diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..79fc83a
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: "/"
+    schedule:
+      interval: "weekly"
diff --git a/.github/workflows/pr-checks.yml b/.github/workflows/pr-checks.yml
index fef6651..cd4c9d9 100644
--- a/.github/workflows/pr-checks.yml
+++ b/.github/workflows/pr-checks.yml
@@ -4,16 +4,15 @@ on:
     types: [assigned, opened, synchronize, reopened, labeled, unlabeled]
     branches:
       - main
-      - master
 
 jobs:
   build:
     name: Check Actions
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v1
+      - uses: actions/checkout@v4
       - name: Changelog check
-        uses: Zomzog/changelog-checker@v1.1.0
+        uses: Zomzog/changelog-checker@09cfe9ad3618dcbfdba261adce0c41904cabb8c4 # v1.3.0
         with:
           fileName: CHANGELOG.rst
         env:
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
index ae66eb8..0b02857 100644
--- a/.github/workflows/release.yml
+++ b/.github/workflows/release.yml
@@ -10,11 +10,11 @@ jobs:
     name: publish release
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
-      - name: Set up Python 3.8
-        uses: actions/setup-python@v4
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.12
+        uses: actions/setup-python@v5
         with:
-          python-version: 3.8
+          python-version: 3.12
       - name: 🔗 Install dependencies
         run: |
           python -m pip install --upgrade pip
@@ -23,11 +23,9 @@ jobs:
         run: |
           python -m pip install --no-cache-dir -r requirements-dev.txt
       - name: 💃 Build release
-        if: success() && startsWith(github.ref, 'refs/tags')
         run: |
           python setup.py clean --all sdist bdist_wheel
       - name: 📦 Publish release to PyPI
-        if: success() && startsWith(github.ref, 'refs/tags')
-        uses: pypa/gh-action-pypi-publish@release/v1
+        uses: pypa/gh-action-pypi-publish@76f52bc884231f62b9a034ebfe128415bbaabdfc # v1.12.4
         with:
             password: ${{ secrets.pypi_password }}
diff --git a/.github/workflows/build-ros1.yml b/.github/workflows/test-ros1.yml
similarity index 97%
rename from .github/workflows/build-ros1.yml
rename to .github/workflows/test-ros1.yml
index f11e138..f797dd6 100644
--- a/.github/workflows/build-ros1.yml
+++ b/.github/workflows/test-ros1.yml
@@ -1,4 +1,4 @@
-name: build
+name: Test against ROS 1
 
 on:
   push:
@@ -11,7 +11,7 @@ on:
       - main
 
 jobs:
-  build-ros1:
+  test-ros1:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
diff --git a/.github/workflows/build-ros2.yml b/.github/workflows/test-ros2.yml
similarity index 86%
rename from .github/workflows/build-ros2.yml
rename to .github/workflows/test-ros2.yml
index 29a94ab..a1633ae 100644
--- a/.github/workflows/build-ros2.yml
+++ b/.github/workflows/test-ros2.yml
@@ -1,4 +1,4 @@
-name: build
+name: Test package against ROS 2
 
 on:
   push:
@@ -11,7 +11,7 @@ on:
       - main
 
 jobs:
-  build-ros2:
+  test-ros2:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
@@ -19,6 +19,7 @@ jobs:
           "ubuntu-py39",
           "ubuntu-py310",
           "ubuntu-py311",
+          "ubuntu-py312",
         ]
         include:
           - name: "ubuntu-py39"
@@ -30,10 +31,13 @@ jobs:
           - name: "ubuntu-py311"
             os: ubuntu-latest
             python-version: "3.11"
+          - name: "ubuntu-py312"
+            os: ubuntu-latest
+            python-version: "3.12"
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Set up Python ${{ matrix.python-version }}
-        uses: actions/setup-python@v4
+        uses: actions/setup-python@v5
         with:
           python-version: ${{ matrix.python-version }}
       - name: Install dependencies
diff --git a/docker/ros1/Dockerfile b/docker/ros1/Dockerfile
index 0495d7e..f233ac0 100644
--- a/docker/ros1/Dockerfile
+++ b/docker/ros1/Dockerfile
@@ -1,14 +1,14 @@
 FROM ros:noetic
-LABEL maintainer "Gonzalo Casas <casas@arch.ethz.ch>"
+LABEL maintainer="Gonzalo Casas <casas@arch.ethz.ch>"
 
 SHELL ["/bin/bash","-c"]
 
 # Install rosbridge
 RUN apt-get update && apt-get install -y \
-    ros-noetic-rosbridge-suite \
-    ros-noetic-tf2-web-republisher \
-    ros-noetic-ros-tutorials \
-    ros-noetic-actionlib-tutorials \
+    ros-${ROS_DISTRO}-rosbridge-suite \
+    ros-${ROS_DISTRO}-tf2-web-republisher \
+    ros-${ROS_DISTRO}-ros-tutorials \
+    ros-${ROS_DISTRO}-actionlib-tutorials \
     --no-install-recommends \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*
diff --git a/docker/ros2/Dockerfile b/docker/ros2/Dockerfile
index 029eff5..92c8acd 100644
--- a/docker/ros2/Dockerfile
+++ b/docker/ros2/Dockerfile
@@ -1,14 +1,14 @@
-FROM ros:iron
-LABEL maintainer "Gonzalo Casas <casas@arch.ethz.ch>"
+FROM ros:jazzy
+LABEL maintainer="Gonzalo Casas <casas@arch.ethz.ch>"
 
 SHELL ["/bin/bash","-c"]
 
 # Install rosbridge
 RUN apt-get update && apt-get install -y \
-    ros-iron-rosbridge-suite \
-    # ros-iron-tf2-web-republisher \
-    # ros-iron-ros-tutorials \
-    # ros-iron-actionlib-tutorials \
+    ros-${ROS_DISTRO}-rosbridge-suite \
+    # ros-${ROS_DISTRO}-tf2-web-republisher \
+    # ros-${ROS_DISTRO}-ros-tutorials \
+    # ros-${ROS_DISTRO}-actionlib-tutorials \
     --no-install-recommends \
     # Clear apt-cache to reduce image size
     && rm -rf /var/lib/apt/lists/*