diff --git a/README.md b/README.md
index 5a0d51b18..0438906f6 100644
--- a/README.md
+++ b/README.md
@@ -9,9 +9,9 @@
 
 Build | Status
 -- | --
-Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/main/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/main)
-Ubuntu Focal  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-main-focal-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-main-focal-amd64)
-Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-main-homebrew-amd64)
+Test coverage | [![codecov](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math7/graph/badge.svg)](https://codecov.io/gh/gazebosim/gz-math/branch/gz-math7)
+Ubuntu Focal  | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-gz-math7-focal-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-gz-math7-focal-amd64)
+Homebrew      | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_math-ci-gz-math7-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_math-ci-gz-math7-homebrew-amd64)
 Windows       | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ign_math-ci-win)](https://build.osrfoundation.org/job/ign_math-ci-win)
 
 Gazebo Math, a component of [Gazebo](https://gazebosim.org), provides general purpose math
diff --git a/tutorials/angle.md b/tutorials/angle.md
index c67d33baf..f06090f31 100644
--- a/tutorials/angle.md
+++ b/tutorials/angle.md
@@ -9,7 +9,7 @@ This tutorial explains how to use the `Angle` class from Gazebo Math library.
 Go to `gz-math/examples` and use `cmake` to compile the code:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b main
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
@@ -57,12 +57,25 @@ Use the method `Normalized` to bound the value between `-PI` and `PI`.
 
 ## Ruby example
 
-This example will only work if the Ruby interface library was compiled and installed. Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
+This example will only work if the Ruby interface library was compiled and installed. For example,
+on Ubuntu:
+
+```{.sh}
+sudo apt install ruby-gz-math<#>
+```
+
+Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
 
 ```{.sh}
 export RUBYLIB=/usr/lib/ruby:$RUBYLIB
 ```
 
+Move to the examples folder:
+
+```{.sh}
+cd examples
+```
+
 Execute the code:
 
 ```{.sh}
diff --git a/tutorials/example_angle.md b/tutorials/example_angle.md
index 5ab6081f5..219efa818 100644
--- a/tutorials/example_angle.md
+++ b/tutorials/example_angle.md
@@ -9,7 +9,7 @@ This tutorial explains how to use the `Angle` class from Gazebo Math library.
 Go to `gz-math/examples` and use `cmake` to compile the code:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b master
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
@@ -57,12 +57,26 @@ Use the method `Normalized` to bound the value between `-PI` and `PI`.
 
 ## Ruby example
 
-This example will only work if the Ruby interface library was compiled and installed. Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
+This example will only work if the Ruby interface library was compiled and installed. For example,
+on Ubuntu:
+
+```{.sh}
+sudo apt install ruby-gz-math<#>
+```
+
+Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
 
 ```{.sh}
 export RUBYLIB=/usr/lib/ruby:$RUBYLIB
 ```
 
+Move to the examples folder:
+
+```{.sh}
+cd examples
+```
+
+
 Execute the code:
 
 ```{.sh}
diff --git a/tutorials/example_triangle.md b/tutorials/example_triangle.md
index 56cd12795..0f3866862 100644
--- a/tutorials/example_triangle.md
+++ b/tutorials/example_triangle.md
@@ -7,7 +7,7 @@ This tutorial explains how to use the `Triangle` class from Gazebo Math library.
 Go to `gz-math/examples` and use `cmake` to compile the code:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b master
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
diff --git a/tutorials/example_vector2.md b/tutorials/example_vector2.md
index be21e7680..68dcc3618 100644
--- a/tutorials/example_vector2.md
+++ b/tutorials/example_vector2.md
@@ -1,6 +1,6 @@
 \page example_vector2 Vector example
 
-This tutorial explains how to use the `Vector` class from Gazebo Math library.
+This tutorial explains how to use the `Vector2` class from Gazebo Math library.
 
 ## C++ example
 
@@ -9,7 +9,7 @@ This tutorial explains how to use the `Vector` class from Gazebo Math library.
 To compile the code, go to `gz-math/examples` and use `cmake`:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b master
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
@@ -75,12 +75,25 @@ There are also many useful function such as finding the distance between two vec
 
 ## Ruby examples
 
-This example will only work if the Ruby interface library was compiled and installed. Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
+This example will only work if the Ruby interface library was compiled and installed. For example,
+on Ubuntu:
+
+```{.sh}
+sudo apt install ruby-gz-math<#>
+```
+
+Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
 
 ```{.sh}
 export RUBYLIB=/usr/lib/ruby:$RUBYLIB
 ```
 
+Move to the examples folder:
+
+```{.sh}
+cd examples
+```
+
 Execute the examples:
 
 ```{.sh}
diff --git a/tutorials/rotation.md b/tutorials/rotation.md
index e80d52f2e..59eae34f2 100644
--- a/tutorials/rotation.md
+++ b/tutorials/rotation.md
@@ -7,7 +7,7 @@ This example explains how to use quaternions and euler angles, and how to conver
 Go to `gz-math/examples` and use `cmake` to compile the code:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b main
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
diff --git a/tutorials/rotation_example.md b/tutorials/rotation_example.md
index 7b248a5d6..a4df77a9c 100644
--- a/tutorials/rotation_example.md
+++ b/tutorials/rotation_example.md
@@ -7,7 +7,7 @@ This example explains how to use quaternions and euler angles, and how to conver
 Go to `gz-math/examples` and use `cmake` to compile the code:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b master
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
diff --git a/tutorials/vector.md b/tutorials/vector.md
index 63de2115d..44a503acf 100644
--- a/tutorials/vector.md
+++ b/tutorials/vector.md
@@ -9,7 +9,7 @@ This tutorial explains how to use the `Vector` classes from Gazebo Math library.
 To compile the code, go to `gz-math/examples` and use `cmake`:
 
 ```{.sh}
-git clone https://github.com/gazebosim/gz-math/ -b main
+git clone https://github.com/gazebosim/gz-math/ -b gz-math7
 cd gz-math/examples
 mkdir build
 cd build
@@ -75,12 +75,25 @@ There are also many useful function such as finding the distance between two vec
 
 ## Ruby examples
 
-This example will only work if the Ruby interface library was compiled and installed. Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
+This example will only work if the Ruby interface library was compiled and installed. For example,
+on Ubuntu:
+
+```{.sh}
+sudo apt install ruby-gz-math<#>
+```
+
+Modify the `RUBYLIB` environment variable to include the Gazebo Math library install path. For example, if you install to `/usr`:
 
 ```{.sh}
 export RUBYLIB=/usr/lib/ruby:$RUBYLIB
 ```
 
+Move to the examples folder:
+
+```{.sh}
+cd examples
+```
+
 Execute the examples:
 
 ```{.sh}