diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 3149435..3b3e72e 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -1,7 +1,7 @@
 // For format details, see https://aka.ms/devcontainer.json. For config options, see the
 // README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
 {
-	"name": "ROS 2 Humble Devcontainer",
+	"name": "ROS 2 Devcontainer",
 	"build": {
 		"dockerfile": "./Dockerfile",
 		"args": {
diff --git a/.github/workflows/build-docker.yml b/.github/workflows/build-docker.yml
index bdd03a7..d65dfa4 100644
--- a/.github/workflows/build-docker.yml
+++ b/.github/workflows/build-docker.yml
@@ -1,86 +1,87 @@
 name: Docker Image CI
 
 on:
-    push:
-        branches: ["main"]
-        # ensure that version tags also trigger a build, naming convention is `vX.Y.Z` 
-        # make sure the naming convention is followed in tags.
-        tags:
-            - "v*"
-    pull_request:
-        branches: ["main"]
-    # permit manual trigger as well
-    workflow_dispatch:
+  push:
+    branches: ["main"]
+    # ensure that version tags also trigger a build, naming convention is `vX.Y.Z`
+    # make sure the naming convention is followed in tags.
+    tags:
+      - "v*"
+  pull_request:
+
+  workflow_dispatch:
 
 jobs:
-    build:
-        # this only works on jabasai organisation and should be skipped otherwise
-        if: github.repository_owner == 'jabasai'
-        runs-on: ubuntu-latest
-        permissions:
-            contents: read
-            packages: write
+  build:
+    runs-on: ubuntu-latest
+
+    env: # set the ROS distribution to be used in the devcontainer, e.g. humble or iron
+      ROS_DISTRO: humble
+
+    permissions:
+      contents: read
+      packages: write
 
-        steps:
-            - name: Git Checkout
-              uses: actions/checkout@v5
-              with:
-                  fetch-depth: 1
+    steps:
+      - name: Git Checkout
+        uses: actions/checkout@v5
+        with:
+          fetch-depth: 1
 
-            # log in to GitHub Container Registry with correct permission
-            # only works within jabasai organisation and NOT on forks
-            - name: Docker Login GHCR
-              uses: docker/login-action@v2
-              with:
-                  registry: ghcr.io
-                  username: ${{ github.actor }}
-                  password: ${{ secrets.GITHUB_TOKEN }}
+      # log in to GitHub Container Registry with correct permission
+      - name: Docker Login GHCR
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
 
-            # create a docker image name from the github repository name, ensuring lower case and no disallowed characters
-            - name: create docker image name from github name
-              id: docker-image-name
-              run: |
-                    repo_name=$(echo "${{ github.repository }}" | tr '[:upper:]' '[:lower:]' | tr '. ' '-')
-                    echo "image_name=$repo_name" >> $GITHUB_OUTPUT
+      # create a docker image name from the github repository name, ensuring lower case and no disallowed characters
+      - name: create docker image name from github name
+        id: docker-image-name
+        run: |
+          repo_name=$(echo "${{ github.repository }}" | tr '[:upper:]' '[:lower:]' | tr '. ' '-')
+          echo "image_name=$repo_name" >> $GITHUB_OUTPUT
 
-            # set the relevant docker tags and labels
-            - name: Docker meta
-              id: meta
-              uses: docker/metadata-action@v5
-              with:
-                  # list of Docker images to use as base name for tags
-                  labels: |
-                      org.opencontainers.image.source=https://github.com/${{ github.repository }}
-                      org.opencontainers.image.revision=${{ github.sha }}
-                      org.opencontainers.image.created=${{ github.event.head_commit.timestamp }}
-                      org.opencontainers.image.version=${{ github.ref_name }}
-                  images: |
-                      ghcr.io/${{ steps.docker-image-name.outputs.image_name }}
-                  flavor: |
-                      latest=auto
-                  tags: |
-                      type=semver,pattern={{version}}
-                      type=semver,pattern={{major}}.{{minor}}
-                      type=semver,pattern={{major}}
-                      type=raw,value=latest,enable={{is_default_branch}}
-                      type=ref,event=branch
+      # set the relevant docker tags and labels
+      - name: Docker meta
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          # list of Docker images to use as base name for tags
+          labels: |
+            org.opencontainers.image.source=https://github.com/${{ github.repository }}
+            org.opencontainers.image.creator=${{ github.repository_owner }}
+            org.opencontainers.image.revision=${{ github.sha }}
+            org.opencontainers.image.created=${{ github.event.head_commit.timestamp }}
+            org.opencontainers.image.version=${{ github.ref_name }}
+          images: |
+            ghcr.io/${{ steps.docker-image-name.outputs.image_name }}
+          flavor: |
+            latest=auto
+          tags: |
+            type=semver,pattern={{version}}
+            type=semver,pattern={{major}}.{{minor}}
+            type=semver,pattern={{major}}
+            type=raw,value=latest,enable={{is_default_branch}}
+            type=ref,event=branch
 
-            - name: setup buildx
-              uses: docker/setup-buildx-action@v2
+      - name: setup buildx
+        uses: docker/setup-buildx-action@v4
 
-            - name: Build and Push
-              uses: docker/build-push-action@v6
-              with:
-                  context: .
-                  file: ./.devcontainer/Dockerfile
-                  platforms: linux/amd64 # add other platforms if needed
-                  cache-from: type=gha
-                  cache-to: type=gha,mode=max
-                  push: ${{ github.event_name != 'pull_request' }}
-                  tags: ${{ steps.meta.outputs.tags }}
-                  labels: ${{ steps.meta.outputs.labels }}
-                  target: final
-                  build-args: |
-                      BASE_IMAGE=ros:humble
-                      GIT_REPO_VERSION=${{ github.ref_name }}
-                      GIT_REPO_VERSION_DATE=${{ github.event.head_commit.timestamp }}
+      - name: Build and Push
+        uses: docker/build-push-action@v6
+        with:
+          context: .
+          file: ./.devcontainer/Dockerfile
+          platforms: linux/amd64 # add other platforms if needed
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          target: final
+          build-args: |
+            BASE_IMAGE=ros:${{ env.ROS_DISTRO }}
+            GIT_REPO_VERSION=${{ github.ref_name }}
+            GIT_REPO_VERSION_DATE=${{ github.event.head_commit.timestamp }}
diff --git a/.github/workflows/copilot-setup-steps.yml b/.github/workflows/copilot-setup-steps.yml
index 1c97337..686846b 100644
--- a/.github/workflows/copilot-setup-steps.yml
+++ b/.github/workflows/copilot-setup-steps.yml
@@ -16,10 +16,15 @@ on:
 
 jobs:
   copilot-setup-steps:
+    # ensure this matches the target platform for your development environment, e.g. if you are using a devcontainer with Ubuntu 22.04, use ubuntu-22.04 here as well.
     runs-on: ubuntu-22.04
     permissions:
       contents: read
 
+    env:
+      # set the ROS distribution to be used in the setup steps, e.g. humble or iron
+      ROS_DISTRO: humble
+
     steps:
       - uses: actions/checkout@v3
 
@@ -29,12 +34,12 @@ jobs:
       - name: install workspace dependencies
         run: |
           sudo apt-get update
-          sudo apt-get install -y ros-humble-ros-base
-          source /opt/ros/humble/setup.bash
-          rosdep update --rosdistro humble
+          sudo apt-get install -y ros-${ROS_DISTRO}-ros-base
+          source /opt/ros/${ROS_DISTRO}/setup.bash
+          rosdep update --rosdistro ${ROS_DISTRO}
           rosdep install --from-paths src --ignore-src -r -y
 
       - name: build workspace
         run: |
-          source /opt/ros/humble/setup.bash
+          source /opt/ros/${ROS_DISTRO}/setup.bash
           colcon build --symlink-install --continue-on-error
diff --git a/.github/workflows/dev-container.yml b/.github/workflows/dev-container.yml
index 5e93b6c..11c6f93 100644
--- a/.github/workflows/dev-container.yml
+++ b/.github/workflows/dev-container.yml
@@ -1,26 +1,33 @@
 name: 'devcontainer CI' 
 on:
   workflow_dispatch:
+
   pull_request:
-    branches:
-      - main
+    paths:
+      - '.devcontainer/**'
+      - '.github/workflows/dev-container.yml'
+
   push:
     branches:
       - main
+    paths:
+      - '.devcontainer/**'
+      - '.github/workflows/dev-container.yml'
 
 jobs:
   build_devcontainer:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout from github
-        uses: actions/checkout@v3
+        uses: actions/checkout@v6
       - name: extract the github reference
         run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
       - name: "image name from repo name"
         id: docker_image_name
         run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
       - name: setup buildx
-        uses: docker/setup-buildx-action@v2
+        uses: docker/setup-buildx-action@v4
+
       - name: Build and run dev container task
         uses: devcontainers/ci@v0.3
         with:
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index 3462229..41910ad 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -5,17 +5,12 @@ on:
     # you may want to configure the branches that this should be run on here.
     branches: [ "main" ]
   pull_request:
-    branches: [ "main" ]
 
 jobs:
   test_docker: # On Linux, iterates on all ROS 1 and ROS 2 distributions.
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        ros_distribution:
-          # - noetic
-          - humble
-          # - iron
 
         # Define the Docker image(s) associated with each ROS distribution.
         # The include syntax allows additional variables to be defined, like
@@ -34,12 +29,6 @@ jobs:
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: ubuntu:jammy
             ros_distribution: humble
-            ros_version: 2
-
-          # Iron Irwini (May 2023 - November 2024)
-          # - docker_image: ubuntu:jammy
-          #   ros_distribution: iron
-          #   ros_version: 2
 
           # # Rolling Ridley (No End-Of-Life)
           # - docker_image: ubuntu:jammy
@@ -49,20 +38,12 @@ jobs:
     container:
       image: ${{ matrix.docker_image }}
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v6
+
       - name: setup ROS environment
         uses: ros-tooling/setup-ros@v0.7
-        #with:
-        #  required-ros-distributions: ${{ matrix.ros_distribution }}
-      - name: build and test ROS 1
-        if: ${{ matrix.ros_version == 1 }}
-        uses: ros-tooling/action-ros-ci@v0.3
-        with:
-          import-token: ${{ github.token }}
-          target-ros1-distro: ${{ matrix.ros_distribution }}
-          skip-tests: true
+
       - name: build and test ROS 2
-        if: ${{ matrix.ros_version == 2 }}
         uses: ros-tooling/action-ros-ci@v0.3
         with:
           import-token: ${{ github.token }}