diff --git a/humble/distribution.yaml b/humble/distribution.yaml
index a0255a233c9bf..f12b46cf59b0e 100644
--- a/humble/distribution.yaml
+++ b/humble/distribution.yaml
@@ -10,6 +10,22 @@ release_platforms:
   ubuntu:
   - jammy
 repositories:
+  aandd_ekew_driver_py:
+    doc:
+      type: git
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py.git
+      version: humble
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py-release.git
+      version: 0.0.1-1
+    source:
+      test_pull_requests: true
+      type: git
+      url: https://github.com/TechMagicKK/aandd_ekew_driver_py.git
+      version: humble
+    status: maintained
   acado_vendor:
     release:
       tags:
@@ -642,7 +658,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-1
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -1076,7 +1092,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/crane_plus-release.git
-      version: 2.0.0-1
+      version: 2.0.1-1
     source:
       type: git
       url: https://github.com/rt-net/crane_plus.git
@@ -1825,7 +1841,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -3077,7 +3093,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/marti_common-release.git
-      version: 3.5.4-1
+      version: 3.6.1-1
     source:
       test_pull_requests: true
       type: git
@@ -3137,7 +3153,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
@@ -3157,7 +3173,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mavros-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/mavlink/mavros.git
@@ -3237,6 +3253,18 @@ repositories:
       version: main
     status: developed
   metro_nav:
+    doc:
+      type: git
+      url: https://github.com/MetroRobots/metro_nav.git
+      version: main
+    release:
+      packages:
+      - base2d_kinematics
+      - base2d_kinematics_msgs
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/metro_nav-release.git
+      version: 0.2.0-1
     source:
       type: git
       url: https://github.com/MetroRobots/metro_nav.git
@@ -3342,15 +3370,22 @@ repositories:
     release:
       packages:
       - mola_common
+      - mola_demos
+      - mola_imu_preintegration
       - mola_input_euroc_dataset
       - mola_input_kitti_dataset
+      - mola_input_rawlog
+      - mola_input_ros2
       - mola_kernel
+      - mola_launcher
+      - mola_test_datasets
+      - mola_viz
       - mola_yaml
       - mp2p_icp
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mola-release.git
-      version: 0.2.1-1
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/MOLAorg/mola.git
@@ -3404,7 +3439,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.5.4-1
+      version: 2.5.5-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -3561,7 +3596,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -3719,6 +3754,20 @@ repositories:
       url: https://github.com/nerian-vision/nerian_stereo_ros2.git
       version: master
     status: developed
+  network_interface:
+    doc:
+      type: git
+      url: https://github.com/astuff/network_interface.git
+      version: ros2_master
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/astuff/network_interface-release.git
+      version: 2003.1.1-2
+    source:
+      type: git
+      url: https://github.com/astuff/network_interface.git
+      version: ros2_master
   nlohmann_json_schema_validator_vendor:
     doc:
       type: git
@@ -5127,10 +5176,16 @@ repositories:
       version: humble
     status: maintained
   reach:
+    release:
+      tags:
+        release: release/humble/{package}/{version}
+      url: https://github.com/ros2-gbp/reach-release.git
+      version: 1.5.1-1
     source:
       type: git
       url: https://github.com/ros-industrial/reach.git
       version: master
+    status: developed
   reach_ros:
     source:
       type: git
@@ -5751,7 +5806,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_control-release.git
-      version: 2.30.0-1
+      version: 2.31.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_control.git
@@ -8210,7 +8265,7 @@ repositories:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/ur_description-release.git
-      version: 2.1.0-1
+      version: 2.1.1-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
@@ -8276,17 +8331,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
@@ -8711,15 +8766,20 @@ repositories:
       version: master
     status: maintained
   weight_scale_interfaces:
+    doc:
+      type: git
+      url: https://github.com/TechMagicKK/weight_scale_interfaces.git
+      version: main
     release:
       tags:
         release: release/humble/{package}/{version}
       url: https://github.com/TechMagicKK/weight_scale_interfaces-release.git
-      version: 0.0.1-1
+      version: 0.0.2-1
     source:
       type: git
       url: https://github.com/TechMagicKK/weight_scale_interfaces.git
       version: main
+    status: maintained
   wireless:
     doc:
       type: git
diff --git a/iron/distribution.yaml b/iron/distribution.yaml
index 7f4d3cf39a0c5..066a7a5411f8b 100644
--- a/iron/distribution.yaml
+++ b/iron/distribution.yaml
@@ -561,7 +561,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-1
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -938,7 +938,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/luxonis/depthai-ros-release.git
-      version: 2.7.5-1
+      version: 2.8.0-1
     source:
       test_pull_requests: true
       type: git
@@ -1451,7 +1451,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -1713,7 +1713,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/gps_umd-release.git
-      version: 2.0.2-1
+      version: 2.0.3-1
     source:
       test_pull_requests: true
       type: git
@@ -2575,7 +2575,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/marti_common-release.git
-      version: 3.5.4-1
+      version: 3.6.1-1
     source:
       test_pull_requests: true
       type: git
@@ -2617,7 +2617,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mavlink-gbp-release.git
-      version: 2023.6.6-1
+      version: 2023.9.9-1
     source:
       type: git
       url: https://github.com/mavlink/mavlink-gbp-release.git
@@ -2637,7 +2637,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mavros-release.git
-      version: 2.5.0-1
+      version: 2.6.0-1
     source:
       type: git
       url: https://github.com/mavlink/mavros.git
@@ -2777,15 +2777,22 @@ repositories:
     release:
       packages:
       - mola_common
+      - mola_demos
+      - mola_imu_preintegration
       - mola_input_euroc_dataset
       - mola_input_kitti_dataset
+      - mola_input_rawlog
+      - mola_input_ros2
       - mola_kernel
+      - mola_launcher
+      - mola_test_datasets
+      - mola_viz
       - mola_yaml
       - mp2p_icp
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mola-release.git
-      version: 0.2.1-1
+      version: 0.2.2-1
     source:
       type: git
       url: https://github.com/MOLAorg/mola.git
@@ -2841,7 +2848,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/moveit2-release.git
-      version: 2.7.4-1
+      version: 2.8.0-1
     source:
       test_commits: false
       test_pull_requests: false
@@ -2858,7 +2865,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/moveit_msgs-release.git
-      version: 2.2.2-1
+      version: 2.3.0-1
     source:
       type: git
       url: https://github.com/ros-planning/moveit_msgs.git
@@ -3009,7 +3016,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/mvsim-release.git
-      version: 0.8.0-1
+      version: 0.8.1-1
     source:
       type: git
       url: https://github.com/MRPT/mvsim.git
@@ -3111,7 +3118,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/SteveMacenski/navigation2-release.git
-      version: 1.2.2-1
+      version: 1.2.2-2
     source:
       type: git
       url: https://github.com/ros-planning/navigation2.git
@@ -4980,6 +4987,7 @@ repositories:
       - joint_state_broadcaster
       - joint_trajectory_controller
       - position_controllers
+      - range_sensor_broadcaster
       - ros2_controllers
       - ros2_controllers_test_nodes
       - rqt_joint_trajectory_controller
@@ -4990,7 +4998,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 3.14.0-1
+      version: 3.15.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -6808,7 +6816,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/PickNikRobotics/topic_based_ros2_control-release.git
-      version: 0.1.1-1
+      version: 0.2.0-1
   topic_tools:
     doc:
       type: git
@@ -7099,7 +7107,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/Universal_Robots_Client_Library-release.git
-      version: 1.3.2-1
+      version: 1.3.3-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_Client_Library.git
@@ -7114,7 +7122,7 @@ repositories:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/ur_description-release.git
-      version: 2.1.0-1
+      version: 2.1.1-1
     source:
       type: git
       url: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description.git
@@ -7179,17 +7187,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/iron/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
diff --git a/rolling/distribution.yaml b/rolling/distribution.yaml
index 4bf54cf840bd6..9cfe7914b59a7 100644
--- a/rolling/distribution.yaml
+++ b/rolling/distribution.yaml
@@ -585,7 +585,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/behaviortree_cpp_v4-release.git
-      version: 4.3.6-2
+      version: 4.3.7-1
     source:
       type: git
       url: https://github.com/BehaviorTree/BehaviorTree.CPP.git
@@ -1485,7 +1485,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/foxglove_bridge-release.git
-      version: 0.7.1-1
+      version: 0.7.2-1
     source:
       type: git
       url: https://github.com/foxglove/ros-foxglove-bridge.git
@@ -4931,6 +4931,7 @@ repositories:
       - joint_state_broadcaster
       - joint_trajectory_controller
       - position_controllers
+      - range_sensor_broadcaster
       - ros2_controllers
       - ros2_controllers_test_nodes
       - rqt_joint_trajectory_controller
@@ -4941,7 +4942,7 @@ repositories:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/ros2_controllers-release.git
-      version: 3.14.0-1
+      version: 3.15.0-1
     source:
       type: git
       url: https://github.com/ros-controls/ros2_controllers.git
@@ -6996,17 +6997,17 @@ repositories:
   urdf_launch:
     doc:
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     release:
       tags:
         release: release/rolling/{package}/{version}
       url: https://github.com/ros2-gbp/urdf_launch-release.git
-      version: 0.1.0-1
+      version: 0.1.1-1
     source:
       test_pull_requests: true
       type: git
-      url: https://github.com/MetroRobots/urdf_launch.git
+      url: https://github.com/ros/urdf_launch.git
       version: main
     status: developed
   urdf_parser_py:
diff --git a/rosdep/base.yaml b/rosdep/base.yaml
index 4611a7d657543..fe6547a1bba0a 100644
--- a/rosdep/base.yaml
+++ b/rosdep/base.yaml
@@ -3403,6 +3403,19 @@ libftgl-dev:
   fedora: [ftgl-devel]
   gentoo: [media-libs/ftgl]
   ubuntu: [libftgl-dev]
+libfyaml-dev:
+  alpine: [libfyaml-dev]
+  debian:
+    '*': [libfyaml-dev]
+    bullseye: null
+  fedora: [libfyaml-devel]
+  nixos: [libfyaml]
+  opensuse:
+    '*': [libfyaml]
+    '15.2': null
+  ubuntu:
+    '*': [libfyaml-dev]
+    focal: null
 libgazebo-dev:
   debian:
     bullseye: [libgazebo-dev]