +30,7 @@ void main(void)
 
     // create node
     rcl_node_t node;
-    RCCHECK(rclc_node_init_default(&node, "add_twoints_client_rclc", "", &support));
+    RCCHECK(rclc_node_init_default(&node, "add_twoints_server_rclc", "", &support));
 
     // create service
     rcl_service_t service;
diff --git a/rclc/package.xml b/rclc/package.xml
index 211cf86..567d69d 100644
--- a/rclc/package.xml
+++ b/rclc/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_demos_rclc</name>
-  <version>0.0.3</version>
+  <version>3.0.2</version>
   <description>Examples using RCL+RCLC API</description>
-  <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
+  <maintainer email="eugeniocollado@eprosima.com">Eugenio Collado</maintainer>
+  <maintainer email="carlosespinoza@eprosima.com">Carlos Espinoza</maintainer>
   <license>Apache-2.0</license>
   <author>Borja Outerelo</author>