diff --git a/.clang-format b/.clang-format
index 7762ec9d..cd54eb45 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,9 +1,14 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format
 Language: Cpp
 BasedOnStyle: Google
 
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
 BraceWrapping:
   AfterClass: true
   AfterFunction: true
@@ -33,6 +38,9 @@ IncludeCategories:
   - Regex: .*_msgs/.*
     Priority: 3
     CaseSensitive: true
+  - Regex: .*_srvs/.*
+    Priority: 3
+    CaseSensitive: true
   # Other Package headers
   - Regex: <.*>
     Priority: 2
diff --git a/.cspell.json b/.cspell.json
index 2a97aa78..2b8b8ced 100644
--- a/.cspell.json
+++ b/.cspell.json
@@ -90,6 +90,7 @@
     "solvepnp",
     "sqpnp",
     "srvs",
+    "stringop",
     "subsampled",
     "subsamples",
     "subsampling",
diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml
index 3f3bf243..8e2d7193 100644
--- a/.github/dependabot.yaml
+++ b/.github/dependabot.yaml
@@ -1,10 +1,15 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 version: 2
 updates:
   - package-ecosystem: github-actions
     directory: /
+    # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval
     schedule:
-      interval: daily
+      interval: monthly
     open-pull-requests-limit: 1
     labels:
-      - bot
-      - github-actions
+      - tag:bot
+      - type:github-actions
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
index 23fac8d2..bf1b6e7e 100644
--- a/.github/sync-files.yaml
+++ b/.github/sync-files.yaml
@@ -1,24 +1,32 @@
-- repository: autowarefoundation/autoware
+- repository: autowarefoundation/sync-file-templates
   files:
     - source: .github/dependabot.yaml
+    - source: .github/workflows/build-and-test.yaml
+    - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/cancel-previous-workflows.yaml
+    - source: .github/workflows/check-build-depends.yaml
+    - source: .github/workflows/clang-tidy-pr-comments.yaml
+    - source: .github/workflows/clang-tidy-pr-comments-manually.yaml
     - source: .github/workflows/pre-commit.yaml
     - source: .github/workflows/pre-commit-optional.yaml
     - source: .github/workflows/semantic-pull-request.yaml
     - source: .github/workflows/spell-check-differential.yaml
+      pre-commands: |
+        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
+    - source: .github/workflows/spell-check-daily.yaml
+      pre-commands: |
+        sd "        with:\n" "        with:\n          local-cspell-json: .cspell.json\n" {source}
+    - source: .github/workflows/sync-files.yaml
     - source: .clang-format
     - source: .markdown-link-check.json
     - source: .markdownlint.yaml
     - source: .pre-commit-config-optional.yaml
+    - source: .pre-commit-config.yaml
     - source: .prettierignore
     - source: .prettierrc.yaml
     - source: .yamllint.yaml
+    - source: CODE_OF_CONDUCT.md
+    - source: CONTRIBUTING.md
     - source: CPPLINT.cfg
+    - source: LICENSE
     - source: setup.cfg
-
-- repository: autowarefoundation/autoware_common
-  files:
-    - source: .github/workflows/build-and-test.yaml
-    - source: .github/workflows/build-and-test-differential.yaml
-    - source: .github/workflows/check-build-depends.yaml
-    - source: .github/workflows/clang-tidy-pr-comments.yaml
-    - source: .github/workflows/sync-files.yaml
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
index 2144d724..9c2ac70e 100644
--- a/.github/workflows/build-and-test-differential.yaml
+++ b/.github/workflows/build-and-test-differential.yaml
@@ -1,29 +1,57 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test-differential
 
 on:
   pull_request:
+    types:
+      - opened
+      - synchronize
+      - reopened
+      - labeled
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
 
 jobs:
+  require-label:
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/require-label.yaml@v1
+    with:
+      label: run:build-and-test-differential
+
   build-and-test-differential:
-    runs-on: ubuntu-latest
+    needs: require-label
+    if: ${{ needs.require-label.outputs.result == 'true' }}
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
+          - jazzy
         include:
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
+          - rosdistro: jazzy
+            container: ros:jazzy
+            build-depends-repos: build_depends.repos
     steps:
-      - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.12.1
+      - name: Set PR fetch depth
+        run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}"
 
-      - name: Check out repository
+      - name: Checkout PR branch and all PR commits
         uses: actions/checkout@v4
         with:
-          fetch-depth: 0
+          ref: ${{ github.event.pull_request.head.sha }}
+          fetch-depth: ${{ env.PR_FETCH_DEPTH }}
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -57,3 +85,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: differential
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
index fa1abd8c..a6996cf2 100644
--- a/.github/workflows/build-and-test.yaml
+++ b/.github/workflows/build-and-test.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: build-and-test
 
 on:
@@ -6,23 +10,36 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
+          - jazzy
         include:
           - rosdistro: humble
             container: ros:humble
             build-depends-repos: build_depends.repos
+          - rosdistro: jazzy
+            container: ros:jazzy
+            build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+
+      - name: Show disk space before the tasks
+        run: df -h
 
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
@@ -56,3 +73,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h
diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml
new file mode 100644
index 00000000..2037da36
--- /dev/null
+++ b/.github/workflows/cancel-previous-workflows.yaml
@@ -0,0 +1,20 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# Deprecated: Use concurrency in each workflow instead.
+
+name: cancel-previous-workflows
+
+on:
+  pull_request_target:
+
+jobs:
+  cancel-previous-workflows:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Cancel previous runs
+        uses: styfle/cancel-workflow-action@0.12.1
+        with:
+          workflow_id: all
+          all_but_latest: true
diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml
index c790c213..3fcbd6d9 100644
--- a/.github/workflows/check-build-depends.yaml
+++ b/.github/workflows/check-build-depends.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: check-build-depends
 
 on:
@@ -5,9 +9,13 @@ on:
     paths:
       - build_depends*.repos
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   check-build-depends:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     container: ${{ matrix.container }}
     strategy:
       fail-fast: false
diff --git a/.github/workflows/clang-tidy-pr-comments-manually.yaml b/.github/workflows/clang-tidy-pr-comments-manually.yaml
new file mode 100644
index 00000000..e6e1afd8
--- /dev/null
+++ b/.github/workflows/clang-tidy-pr-comments-manually.yaml
@@ -0,0 +1,71 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+name: clang-tidy-pr-comments-manually
+
+on:
+  workflow_dispatch:
+    inputs:
+      workflow_run_id_or_url:
+        description: The target workflow run ID or URL of the build-and-test-differential workflow
+        required: true
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  clang-tidy-pr-comments-manually:
+    runs-on: ubuntu-22.04
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v4
+
+      - name: Download analysis results
+        run: |
+          workflow_run_id=$(echo "${{ inputs.workflow_run_id_or_url }}" | sed -e "s|.*runs/||" -e "s|/jobs.*||")
+          gh run download "$workflow_run_id" -D /tmp || true
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Check if the fixes.yaml file exists
+        id: check-fixes-yaml-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+        with:
+          files: /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Set variables
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        id: set-variables
+        run: |
+          echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT
+
+      - name: Check out PR head
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        uses: actions/checkout@v4
+        with:
+          repository: ${{ steps.set-variables.outputs.pr-head-repo }}
+          ref: ${{ steps.set-variables.outputs.pr-head-ref }}
+          persist-credentials: false
+
+      - name: Replace paths in fixes.yaml
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        run: |
+          sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml
+          cat /tmp/clang-tidy-result/fixes.yaml
+
+      - name: Copy fixes.yaml to access from Docker Container Action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        run: |
+          cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml
+
+      - name: Run clang-tidy-pr-comments action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
+        uses: platisd/clang-tidy-pr-comments@v1
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          clang_tidy_fixes: fixes.yaml
+          pull_request_id: ${{ steps.set-variables.outputs.pr-id }}
diff --git a/.github/workflows/clang-tidy-pr-comments.yaml b/.github/workflows/clang-tidy-pr-comments.yaml
index 9d4210a2..1d808b0b 100644
--- a/.github/workflows/clang-tidy-pr-comments.yaml
+++ b/.github/workflows/clang-tidy-pr-comments.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: clang-tidy-pr-comments
 
 on:
@@ -7,28 +11,40 @@ on:
     types:
       - completed
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   clang-tidy-pr-comments:
-    if: ${{ github.event.workflow_run.event == 'pull_request' && github.event.workflow_run.conclusion == 'success' }}
-    runs-on: ubuntu-latest
+    if: ${{ github.event.workflow_run.event == 'pull_request' && contains(fromJson('["success", "failure"]'), github.event.workflow_run.conclusion) }}
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
 
       - name: Download analysis results
         run: |
-          gh run download ${{ github.event.workflow_run.id }} -D /tmp
+          gh run download ${{ github.event.workflow_run.id }} -D /tmp || true
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
 
+      - name: Check if the fixes.yaml file exists
+        id: check-fixes-yaml-existence
+        uses: autowarefoundation/autoware-github-actions/check-file-existence@v1
+        with:
+          files: /tmp/clang-tidy-result/fixes.yaml
+
       - name: Set variables
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         id: set-variables
         run: |
-          echo ::set-output name=pr-id::"$(cat /tmp/clang-tidy-result/pr-id.txt)"
-          echo ::set-output name=pr-head-repo::"$(cat /tmp/clang-tidy-result/pr-head-repo.txt)"
-          echo ::set-output name=pr-head-ref::"$(cat /tmp/clang-tidy-result/pr-head-ref.txt)"
+          echo "pr-id=$(cat /tmp/clang-tidy-result/pr-id.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-repo=$(cat /tmp/clang-tidy-result/pr-head-repo.txt)" >> $GITHUB_OUTPUT
+          echo "pr-head-ref=$(cat /tmp/clang-tidy-result/pr-head-ref.txt)" >> $GITHUB_OUTPUT
 
       - name: Check out PR head
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         uses: actions/checkout@v4
         with:
           repository: ${{ steps.set-variables.outputs.pr-head-repo }}
@@ -36,15 +52,18 @@ jobs:
           persist-credentials: false
 
       - name: Replace paths in fixes.yaml
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         run: |
           sed -i -e "s|/__w/|/home/runner/work/|g" /tmp/clang-tidy-result/fixes.yaml
           cat /tmp/clang-tidy-result/fixes.yaml
 
       - name: Copy fixes.yaml to access from Docker Container Action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         run: |
           cp /tmp/clang-tidy-result/fixes.yaml fixes.yaml
 
       - name: Run clang-tidy-pr-comments action
+        if: ${{ steps.check-fixes-yaml-existence.outputs.exists == 'true' }}
         uses: platisd/clang-tidy-pr-comments@v1
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
index 1fbf2ff4..e3d2c708 100644
--- a/.github/workflows/spell-check-differential.yaml
+++ b/.github/workflows/spell-check-differential.yaml
@@ -1,11 +1,19 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: spell-check-differential
 
 on:
   pull_request:
 
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
   spell-check-differential:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Check out repository
         uses: actions/checkout@v4
@@ -13,4 +21,7 @@ jobs:
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
-          cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json
+          cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json
+          dict-packages: |
+            https://github.com/autowarefoundation/autoware-spell-check-dict
+            https://github.com/tier4/cspell-dicts
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
index c15244a3..a8a03539 100644
--- a/.github/workflows/sync-files.yaml
+++ b/.github/workflows/sync-files.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 name: sync-files
 
 on:
@@ -5,16 +9,13 @@ on:
     - cron: 0 0 * * *
   workflow_dispatch:
 
-jobs:
-  check-secret:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1
-    secrets:
-      secret: ${{ secrets.APP_ID }}
+concurrency:
+  group: ${{ github.workflow }}-${{ github.event_name }}-${{ github.ref }}
+  cancel-in-progress: true
 
+jobs:
   sync-files:
-    needs: check-secret
-    if: ${{ needs.check-secret.outputs.set == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-22.04
     steps:
       - name: Generate token
         id: generate-token
@@ -28,6 +29,6 @@ jobs:
         with:
           token: ${{ steps.generate-token.outputs.token }}
           pr-labels: |
-            bot
-            sync-files
+            tag:bot
+            tag:sync-files
           auto-merge-method: squash
diff --git a/.github/workflows/sync-tier4-universe-to-jazzy.yml b/.github/workflows/sync-tier4-universe-to-jazzy.yml
new file mode 100644
index 00000000..eb93f608
--- /dev/null
+++ b/.github/workflows/sync-tier4-universe-to-jazzy.yml
@@ -0,0 +1,27 @@
+name: sync-tier4-universe-to-jazzy
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-branches:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v2
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: jazzy
+          sync-target-repository: git@github.com:tier4/CalibrationTools.git
+          sync-target-branch: tier4/universe
+          sync-branch: sync-tier4-universe-to-jazzy
+          pr-title: "chore: sync tier4/universe to jazzy"
+          auto-merge-method: merge
diff --git a/.gitignore b/.gitignore
index 65212347..5e3846f6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,3 +9,6 @@ log/
 
 # Python
 *.pyc
+
+# pre-commit
+node_modules/
diff --git a/.markdown-link-check.json b/.markdown-link-check.json
index dec3db1a..c71a3e42 100644
--- a/.markdown-link-check.json
+++ b/.markdown-link-check.json
@@ -4,6 +4,9 @@
     {
       "pattern": "^http://localhost"
     },
+    {
+      "pattern": "^http://127\\.0\\.0\\.1"
+    },
     {
       "pattern": "^https://github.com/.*/discussions/new"
     }
diff --git a/.markdownlint.yaml b/.markdownlint.yaml
index df1f518d..3f0ffd4f 100644
--- a/.markdownlint.yaml
+++ b/.markdownlint.yaml
@@ -1,9 +1,17 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules.
 default: true
 MD013: false
 MD024:
   siblings_only: true
+MD029:
+  style: ordered
 MD033: false
 MD041: false
+MD045: false
 MD046: false
 MD049: false
+MD059: false
diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
index a805f120..75e39d4e 100644
--- a/.pre-commit-config-optional.yaml
+++ b/.pre-commit-config-optional.yaml
@@ -1,6 +1,16 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# https://pre-commit.ci/#configuration
+ci:
+  autofix_commit_msg: "style(pre-commit-optional): autofix"
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit-optional): quarterly autoupdate"
+
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.10.0
+    rev: v3.14.2
     hooks:
       - id: markdown-link-check
-        args: [--config=.markdown-link-check.json]
+        args: [--quiet, --config=.markdown-link-check.json]
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 31f5c3cb..b8c7d8b3 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,10 +1,16 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
+# https://pre-commit.ci/#configuration
 ci:
-  autofix_commit_msg: "ci(pre-commit): autofix"
-  autoupdate_commit_msg: "ci(pre-commit): autoupdate"
+  autofix_commit_msg: "style(pre-commit): autofix"
+  autoupdate_schedule: quarterly
+  autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate"
 
 repos:
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
+    rev: v6.0.0
     hooks:
       - id: check-json
       - id: check-merge-conflict
@@ -19,7 +25,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.44.0
+    rev: v0.47.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]
@@ -28,12 +34,18 @@ repos:
     rev: v4.0.0-alpha.8
     hooks:
       - id: prettier
+        args: [--no-error-on-unmatched-pattern]
 
   - repo: https://github.com/adrienverge/yamllint
-    rev: v1.37.0
+    rev: v1.37.1
     hooks:
       - id: yamllint
 
+  - repo: https://github.com/autowarefoundation/autoware-guideline-check
+    rev: 0.2.0
+    hooks:
+      - id: check-package-depends
+
   - repo: https://github.com/tier4/pre-commit-hooks-ros
     rev: v0.10.0
     hooks:
@@ -45,29 +57,30 @@ repos:
       - id: sort-package-xml
 
   - repo: https://github.com/shellcheck-py/shellcheck-py
-    rev: v0.10.0.1
+    rev: v0.11.0.1
     hooks:
       - id: shellcheck
 
   - repo: https://github.com/scop/pre-commit-shfmt
-    rev: v3.11.0-1
+    rev: v3.12.0-2
     hooks:
       - id: shfmt
         args: [-w, -s, -i=4]
 
   - repo: https://github.com/pycqa/isort
-    rev: 6.0.1
+    rev: 7.0.0
     hooks:
       - id: isort
+        args: [--profile=black, --line-length=100]
 
-  - repo: https://github.com/psf/black
-    rev: 25.1.0
+  - repo: https://github.com/psf/black-pre-commit-mirror
+    rev: 25.12.0
     hooks:
       - id: black
         args: [--line-length=100]
 
   - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.0
+    rev: v21.1.8
     hooks:
       - id: clang-format
         types_or: [c++, c, cuda]
@@ -79,4 +92,24 @@ repos:
         args: [--quiet]
         exclude: .cu
 
-exclude: .svg
+  - repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.36.0
+    hooks:
+      - id: check-metaschema
+        files: ^.+/schema/.*schema\.json$
+
+  - repo: local
+    hooks:
+      - id: prettier-svg
+        name: prettier svg
+        description: Apply Prettier with plugin-xml to svg.
+        entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore
+        language: node
+        files: .svg$
+        additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"]
+
+  - repo: https://github.com/AleksaC/hadolint-py
+    rev: v2.14.0
+    hooks:
+      - id: hadolint
+        exclude: .svg$
diff --git a/.prettierignore b/.prettierignore
index a3c34d00..3e96aace 100644
--- a/.prettierignore
+++ b/.prettierignore
@@ -1,2 +1,6 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 *.param.yaml
 *.rviz
diff --git a/.prettierrc.yaml b/.prettierrc.yaml
index e29bf327..fe476936 100644
--- a/.prettierrc.yaml
+++ b/.prettierrc.yaml
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 printWidth: 100
 tabWidth: 2
 overrides:
diff --git a/.yamllint.yaml b/.yamllint.yaml
index 6228c70f..e0be62db 100644
--- a/.yamllint.yaml
+++ b/.yamllint.yaml
@@ -1,7 +1,10 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 extends: default
 
 ignore: |
-  .clang-tidy
   *.param.yaml
 
 rules:
diff --git a/CPPLINT.cfg b/CPPLINT.cfg
index ba6bdf08..159042db 100644
--- a/CPPLINT.cfg
+++ b/CPPLINT.cfg
@@ -1,12 +1,18 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120
 set noparent
 linelength=100
 includeorder=standardcfirst
 filter=-build/c++11               # we do allow C++11
+filter=-build/c++17               # we allow <filesystem>
 filter=-build/namespaces_literals # we allow using namespace for literals
 filter=-runtime/references        # we consider passing non-const references to be ok
 filter=-whitespace/braces         # we wrap open curly braces for namespaces, classes and functions
 filter=-whitespace/indent         # we don't indent keywords like public, protected and private with one space
+filter=-whitespace/newline        # we allow the developer to decide about newline at the end of file (it's clashing with clang-format)
 filter=-whitespace/parens         # we allow closing parenthesis to be on the next line
 filter=-whitespace/semicolon      # we allow the developer to decide about whitespace after a semicolon
 filter=-build/header_guard        # we automatically fix the names of header guards using pre-commit
diff --git a/README.md b/README.md
index 11dda3f9..20514887 100644
--- a/README.md
+++ b/README.md
@@ -26,14 +26,13 @@ Calibration tools for sensors used in autonomous driving and robotics (camera, l
     - [Using your vehicle/robot](#using-your-vehiclerobot)
     - [Create a new project](#create-a-new-project)
     - [Integrate a new calibrator](#integrate-a-new-calibrator)
-  - [Troubleshooting & known issues](TROUBLESHOOTING.md)
 
 ## Installation
 
 ### Requirements
 
-- Ubuntu 22.04
-- ROS2 Humble <!--cSpell:ignore ROS2 -->
+- Ubuntu 22.04 / 24.04
+- ROS 2 Humble / Jazzy
 
 ### Installation alongside autoware
 
@@ -75,10 +74,13 @@ With a similar motivation to that of the previous Section, in some cases, a nati
 
 ```bash
 # Build
-DOCKER_BUILDKIT=1 docker build --ssh default -t ghcr.io/tier4/sensor-calibration-tools:2.0 -f docker/Dockerfile ..
+export ROS_DISTRO=humble  # for ROS 2 Humble
+export ROS_DISTRO=jazzy  # for ROS 2 Jazzy
+
+DOCKER_BUILDKIT=1 docker build --ssh default -t ghcr.io/tier4/sensor-calibration-tools:$ROS_DISTRO -f docker/Dockerfile --build-arg ROS_DISTRO=$ROS_DISTRO ..
 
 # Run - Modify if needed
-docker run --gpus all --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri:/dev/dri -it ghcr.io/tier4/sensor-calibration-tools:2.0 /bin/bash
+docker run --gpus all --net=host -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --device=/dev/dri:/dev/dri -it ghcr.io/tier4/sensor-calibration-tools:${ROS_DISTRO} /bin/bash
 
 # If user encounters issues like "Authorization required", use one of the alternatives below.
 # Solution 1 (Not recommended):
@@ -97,7 +99,7 @@ docker run --gpus all --net=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
   -v /tmp/.docker.xauth:/tmp/.docker.xauth \
   --device=/dev/dri:/dev/dri \
-  -it ghcr.io/tier4/sensor-calibration-tools:2.0 /bin/bash
+  -it ghcr.io/tier4/sensor-calibration-tools:${ROS_DISTRO} /bin/bash
 ```
 
 ## Available tools
diff --git a/build_depends.repos b/build_depends.repos
index 3dc98c1e..2641fc6d 100644
--- a/build_depends.repos
+++ b/build_depends.repos
@@ -25,7 +25,7 @@ repositories:
     version: tier4/universe
   autoware/universe:
     type: git
-    url: https://github.com/autowarefoundation/autoware.universe.git
+    url: https://github.com/autowarefoundation/autoware_universe.git
     version: main
   vendor/lidartag:
     type: git
@@ -42,11 +42,11 @@ repositories:
   vendor/apriltag_ros:
     type: git
     url: https://github.com/christianrauch/apriltag_ros.git
-    version: e814e9e5d5f1bfb60a4aa685d30977c632bbc540
+    version: 6a6c04a16502413f114649f9bdb166c784d4fcfb
   vendor/ros2_numpy:
     type: git
     url: https://github.com/Box-Robotics/ros2_numpy.git
-    version: humble
+    version: jazzy
   vendor/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
diff --git a/calibration_tools_autoware.repos b/calibration_tools_autoware.repos
index 3b973546..57926df3 100644
--- a/calibration_tools_autoware.repos
+++ b/calibration_tools_autoware.repos
@@ -18,12 +18,16 @@ repositories:
   vendor/apriltag_ros:
     type: git
     url: https://github.com/christianrauch/apriltag_ros.git
-    version: e814e9e5d5f1bfb60a4aa685d30977c632bbc540
+    version: 6a6c04a16502413f114649f9bdb166c784d4fcfb
   vendor/ros2_numpy:
     type: git
     url: https://github.com/Box-Robotics/ros2_numpy.git
-    version: humble
+    version: jazzy
   vendor/image_pipeline:
     type: git
     url: https://github.com/tier4/image_pipeline.git
     version: 47964112293eb19f9f57254b2e6b68706954cc63
+  vendor/ndt_omp:
+    type: git
+    url: https://github.com/tier4/ndt_omp.git
+    version: tier4/main
diff --git a/calibration_tools_standalone.repos b/calibration_tools_standalone.repos
index d869534b..78a08083 100644
--- a/calibration_tools_standalone.repos
+++ b/calibration_tools_standalone.repos
@@ -29,7 +29,7 @@ repositories:
     version: tier4/universe
   autoware/universe:
     type: git
-    url: https://github.com/autowarefoundation/autoware.universe.git
+    url: https://github.com/autowarefoundation/autoware_universe.git
     version: main
   vendor/lidartag:
     type: git
@@ -46,11 +46,11 @@ repositories:
   vendor/apriltag_ros:
     type: git
     url: https://github.com/christianrauch/apriltag_ros.git
-    version: e814e9e5d5f1bfb60a4aa685d30977c632bbc540
+    version: 6a6c04a16502413f114649f9bdb166c784d4fcfb
   vendor/ros2_numpy:
     type: git
     url: https://github.com/Box-Robotics/ros2_numpy.git
-    version: humble
+    version: jazzy
   vendor/ndt_omp:
     type: git
     url: https://github.com/tier4/ndt_omp.git
diff --git a/calibrators/ground_plane_calibrator/src/ground_plane_calibrator.cpp b/calibrators/ground_plane_calibrator/src/ground_plane_calibrator.cpp
index 5df40e60..8990557b 100644
--- a/calibrators/ground_plane_calibrator/src/ground_plane_calibrator.cpp
+++ b/calibrators/ground_plane_calibrator/src/ground_plane_calibrator.cpp
@@ -16,6 +16,7 @@
 #include <ground_plane_calibrator/ground_plane_calibrator.hpp>
 #include <tf2_eigen/tf2_eigen.hpp>
 
+#include <rclcpp/version.h>
 #include <tf2/utils.h>
 
 #include <iostream>
@@ -23,6 +24,12 @@
 #include <string>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 namespace ground_plane_calibrator
 {
 
@@ -103,7 +110,7 @@ ExtrinsicGroundPlaneCalibrator::ExtrinsicGroundPlaneCalibrator(const rclcpp::Nod
     std::bind(
       &ExtrinsicGroundPlaneCalibrator::requestReceivedCallback, this, std::placeholders::_1,
       std::placeholders::_2),
-    rmw_qos_profile_services_default, srv_callback_group_);
+    SERVICE_QOS, srv_callback_group_);
 
   // Initialize the filter
   kalman_filter_.setA(Eigen::DiagonalMatrix<double, 6>(1.0, 1.0, 1.0, 1.0, 1.0, 1.0));
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp
index 6866c1f4..a06c8695 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/include/ceres_intrinsic_camera_calibrator/fov_residual.hpp
@@ -341,7 +341,7 @@ std::vector<CameraPoint<T>> getCameraPoints(
     auto backprojection_err = ceres::sqrt(ceres::pow(u - u_bpr, 2) + ceres::pow(v - v_bpr, 2));
     auto sign_shift_x = u <= T(0.0) ? T(-1.0) : u >= width - T(1.0) ? T(1.0) : T(0.0);
     auto sign_shift_y = v <= T(0.0) ? T(-1.0) : v >= height - T(1.0) ? T(1.0) : T(0.0);
-    if (ceres::IsNaN(backprojection_err) || backprojection_err > backprojection_err_thr) {
+    if (ceres::isnan(backprojection_err) || backprojection_err > backprojection_err_thr) {
       camera_points.push_back({x, y, depth, sign_shift_x, sign_shift_y, backprojection_err, false});
       return false;
     }
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
index 6f17bd99..11de5b78 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_camera_intrinsics_optimizer.cpp
@@ -69,7 +69,10 @@ void CeresCameraIntrinsicsOptimizer::setSourceDimensions(int width, int height)
   height_ = height;
 }
 
-void CeresCameraIntrinsicsOptimizer::setVerbose(bool verbose) { verbose_ = verbose; }
+void CeresCameraIntrinsicsOptimizer::setVerbose(bool verbose)
+{
+  verbose_ = verbose;
+}
 
 void CeresCameraIntrinsicsOptimizer::setData(
   const cv::Mat_<double> & camera_matrix, const cv::Mat_<double> & distortion_coeffs,
diff --git a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_intrinsic_camera_calibrator_py.cpp b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_intrinsic_camera_calibrator_py.cpp
index 7b15a953..60e12ba0 100644
--- a/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_intrinsic_camera_calibrator_py.cpp
+++ b/calibrators/intrinsic_camera_calibrator/ceres_intrinsic_camera_calibrator/src/ceres_intrinsic_camera_calibrator_py.cpp
@@ -30,7 +30,10 @@
 #define STRINGIFY(x) #x
 #define MACRO_STRINGIFY(x) STRINGIFY(x)
 
-int add(int i, int j) { return i + j; }
+int add(int i, int j)
+{
+  return i + j;
+}
 
 std::tuple<double, double> test(const Eigen::MatrixXd & matrix)
 {
diff --git a/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/calibrators/utils.py b/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/calibrators/utils.py
index b615c9da..2f654e1a 100644
--- a/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/calibrators/utils.py
+++ b/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/calibrators/utils.py
@@ -102,7 +102,7 @@ def plot_calibration_data_statistics(
     tilt_cells: int = int(2 * np.ceil(max_tilt_deg / tilt_resolution))
 
     fig, axes = plt.subplots(3, 5, figsize=(20, 12))
-    fig.canvas.set_window_title("Calibration data statistics")
+    fig.canvas.manager.set_window_title("Calibration data statistics")
 
     def process_detections(detections: List[BoardDetection]):
         pixel_occupancy = np.zeros((pixel_cells, pixel_cells))
@@ -200,8 +200,8 @@ def plot_calibration_results_statistics(
     fig1, axes1 = plt.subplots(3, 4, figsize=(20, 12))
     fig2, axes2 = plt.subplots(3, 1, figsize=(20, 12))
 
-    fig1.canvas.set_window_title("Calibration result statistics")
-    fig2.canvas.set_window_title("Calibration result statistics vs single shot calibration")
+    fig1.canvas.manager.set_window_title("Calibration result statistics")
+    fig2.canvas.manager.set_window_title("Calibration result statistics vs single shot calibration")
 
     def process_detections(detections: List[BoardDetection]):
         pixel_errors = [[[] for i in range(pixel_cells)] for j in range(pixel_cells)]
diff --git a/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py b/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
index 88f11e9b..b3b4f16b 100644
--- a/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
+++ b/calibrators/intrinsic_camera_calibrator/intrinsic_camera_calibrator/intrinsic_camera_calibrator/camera_calibrator.py
@@ -16,6 +16,7 @@
 from collections import defaultdict
 import copy
 import logging
+import multiprocessing
 from optparse import OptionParser
 import os
 import signal
@@ -1354,6 +1355,12 @@ def on_parameter_changed(self):
 
 
 def main(args=None):
+    try:
+        multiprocessing.set_start_method("spawn", force=True)
+    except RuntimeError:
+        logging.warning(
+            "Cannot set multiprocessing start method to 'spawn'. Pop-up windows may not work properly."
+        )
     set_logger_severity()
     parser = OptionParser()
     parser.add_option("-c", "--config-file", type="string", help="calibration file path")
@@ -1384,7 +1391,7 @@ def main(args=None):
         sys.exit(app.exec_())
     except (KeyboardInterrupt, SystemExit):
         logging.info("Received sigint. Quitting...")
-        rclpy.shutdown()
+        rclpy.try_shutdown()
 
 
 def sigint_handler(*args):
diff --git a/calibrators/lidar_to_lidar_2d_calibrator/CMakeLists.txt b/calibrators/lidar_to_lidar_2d_calibrator/CMakeLists.txt
index 40a3db63..daf8c7c3 100755
--- a/calibrators/lidar_to_lidar_2d_calibrator/CMakeLists.txt
+++ b/calibrators/lidar_to_lidar_2d_calibrator/CMakeLists.txt
@@ -2,6 +2,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(lidar_to_lidar_2d_calibrator)
 
+add_compile_options(-Wno-array-bounds)
+add_compile_options(-Wno-stringop-overflow)
+
 find_package(autoware_cmake REQUIRED)
 find_package(OpenCV REQUIRED) # TODO: consider removing this one later
 
diff --git a/calibrators/lidar_to_lidar_2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp b/calibrators/lidar_to_lidar_2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp
index 665fac9b..7b30ba6d 100644
--- a/calibrators/lidar_to_lidar_2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp
+++ b/calibrators/lidar_to_lidar_2d_calibrator/src/lidar_to_lidar_2d_calibrator.cpp
@@ -25,6 +25,7 @@
 #include <pcl/sample_consensus/method_types.h>
 #include <pcl/sample_consensus/model_types.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <rclcpp/version.h>
 #include <tf2/utils.h>
 
 #include <algorithm>
@@ -38,6 +39,12 @@
 #include <utility>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 namespace lidar_to_lidar_2d_calibrator
 {
 
@@ -115,7 +122,7 @@ LidarToLidar2DCalibrator::LidarToLidar2DCalibrator(const rclcpp::NodeOptions & o
     std::bind(
       &LidarToLidar2DCalibrator::requestReceivedCallback, this, std::placeholders::_1,
       std::placeholders::_2),
-    rmw_qos_profile_services_default, srv_callback_group_);
+    SERVICE_QOS, srv_callback_group_);
 
   // Initialize the filter
   kalman_filter_.setA(Eigen::DiagonalMatrix<double, 3>(1.0, 1.0, 1.0));
diff --git a/calibrators/mapping_based_calibrator/CMakeLists.txt b/calibrators/mapping_based_calibrator/CMakeLists.txt
index 1b8d02f8..2dcc903a 100644
--- a/calibrators/mapping_based_calibrator/CMakeLists.txt
+++ b/calibrators/mapping_based_calibrator/CMakeLists.txt
@@ -5,6 +5,8 @@ project(mapping_based_calibrator)
 # cSpell:ignore DEIGEN
 #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DEIGEN_NO_DEBUG -march=native -Wl,--no-as-needed")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g")
+add_compile_options(-Wno-array-bounds)
+add_compile_options(-Wno-stringop-overflow)
 
 find_package(autoware_cmake REQUIRED)
 find_package(OpenMP)
diff --git a/calibrators/mapping_based_calibrator/include/mapping_based_calibrator/mapping_based_calibrator.hpp b/calibrators/mapping_based_calibrator/include/mapping_based_calibrator/mapping_based_calibrator.hpp
index c51ea5b4..d879d1f7 100644
--- a/calibrators/mapping_based_calibrator/include/mapping_based_calibrator/mapping_based_calibrator.hpp
+++ b/calibrators/mapping_based_calibrator/include/mapping_based_calibrator/mapping_based_calibrator.hpp
@@ -24,13 +24,13 @@
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
-#include <std_srvs/srv/empty.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <sensor_msgs/msg/compressed_image.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
+#include <std_srvs/srv/empty.hpp>
 #include <tier4_sensor_calibration_msgs/srv/calibration_database.hpp>
 #include <tier4_sensor_calibration_msgs/srv/extrinsic_calibrator.hpp>
 #include <tier4_sensor_calibration_msgs/srv/frame.hpp>
diff --git a/calibrators/mapping_based_calibrator/src/camera_calibrator.cpp b/calibrators/mapping_based_calibrator/src/camera_calibrator.cpp
index 0496c820..f37d5eb4 100644
--- a/calibrators/mapping_based_calibrator/src/camera_calibrator.cpp
+++ b/calibrators/mapping_based_calibrator/src/camera_calibrator.cpp
@@ -22,16 +22,22 @@
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tier4_calibration_pcl_extensions/voxel_grid_triplets.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
 #include <pcl/common/transforms.h>
 #include <pcl/filters/frustum_culling.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <rclcpp/version.h>
 
 #include <memory>
 #include <string>
 #include <tuple>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 CameraCalibrator::CameraCalibrator(
   const std::string & calibration_camera_optical_link_frame,
   CalibrationParameters::Ptr & parameters, MappingData::Ptr & mapping_data,
@@ -65,7 +71,9 @@ CameraCalibrator::CameraCalibrator(
   configureCalibrators();
 }
 
-void CameraCalibrator::configureCalibrators() {}
+void CameraCalibrator::configureCalibrators()
+{
+}
 
 std::tuple<bool, Eigen::Matrix4d, float> CameraCalibrator::calibrate()
 {
diff --git a/calibrators/mapping_based_calibrator/src/filters/best_frames_filter.cpp b/calibrators/mapping_based_calibrator/src/filters/best_frames_filter.cpp
index 5f40c6e0..e4048a45 100644
--- a/calibrators/mapping_based_calibrator/src/filters/best_frames_filter.cpp
+++ b/calibrators/mapping_based_calibrator/src/filters/best_frames_filter.cpp
@@ -21,7 +21,10 @@
 #include <utility>
 #include <vector>
 
-void BestFramesFilter::setName(const std::string & name) { name_ = name + " (BestFramesFilter)"; }
+void BestFramesFilter::setName(const std::string & name)
+{
+  name_ = name + " (BestFramesFilter)";
+}
 
 std::vector<CalibrationFrame> BestFramesFilter::filter(
   const std::vector<CalibrationFrame> & input_calibration_frames,
diff --git a/calibrators/mapping_based_calibrator/src/filters/dynamics_filter.cpp b/calibrators/mapping_based_calibrator/src/filters/dynamics_filter.cpp
index 6c6f5615..c7e2cf13 100644
--- a/calibrators/mapping_based_calibrator/src/filters/dynamics_filter.cpp
+++ b/calibrators/mapping_based_calibrator/src/filters/dynamics_filter.cpp
@@ -18,7 +18,10 @@
 #include <string>
 #include <vector>
 
-void DynamicsFilter::setName(const std::string & name) { name_ = name + " (DynamicsFilter)"; }
+void DynamicsFilter::setName(const std::string & name)
+{
+  name_ = name + " (DynamicsFilter)";
+}
 
 std::vector<CalibrationFrame> DynamicsFilter::filter(
   const std::vector<CalibrationFrame> & calibration_frames,
diff --git a/calibrators/mapping_based_calibrator/src/filters/lost_state_filter.cpp b/calibrators/mapping_based_calibrator/src/filters/lost_state_filter.cpp
index 82a1ca0b..bd8582b3 100644
--- a/calibrators/mapping_based_calibrator/src/filters/lost_state_filter.cpp
+++ b/calibrators/mapping_based_calibrator/src/filters/lost_state_filter.cpp
@@ -19,7 +19,10 @@
 #include <unordered_set>
 #include <vector>
 
-void LostStateFilter::setName(const std::string & name) { name_ = name + " (LostStateFilter)"; }
+void LostStateFilter::setName(const std::string & name)
+{
+  name_ = name + " (LostStateFilter)";
+}
 
 std::vector<CalibrationFrame> LostStateFilter::filter(
   const std::vector<CalibrationFrame> & calibration_frames, MappingData::Ptr & data)
diff --git a/calibrators/mapping_based_calibrator/src/mapping_based_calibrator.cpp b/calibrators/mapping_based_calibrator/src/mapping_based_calibrator.cpp
index 8842fff0..436e0d00 100644
--- a/calibrators/mapping_based_calibrator/src/mapping_based_calibrator.cpp
+++ b/calibrators/mapping_based_calibrator/src/mapping_based_calibrator.cpp
@@ -24,6 +24,7 @@
 #include <boost/archive/binary_oarchive.hpp>
 
 #include <pcl/io/pcd_io.h>
+#include <rclcpp/version.h>
 
 #include <chrono>
 #include <fstream>
@@ -32,6 +33,12 @@
 #include <string>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 #define UPDATE_PARAM(PARAM_STRUCT, NAME) update_param(p, #NAME, PARAM_STRUCT.NAME##_)
 
 namespace
@@ -271,10 +278,10 @@ ExtrinsicMappingBasedCalibrator::ExtrinsicMappingBasedCalibrator(
   auto keyframe_markers_pub =
     this->create_publisher<visualization_msgs::msg::MarkerArray>("keyframe_markers", 10);
 
-  auto rosbag2_pause_client_ = this->create_client<rosbag2_interfaces::srv::Pause>(
-    "/rosbag2_player/pause", rmw_qos_profile_services_default);
-  auto rosbag2_resume_client_ = this->create_client<rosbag2_interfaces::srv::Resume>(
-    "/rosbag2_player/resume", rmw_qos_profile_services_default);
+  auto rosbag2_pause_client_ =
+    this->create_client<rosbag2_interfaces::srv::Pause>("/rosbag2_player/pause", SERVICE_QOS);
+  auto rosbag2_resume_client_ =
+    this->create_client<rosbag2_interfaces::srv::Resume>("/rosbag2_player/resume", SERVICE_QOS);
 
   // Set up mapper
   mapper_ = std::make_shared<CalibrationMapper>(
@@ -335,7 +342,7 @@ ExtrinsicMappingBasedCalibrator::ExtrinsicMappingBasedCalibrator(
     std::bind(
       &ExtrinsicMappingBasedCalibrator::requestReceivedCallback, this, std::placeholders::_1,
       std::placeholders::_2),
-    rmw_qos_profile_services_default, srv_callback_group_);
+    SERVICE_QOS, srv_callback_group_);
 
   // Set up sensor callbacks
   assert(
@@ -404,7 +411,7 @@ ExtrinsicMappingBasedCalibrator::ExtrinsicMappingBasedCalibrator(
       mapper_->stop();
       RCLCPP_INFO_STREAM(this->get_logger(), "Mapper stopped through service");
     },
-    rmw_qos_profile_services_default);
+    SERVICE_QOS);
 
   load_database_server_ =
     this->create_service<tier4_sensor_calibration_msgs::srv::CalibrationDatabase>(
@@ -412,7 +419,7 @@ ExtrinsicMappingBasedCalibrator::ExtrinsicMappingBasedCalibrator(
       std::bind(
         &ExtrinsicMappingBasedCalibrator::loadDatabaseCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default);
+      SERVICE_QOS);
 
   save_database_server_ =
     this->create_service<tier4_sensor_calibration_msgs::srv::CalibrationDatabase>(
@@ -420,7 +427,7 @@ ExtrinsicMappingBasedCalibrator::ExtrinsicMappingBasedCalibrator(
       std::bind(
         &ExtrinsicMappingBasedCalibrator::saveDatabaseCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default);
+      SERVICE_QOS);
 
   publisher_timer_ = rclcpp::create_timer(
     this, this->get_clock(), 5s, std::bind(&CalibrationMapper::publisherTimerCallback, mapper_));
diff --git a/calibrators/marker_radar_lidar_calibrator/include/marker_radar_lidar_calibrator/marker_radar_lidar_calibrator.hpp b/calibrators/marker_radar_lidar_calibrator/include/marker_radar_lidar_calibrator/marker_radar_lidar_calibrator.hpp
index f2aa34b4..ecf44349 100644
--- a/calibrators/marker_radar_lidar_calibrator/include/marker_radar_lidar_calibrator/marker_radar_lidar_calibrator.hpp
+++ b/calibrators/marker_radar_lidar_calibrator/include/marker_radar_lidar_calibrator/marker_radar_lidar_calibrator.hpp
@@ -21,12 +21,12 @@
 #include <rclcpp/logging.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
-#include <std_srvs/srv/empty.hpp>
 
 #include <geometry_msgs/msg/transform_stamped.hpp>
 #include <radar_msgs/msg/radar_tracks.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <std_msgs/msg/float32_multi_array.hpp>
+#include <std_srvs/srv/empty.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tier4_sensor_calibration_msgs/srv/extrinsic_calibrator.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
diff --git a/calibrators/marker_radar_lidar_calibrator/scripts/metrics_plotter_node.py b/calibrators/marker_radar_lidar_calibrator/scripts/metrics_plotter_node.py
index eeeb92fb..10330095 100755
--- a/calibrators/marker_radar_lidar_calibrator/scripts/metrics_plotter_node.py
+++ b/calibrators/marker_radar_lidar_calibrator/scripts/metrics_plotter_node.py
@@ -30,7 +30,7 @@ def __init__(self):
         self.subplot1 = self.axes[0, 1]
         self.subplot2 = self.axes[1, 0]
         self.subplot3 = self.axes[1, 1]
-        plt.gcf().canvas.set_window_title("Metrics plotter")
+        plt.gcf().canvas.manager.set_window_title("Metrics plotter")
 
         self.color_distance_o = "C0o-"
         self.color_yaw_o = "C1o-"
diff --git a/calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp b/calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp
index ef867465..9d1d3b63 100644
--- a/calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp
+++ b/calibrators/marker_radar_lidar_calibrator/src/marker_radar_lidar_calibrator.cpp
@@ -28,6 +28,7 @@
 #include <pcl/segmentation/extract_clusters.h>
 #include <pcl/segmentation/sac_segmentation.h>
 #include <pcl_conversions/pcl_conversions.h>
+#include <rclcpp/version.h>
 #include <tf2/utils.h>
 
 #include <algorithm>
@@ -42,6 +43,12 @@
 #include <utility>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 #define UPDATE_PARAM(PARAM_STRUCT, NAME) update_param(parameters, #NAME, PARAM_STRUCT.NAME)
 
 namespace
@@ -269,14 +276,14 @@ ExtrinsicReflectorBasedCalibrator::ExtrinsicReflectorBasedCalibrator(
       std::bind(
         &ExtrinsicReflectorBasedCalibrator::requestReceivedCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default, calibration_api_srv_callback_group_);
+      SERVICE_QOS, calibration_api_srv_callback_group_);
 
   background_model_service_server_ = this->create_service<std_srvs::srv::Empty>(
     "extract_background_model",
     std::bind(
       &ExtrinsicReflectorBasedCalibrator::backgroundModelRequestCallback, this,
       std::placeholders::_1, std::placeholders::_2),
-    rmw_qos_profile_services_default, calibration_ui_srv_callback_group_);
+    SERVICE_QOS, calibration_ui_srv_callback_group_);
 
   timer_ = rclcpp::create_timer(
     this, get_clock(), std::chrono::seconds(1),
@@ -329,7 +336,7 @@ void ExtrinsicReflectorBasedCalibrator::timerCallback()
       std::bind(
         &ExtrinsicReflectorBasedCalibrator::trackingRequestCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default, calibration_ui_srv_callback_group_);
+      SERVICE_QOS, calibration_ui_srv_callback_group_);
   }
 
   if (calibration_valid_ && !send_calibration_service_server_) {
@@ -338,7 +345,7 @@ void ExtrinsicReflectorBasedCalibrator::timerCallback()
       std::bind(
         &ExtrinsicReflectorBasedCalibrator::sendCalibrationCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default, calibration_ui_srv_callback_group_);
+      SERVICE_QOS, calibration_ui_srv_callback_group_);
   }
 
   if (converged_tracks_.size() > 0 && !delete_track_service_server_) {
@@ -347,7 +354,7 @@ void ExtrinsicReflectorBasedCalibrator::timerCallback()
       std::bind(
         &ExtrinsicReflectorBasedCalibrator::deleteTrackRequestCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default, calibration_ui_srv_callback_group_);
+      SERVICE_QOS, calibration_ui_srv_callback_group_);
   }
 }
 
diff --git a/calibrators/tag_based_pnp_calibrator/CMakeLists.txt b/calibrators/tag_based_pnp_calibrator/CMakeLists.txt
index b2502e16..01275fd7 100644
--- a/calibrators/tag_based_pnp_calibrator/CMakeLists.txt
+++ b/calibrators/tag_based_pnp_calibrator/CMakeLists.txt
@@ -2,6 +2,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(tag_based_pnp_calibrator)
 
+add_compile_options(-Wno-array-bounds)
+add_compile_options(-Wno-stringop-overflow)
+
 find_package(autoware_cmake REQUIRED)
 find_package(OpenCV REQUIRED)
 
@@ -21,6 +24,11 @@ ament_auto_add_executable(tag_based_pnp_calibrator
   src/math.cpp
 )
 
+target_include_directories(tag_based_pnp_calibrator PUBLIC
+  include
+  ${OpenCV_INCLUDE_DIRS}
+)
+
 target_link_libraries(tag_based_pnp_calibrator
   ${OpenCV_LIBS}
 )
diff --git a/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/calibration_estimator.hpp b/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/calibration_estimator.hpp
index 1bcc7e83..d3859485 100644
--- a/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/calibration_estimator.hpp
+++ b/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/calibration_estimator.hpp
@@ -26,7 +26,7 @@
 #include <lidartag_msgs/msg/lidar_tag_detection_array.hpp>
 #include <sensor_msgs/msg/camera_info.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#include <rclcpp/version.h>
 #include <tf2/utils.h>
 
 #include <memory>
@@ -34,6 +34,12 @@
 #include <unordered_map>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 class CalibrationEstimator
 {
 public:
diff --git a/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/tag_calibrator_visualizer.hpp b/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/tag_calibrator_visualizer.hpp
index a97ed4e4..674e64b5 100644
--- a/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/tag_calibrator_visualizer.hpp
+++ b/calibrators/tag_based_pnp_calibrator/include/tag_based_pnp_calibrator/tag_calibrator_visualizer.hpp
@@ -27,13 +27,19 @@
 #include <sensor_msgs/msg/camera_info.hpp>
 #include <visualization_msgs/msg/marker_array.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#include <rclcpp/version.h>
 
 #include <memory>
 #include <string>
 #include <unordered_map>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 class TagCalibratorVisualizer
 {
 public:
diff --git a/calibrators/tag_based_pnp_calibrator/src/calibration_estimator.cpp b/calibrators/tag_based_pnp_calibrator/src/calibration_estimator.cpp
index c340ea9e..23b43695 100644
--- a/calibrators/tag_based_pnp_calibrator/src/calibration_estimator.cpp
+++ b/calibrators/tag_based_pnp_calibrator/src/calibration_estimator.cpp
@@ -617,7 +617,10 @@ bool CalibrationEstimator::converged() const
          getCalibrationCoveragePercentage() >= convergence_min_area_percentage_;
 }
 
-bool CalibrationEstimator::valid() const { return valid_; }
+bool CalibrationEstimator::valid() const
+{
+  return valid_;
+}
 
 std::vector<std::shared_ptr<tier4_tag_utils::LidartagHypothesis>>
 CalibrationEstimator::getActiveLidartagHypotheses() const
@@ -696,14 +699,20 @@ void CalibrationEstimator::setCalibrationConvergenceCriteria(
   convergence_min_area_percentage_ = min_area_percentage;
 }
 
-void CalibrationEstimator::setMinPnpPairs(int min_pairs) { min_pnp_pairs_ = min_pairs; }
+void CalibrationEstimator::setMinPnpPairs(int min_pairs)
+{
+  min_pnp_pairs_ = min_pairs;
+}
 
 void CalibrationEstimator::setMinConvergenceTime(double convergence_time)
 {
   min_convergence_time_ = convergence_time;
 }
 
-void CalibrationEstimator::setMaxNoObservationTime(double time) { max_no_observation_time_ = time; }
+void CalibrationEstimator::setMaxNoObservationTime(double time)
+{
+  max_no_observation_time_ = time;
+}
 
 void CalibrationEstimator::setNewHypothesisDistance(double distance)
 {
@@ -771,7 +780,10 @@ void CalibrationEstimator::setApriltagProcessNoise(double translation)
   apriltag_process_noise_translation_ = translation;
 }
 
-double CalibrationEstimator::getNewHypothesisDistance() const { return new_hypothesis_distance_; }
+double CalibrationEstimator::getNewHypothesisDistance() const
+{
+  return new_hypothesis_distance_;
+}
 
 double CalibrationEstimator::getCalibrationCoveragePercentage() const
 {
@@ -799,4 +811,7 @@ int CalibrationEstimator::getCurrentCalibrationPairsNumber() const
   return converged_lidartag_hypotheses_.size();
 }
 
-int CalibrationEstimator::getConvergencePairNumber() const { return convergence_min_pairs_; }
+int CalibrationEstimator::getConvergencePairNumber() const
+{
+  return convergence_min_pairs_;
+}
diff --git a/calibrators/tag_based_pnp_calibrator/src/tag_based_pnp_calibrator.cpp b/calibrators/tag_based_pnp_calibrator/src/tag_based_pnp_calibrator.cpp
index 6821b289..0f9b3bf7 100644
--- a/calibrators/tag_based_pnp_calibrator/src/tag_based_pnp_calibrator.cpp
+++ b/calibrators/tag_based_pnp_calibrator/src/tag_based_pnp_calibrator.cpp
@@ -22,8 +22,7 @@
 
 #include <tier4_sensor_calibration_msgs/msg/calibration_result.hpp>
 
-#include <cv_bridge/cv_bridge.h>
-#include <image_geometry/pinhole_camera_model.h>
+#include <rclcpp/version.h>
 #include <tf2/utils.h>
 
 #include <algorithm>
@@ -31,6 +30,16 @@
 #include <string>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <cv_bridge/cv_bridge.h>
+#include <image_geometry/pinhole_camera_model.h>
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#include <image_geometry/pinhole_camera_model.hpp>
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 ExtrinsicTagBasedPNPCalibrator::ExtrinsicTagBasedPNPCalibrator(const rclcpp::NodeOptions & options)
 : Node("tag_based_pnp_calibrator_node", options),
   tf_broadcaster_(this),
@@ -159,7 +168,7 @@ ExtrinsicTagBasedPNPCalibrator::ExtrinsicTagBasedPNPCalibrator(const rclcpp::Nod
     std::bind(
       &ExtrinsicTagBasedPNPCalibrator::requestReceivedCallback, this, std::placeholders::_1,
       std::placeholders::_2),
-    rmw_qos_profile_services_default, srv_callback_group_);
+    SERVICE_QOS, srv_callback_group_);
 
   visualizer_ = std::make_unique<TagCalibratorVisualizer>(filtered_projections_markers_pub_);
 
diff --git a/calibrators/tag_based_sfm_calibrator/CMakeLists.txt b/calibrators/tag_based_sfm_calibrator/CMakeLists.txt
index 7cf42b59..1c87ee9a 100644
--- a/calibrators/tag_based_sfm_calibrator/CMakeLists.txt
+++ b/calibrators/tag_based_sfm_calibrator/CMakeLists.txt
@@ -2,6 +2,9 @@
 cmake_minimum_required(VERSION 3.5)
 project(tag_based_sfm_calibrator)
 
+add_compile_options(-Wno-array-bounds)
+add_compile_options(-Wno-stringop-overflow)
+
 find_package(rclcpp REQUIRED)
 find_package(rclpy REQUIRED)
 find_package(apriltag REQUIRED)
diff --git a/calibrators/tag_based_sfm_calibrator/include/tag_based_sfm_calibrator/ceres/camera_residual.hpp b/calibrators/tag_based_sfm_calibrator/include/tag_based_sfm_calibrator/ceres/camera_residual.hpp
index a1c06abb..0ef53b1f 100644
--- a/calibrators/tag_based_sfm_calibrator/include/tag_based_sfm_calibrator/ceres/camera_residual.hpp
+++ b/calibrators/tag_based_sfm_calibrator/include/tag_based_sfm_calibrator/ceres/camera_residual.hpp
@@ -382,7 +382,7 @@ struct CameraResidual : public SensorResidual
     std::array<double, CalibrationData::POSE_OPT_DIM> & fixed_camera_pose_inv, bool fix_camera_pose,
     bool optimize_intrinsics)
   {
-    std::array<double, CalibrationData::SHRD_GROUND_TAG_POSE_DIM> null_tag_rotation_z;
+    std::array<double, CalibrationData::SHRD_GROUND_TAG_POSE_DIM> null_tag_rotation_z = {};
 
     auto f = new CameraResidual(
       camera_uid, intrinsics, detection, fixed_camera_pose_inv, null_tag_rotation_z,
diff --git a/calibrators/tag_based_sfm_calibrator/package.xml b/calibrators/tag_based_sfm_calibrator/package.xml
index 7559f494..d51ec5cb 100644
--- a/calibrators/tag_based_sfm_calibrator/package.xml
+++ b/calibrators/tag_based_sfm_calibrator/package.xml
@@ -41,6 +41,7 @@
   <depend>tier4_tag_utils</depend>
   <depend>visualization_msgs</depend>
 
+  <exec_depend>lidartag</exec_depend>
   <exec_depend>rclpy</exec_depend>
 
   <export>
diff --git a/calibrators/tag_based_sfm_calibrator/src/apriltag_detection.cpp b/calibrators/tag_based_sfm_calibrator/src/apriltag_detection.cpp
index 1e93a74f..99d6eca6 100644
--- a/calibrators/tag_based_sfm_calibrator/src/apriltag_detection.cpp
+++ b/calibrators/tag_based_sfm_calibrator/src/apriltag_detection.cpp
@@ -81,7 +81,10 @@ void LidartagDetection::computeTemplateCorners(double new_size)
     {-hsize, hsize, 0.0}, {hsize, hsize, 0.0}, {hsize, -hsize, 0.0}, {-hsize, -hsize, 0.0}};
 }
 
-void LidartagDetection::computeTemplateCorners() { computeTemplateCorners(this->size); }
+void LidartagDetection::computeTemplateCorners()
+{
+  computeTemplateCorners(this->size);
+}
 
 void LidartagDetection::computeObjectCorners()
 {
diff --git a/calibrators/tag_based_sfm_calibrator/src/ceres/calibration_problem.cpp b/calibrators/tag_based_sfm_calibrator/src/ceres/calibration_problem.cpp
index 6a5360cb..fefb76c9 100644
--- a/calibrators/tag_based_sfm_calibrator/src/ceres/calibration_problem.cpp
+++ b/calibrators/tag_based_sfm_calibrator/src/ceres/calibration_problem.cpp
@@ -29,7 +29,7 @@
 
 #include <ceres/ceres.h>
 #include <ceres/loss_function.h>
-#include <cv_bridge/cv_bridge.h>
+#include <rclcpp/version.h>
 
 #include <algorithm>
 #include <map>
@@ -40,6 +40,12 @@
 #include <utility>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <cv_bridge/cv_bridge.h>
+#else
+#include <cv_bridge/cv_bridge.hpp>
+#endif
+
 namespace tag_based_sfm_calibrator
 {
 
@@ -128,7 +134,10 @@ void CalibrationProblem::setWheelTagUIDs(UID left_wheel_tag_uid, UID right_wheel
   right_wheel_tag_uid_ = right_wheel_tag_uid;
 }
 
-void CalibrationProblem::setData(CalibrationData::Ptr & data) { data_ = data; }
+void CalibrationProblem::setData(CalibrationData::Ptr & data)
+{
+  data_ = data;
+}
 
 void CalibrationProblem::dataToPlaceholders()
 {
diff --git a/calibrators/tag_based_sfm_calibrator/src/tag_based_sfm_calibrator.cpp b/calibrators/tag_based_sfm_calibrator/src/tag_based_sfm_calibrator.cpp
index 55d7d851..60b9ce93 100644
--- a/calibrators/tag_based_sfm_calibrator/src/tag_based_sfm_calibrator.cpp
+++ b/calibrators/tag_based_sfm_calibrator/src/tag_based_sfm_calibrator.cpp
@@ -36,6 +36,7 @@
 #include <boost/archive/text_oarchive.hpp>
 
 #include <ceres/ceres.h>
+#include <rclcpp/version.h>
 
 #include <algorithm>
 #include <chrono>
@@ -49,6 +50,12 @@
 #include <utility>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#define SERVICE_QOS rmw_qos_profile_services_default
+#else
+#define SERVICE_QOS rclcpp::ServicesQoS()
+#endif
+
 namespace tag_based_sfm_calibrator
 {
 
@@ -304,7 +311,7 @@ ExtrinsicTagBasedBaseCalibrator::ExtrinsicTagBasedBaseCalibrator(
       std::bind(
         &ExtrinsicTagBasedBaseCalibrator::calibrationRequestCallback, this, std::placeholders::_1,
         std::placeholders::_2),
-      rmw_qos_profile_services_default, calibration_api_srv_group_);
+      SERVICE_QOS, calibration_api_srv_group_);
 
   // Scene related services
   add_external_camera_images_srv_ =
diff --git a/common/tier4_calibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp b/common/tier4_calibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp
index 68ac4f83..3599e0a8 100644
--- a/common/tier4_calibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp
+++ b/common/tier4_calibration_pcl_extensions/include/tier4_calibration_pcl_extensions/joint_icp_extended_impl.hpp
@@ -326,7 +326,7 @@ void pcl::JointIterativeClosestPointExtended<PointSource, PointTarget, Scalar>::
     }
 
     // Check whether we have enough correspondences
-    if (static_cast<int>(correspondences_->size()) < min_number_correspondences_) {
+    if (correspondences_->size() < static_cast<std::size_t>(min_number_correspondences_)) {
       PCL_ERROR(
         "[pcl::%s::computeTransformation] Not enough correspondences found. "
         "Relax your threshold parameters.\n",
diff --git a/common/tier4_tag_utils/include/tier4_tag_utils/apriltag_hypothesis.hpp b/common/tier4_tag_utils/include/tier4_tag_utils/apriltag_hypothesis.hpp
index 4e4fa6b6..dec0f411 100644
--- a/common/tier4_tag_utils/include/tier4_tag_utils/apriltag_hypothesis.hpp
+++ b/common/tier4_tag_utils/include/tier4_tag_utils/apriltag_hypothesis.hpp
@@ -20,10 +20,16 @@
 #include <opencv2/video/tracking.hpp>
 #include <rclcpp/time.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#include <rclcpp/version.h>
 
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 namespace tier4_tag_utils
 {
 
diff --git a/common/tier4_tag_utils/src/apriltag_filter.cpp b/common/tier4_tag_utils/src/apriltag_filter.cpp
index f13568b9..8929a58f 100644
--- a/common/tier4_tag_utils/src/apriltag_filter.cpp
+++ b/common/tier4_tag_utils/src/apriltag_filter.cpp
@@ -21,12 +21,18 @@
 
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
-#include <image_geometry/pinhole_camera_model.h>
+#include <rclcpp/version.h>
 
 #include <algorithm>
 #include <string>
 #include <vector>
 
+#if RCLCPP_VERSION_MAJOR <= 16
+#include <image_geometry/pinhole_camera_model.h>
+#else
+#include <image_geometry/pinhole_camera_model.hpp>
+#endif
+
 namespace tier4_tag_utils
 {
 
diff --git a/common/tier4_tag_utils/src/apriltag_hypothesis.cpp b/common/tier4_tag_utils/src/apriltag_hypothesis.cpp
index b1cb0360..74eefff3 100644
--- a/common/tier4_tag_utils/src/apriltag_hypothesis.cpp
+++ b/common/tier4_tag_utils/src/apriltag_hypothesis.cpp
@@ -27,7 +27,9 @@ ApriltagHypothesis::ApriltagHypothesis(
 {
 }
 
-ApriltagHypothesis::~ApriltagHypothesis() {}
+ApriltagHypothesis::~ApriltagHypothesis()
+{
+}
 
 bool ApriltagHypothesis::update(
   const std::vector<cv::Point2d> & corners, const rclcpp::Time & stamp)
@@ -77,7 +79,10 @@ bool ApriltagHypothesis::update(const rclcpp::Time & stamp)
   return since_last_observation < max_no_observation_time_;
 }
 
-int ApriltagHypothesis::getId() const { return id_; }
+int ApriltagHypothesis::getId() const
+{
+  return id_;
+}
 
 std::vector<cv::Point2d> ApriltagHypothesis::getLatestPoints2d() const
 {
@@ -154,7 +159,10 @@ std::vector<cv::Point3d> ApriltagHypothesis::getPoints3d(
   return object_points;
 }
 
-cv::Point3d ApriltagHypothesis::getCenter3d() const { return getCenter3d(getFilteredPoints3d()); }
+cv::Point3d ApriltagHypothesis::getCenter3d() const
+{
+  return getCenter3d(getFilteredPoints3d());
+}
 
 cv::Point3d ApriltagHypothesis::getCenter3d(const std::vector<cv::Point3d> & corners) const
 {
@@ -214,7 +222,10 @@ void ApriltagHypothesis::setNewHypothesisThreshold(double max_translation)
   new_hypothesis_translation_ = max_translation;
 }
 
-void ApriltagHypothesis::setMaxNoObservationTime(double time) { max_no_observation_time_ = time; }
+void ApriltagHypothesis::setMaxNoObservationTime(double time)
+{
+  max_no_observation_time_ = time;
+}
 
 void ApriltagHypothesis::setMeasurementNoise(double translation)
 {
@@ -226,7 +237,10 @@ void ApriltagHypothesis::setProcessNoise(double translation)
   process_noise_translation_ = translation;
 }
 
-void ApriltagHypothesis::setTagSize(double size) { tag_size_ = size; }
+void ApriltagHypothesis::setTagSize(double size)
+{
+  tag_size_ = size;
+}
 
 void ApriltagHypothesis::initKalman(const std::vector<cv::Point2d> & corners)
 {
diff --git a/common/tier4_tag_utils/src/lidartag_hypothesis.cpp b/common/tier4_tag_utils/src/lidartag_hypothesis.cpp
index c288b3c5..77232e46 100644
--- a/common/tier4_tag_utils/src/lidartag_hypothesis.cpp
+++ b/common/tier4_tag_utils/src/lidartag_hypothesis.cpp
@@ -98,7 +98,10 @@ bool LidartagHypothesis::update(const rclcpp::Time & stamp)
   return since_last_observation < max_no_observation_time_;
 }
 
-int LidartagHypothesis::getId() const { return id_; }
+int LidartagHypothesis::getId() const
+{
+  return id_;
+}
 
 std::vector<cv::Point3d> LidartagHypothesis::getLatestPoints()
 {
@@ -124,9 +127,15 @@ std::vector<cv::Point3d> LidartagHypothesis::getLatestPoints()
   return corners;
 }
 
-cv::Matx33d LidartagHypothesis::getLatestRotation() const { return latest_rotation_matrix_; }
+cv::Matx33d LidartagHypothesis::getLatestRotation() const
+{
+  return latest_rotation_matrix_;
+}
 
-cv::Matx31d LidartagHypothesis::getLatestTranslation() const { return latest_translation_vector_; }
+cv::Matx31d LidartagHypothesis::getLatestTranslation() const
+{
+  return latest_translation_vector_;
+}
 
 std::vector<cv::Point3d> LidartagHypothesis::getFilteredPoints()
 {
@@ -152,7 +161,10 @@ std::vector<cv::Point3d> LidartagHypothesis::getFilteredPoints()
   return corners;
 }
 
-cv::Matx33d LidartagHypothesis::getFilteredRotation() const { return filtered_rotation_matrix_; }
+cv::Matx33d LidartagHypothesis::getFilteredRotation() const
+{
+  return filtered_rotation_matrix_;
+}
 
 cv::Matx31d LidartagHypothesis::getFilteredTranslation() const
 {
@@ -184,7 +196,10 @@ double LidartagHypothesis::getRotCov() const
   return std::sqrt(max_rotation_cov);
 }
 
-double LidartagHypothesis::getSpeed() const { return estimated_speed_; }
+double LidartagHypothesis::getSpeed() const
+{
+  return estimated_speed_;
+}
 
 bool LidartagHypothesis::converged() const
 {
@@ -248,7 +263,10 @@ void LidartagHypothesis::setNewHypothesisThreshold(double max_translation, doubl
   new_hypothesis_rotation_ = max_rotation;
 }
 
-void LidartagHypothesis::setMaxNoObservationTime(double time) { max_no_observation_time_ = time; }
+void LidartagHypothesis::setMaxNoObservationTime(double time)
+{
+  max_no_observation_time_ = time;
+}
 
 void LidartagHypothesis::setMeasurementNoise(double translation, double rotation)
 {
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 60816ba2..a6789a65 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,26 +1,26 @@
-
-FROM osrf/ros:humble-desktop-jammy
+ARG ROS_DISTRO=jazzy
+FROM osrf/ros:${ROS_DISTRO}-desktop
 
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 
+ENV PIP_BREAK_SYSTEM_PACKAGES=1
+
+# hadolint ignore=DL3008
 RUN apt-get update && apt-get install --no-install-recommends -y \
     python3-pip \
-    wget
+    wget \
+    && rm -rf /var/lib/apt/lists/*
 
-RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc
 
 WORKDIR /workspace
 
-RUN mkdir -p /workspace/src
-
-RUN wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools_standalone.repos --directory-prefix=/workspace
+RUN mkdir -p /workspace/src && wget --progress=dot:giga https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools_standalone.repos --directory-prefix=/workspace
 
 RUN vcs import src < calibration_tools_standalone.repos
 
-RUN rosdep install -y --from-paths `colcon list --packages-up-to sensor_calibration_tools -p` --ignore-src
-
-RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_calibration_tools
+RUN rosdep install -y --from-paths "$(colcon list --packages-up-to sensor_calibration_tools -p)" --ignore-src
 
-RUN rm -rf /var/lib/apt/lists/*
+RUN source /opt/ros/"${ROS_DISTRO}"/setup.bash && colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to sensor_calibration_tools
 
 RUN echo "source /workspace/install/setup.bash" >> /etc/bash.bashrc
diff --git a/docs/images/mapping_based_calibrator/mapping_based_vis.svg b/docs/images/mapping_based_calibrator/mapping_based_vis.svg
index bc4df550..cb9e8a1e 100644
--- a/docs/images/mapping_based_calibrator/mapping_based_vis.svg
+++ b/docs/images/mapping_based_calibrator/mapping_based_vis.svg
@@ -1,4 +1,408 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!-- Do not edit this file with editors other than draw.io -->
 <!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN" "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
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diff --git a/docs/images/marker_radar_lidar_calibrator/background_construction.svg b/docs/images/marker_radar_lidar_calibrator/background_construction.svg
index 53431a22..6c2dde54 100644
--- a/docs/images/marker_radar_lidar_calibrator/background_construction.svg
+++ b/docs/images/marker_radar_lidar_calibrator/background_construction.svg
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"
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index c0e38115..23a364a1 100644
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/&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-175&quot; value=&quot;lidar&quot; style=&quot;text;html=1;align=center;verticalAlign=middle;resizable=0;points=[];autosize=1;strokeColor=none;fillColor=none;&quot; vertex=&quot;1&quot; parent=&quot;zyoZQwhHglEHUiS40TQ2-170&quot;&gt;&#10;          &lt;mxGeometry x=&quot;20&quot; y=&quot;80&quot; width=&quot;50&quot; height=&quot;30&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-176&quot; value=&quot;&quot; style=&quot;endArrow=none;dashed=1;html=1;rounded=0;strokeWidth=2;&quot; edge=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry width=&quot;50&quot; height=&quot;50&quot; relative=&quot;1&quot; as=&quot;geometry&quot;&gt;&#10;            &lt;mxPoint x=&quot;410&quot; y=&quot;300&quot; as=&quot;sourcePoint&quot; /&gt;&#10;            &lt;mxPoint x=&quot;110&quot; y=&quot;-80&quot; as=&quot;targetPoint&quot; /&gt;&#10; 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vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;420&quot; y=&quot;110&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-180&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;480&quot; y=&quot;110&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-181&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;600&quot; y=&quot;110&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10; 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parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;360&quot; y=&quot;160&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-185&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;420&quot; y=&quot;160&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-186&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;480&quot; y=&quot;160&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10; 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parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;240&quot; y=&quot;210&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-190&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;180&quot; y=&quot;210&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-191&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;420&quot; y=&quot;210&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10; 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as=&quot;targetPoint&quot; /&gt;&#10;          &lt;/mxGeometry&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-202&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;180&quot; y=&quot;-140&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-203&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#dae8fc;strokeColor=#6c8ebf;&quot; vertex=&quot;1&quot; parent=&quot;1&quot;&gt;&#10;          &lt;mxGeometry x=&quot;240&quot; y=&quot;-140&quot; width=&quot;60&quot; height=&quot;50&quot; as=&quot;geometry&quot; /&gt;&#10;        &lt;/mxCell&gt;&#10;        &lt;mxCell id=&quot;zyoZQwhHglEHUiS40TQ2-204&quot; value=&quot;&quot; style=&quot;rounded=1;whiteSpace=wrap;html=1;fillColor=#f5f5f5;fontColor=#333333;strokeColor=#666666;&quot; 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index 835192b7..31d6f879 100644
--- a/docs/images/marker_radar_lidar_calibrator/marker_radar_lidar_vis.svg
+++ b/docs/images/marker_radar_lidar_calibrator/marker_radar_lidar_vis.svg
@@ -1,4 +1,173 @@
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diff --git a/docs/images/tag_based_sfm_calibrator/bev_setup.svg b/docs/images/tag_based_sfm_calibrator/bev_setup.svg
index e39eea43..e7fbb35b 100644
--- a/docs/images/tag_based_sfm_calibrator/bev_setup.svg
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+      fill-rule="nonzero"
+    />
+  </g>
+</svg>
diff --git a/docs/tutorials/mapping_based_calibrator.md b/docs/tutorials/mapping_based_calibrator.md
index b276c93e..12afe63f 100644
--- a/docs/tutorials/mapping_based_calibrator.md
+++ b/docs/tutorials/mapping_based_calibrator.md
@@ -130,7 +130,7 @@ In the UI of the rdv project, three different TF trees are displayed: `Initial T
 
 - The `Initial TF Tree` presents the initial TF connections between sensors needed for calibration.
 - The `Calibration Tree` shows the calibrated transformation between sensors, in this tutorial, `pandar_top`, `pandar_front`, `pandar_right`and `pandar_left`.
-- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformations required to comply to the specifications is `sensor_kit_base_link` to `pandar_front_base_link`, `pandar_left_base_link`, and `pandar_right_base_link`. These transformations are performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/rdv/mapping_based_lidar_lidar_calibrator.py) related to this project. The red arrows indicate that the final transformations changed after the calibration process.
+- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformations required to comply to the specifications is `sensor_kit_base_link` to `pandar_front_base_link`, `pandar_left_base_link`, and `pandar_right_base_link`. These transformations are performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/rdv/mapping_based_lidar_lidar_calibrator.py) related to this project. The red arrows indicate that the final transformations changed after the calibration process.
 
 <p align="center">
     <img src="../images/mapping_based_calibrator/menu4.jpg" alt="menu4" width="500">
diff --git a/docs/tutorials/marker_radar_lidar_calibrator.md b/docs/tutorials/marker_radar_lidar_calibrator.md
index 006b01d9..553ac1a3 100644
--- a/docs/tutorials/marker_radar_lidar_calibrator.md
+++ b/docs/tutorials/marker_radar_lidar_calibrator.md
@@ -220,7 +220,7 @@ In the UI of the X2 project, three different TF trees are displayed: `Initial TF
 
 - The `Initial TF Tree` presents the initial TF connections between sensors needed for calibration.
 - The `Calibration Tree` shows the calibrated transformation between sensors, in this tutorial, `front_center/radar_link` to `pandar_40p_front`.
-- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformation required to comply to the specifications is `front_unit_base_link` to `front_center/radar_link`. This transformation is performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/x2/marker_radar_lidar_calibrator.py) related to this project. The red arrow indicates that the final transformation changed after the calibration process.
+- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformation required to comply to the specifications is `front_unit_base_link` to `front_center/radar_link`. This transformation is performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/x2/marker_radar_lidar_calibrator.py) related to this project. The red arrow indicates that the final transformation changed after the calibration process.
 
 <p align="center">
     <img src="../images/marker_radar_lidar_calibrator/menu4.jpg" alt="menu4"  width="500">
diff --git a/docs/tutorials/tag_based_pnp_calibrator.md b/docs/tutorials/tag_based_pnp_calibrator.md
index 572a01f3..51702eb8 100644
--- a/docs/tutorials/tag_based_pnp_calibrator.md
+++ b/docs/tutorials/tag_based_pnp_calibrator.md
@@ -103,7 +103,7 @@ In the UI of the X2 project, three different TF trees are displayed: `Initial TF
 
 - The `Initial TF Tree` presents the initial TF connections between sensors needed for calibration.
 - The `Calibration Tree` shows the calibrated transformation between sensors, in this tutorial, `camera6/camera_optical_link` to `pandar_40p_front`.
-- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/how-to-guides/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformation required to comply to the specifications is `front_unit_base_link` to `camera6/camera_link`. This transformation is performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/x2/tag_based_pnp_calibrator.py) related to this project. The red arrow indicates that the final transformation changed after the calibration process.
+- The `Final TF Tree` depicts the TF tree after incorporating the updated calibrated transformation. As autoware utilizes the concept of [sensor_kit](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/integrating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/), the final transformation required to comply to the specifications is `front_unit_base_link` to `camera6/camera_link`. This transformation is performed by the [calibrator interface](../../sensor_calibration_manager/sensor_calibration_manager/calibrators/x2/tag_based_pnp_calibrator.py) related to this project. The red arrow indicates that the final transformation changed after the calibration process.
 
 <p align="center">
     <img src="../images/tag_based_pnp_calibrator/menu4.jpg" alt="menu4" width="500">
diff --git a/setup.cfg b/setup.cfg
index 5214751c..4d7d5e5b 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,3 +1,7 @@
+# This file is automatically synced from:
+# https://github.com/autowarefoundation/sync-file-templates
+# To make changes, update the source repository and follow the guidelines in its README.
+
 [flake8]
 # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini
 extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000