diff --git a/changelogs/jazzy.md b/changelogs/jazzy.md
new file mode 100644
index 0000000..93e35b4
--- /dev/null
+++ b/changelogs/jazzy.md
@@ -0,0 +1,83 @@
+---
+sort: 3
+---
+
+# TurtleBot 4 Jazzy
+
+TurtleBot 4 RPi4 image changelogs. Latest images are available [here](http://download.ros.org/downloads/turtlebot4/).
+
+## v2.0.0
+
+**OS**: Ubuntu Server 24.04.5 LTS
+
+**ROS**: Jazzy
+
+**Create® 3 Firmware**: I.0.0
+
+### General
+
+- Due to technical limitations, the Create3 firmware only supports FastRTPS or CycloneDDS; changing
+ RMW implementations requires installing the correct firwmare version on the Create3
+- Updated `install.py` to support Jazzy
+- Use `create3_republisher` by default to expose base platform topics from the RPi4
+- ROS Control changes to use `TwistStamped` messages for velocity control instead of `Twist`
+- Renamed `ignition` and `ign` packages & launch files to use preferred `gz` nomenclature
+
+### TurtleBot 4 Packages
+
+| Package | +Version | +Changes | +
|---|---|---|
| turtlebot4_base | +2.0.0 | +- | +
| turtlebot4_bringup | +2.0.0 | +- | +
| turtlebot4_description | +2.0.0 | +- | +
| turtlebot4_diagnostics | +2.0.0 | +- | +
| turtlebot4_msgs | +2.0.0 | +- | +
| turtlebot4_navigation | +2.0.0 | +- | +
| turtlebot4_node | +2.0.0 | +- | +
| turtlebot4_robot | +2.0.0 | +- | +
| turtlebot4_tests | +2.0.0 | +- | +
+ 
@@ -127,6 +168,10 @@ For the TurtleBot 4 Lite, you will need to check the `/ip` topic for the new add
{% tabs ip %}
{% tab ip galactic %}
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider upgrading to a newer release
+```
+
On your PC, run the following commands:
```bash
@@ -148,6 +193,18 @@ export ROS_DOMAIN_ID=0
ros2 topic echo /ip
```
+{% endtab %}
+{% tab ip jazzy %}
+
+On your PC, run the following commands:
+
+```bash
+source /opt/ros/humble/setup.bash
+export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+export ROS_DOMAIN_ID=0
+ros2 topic echo /ip
+```
+
{% endtab %}
{% endtabs %}
@@ -197,6 +254,34 @@ It is recommended to update both the Create® 3 and the Raspberry Pi when you fi
Check the [Create® 3 software releases](https://iroboteducation.github.io/create3_docs/releases/overview/) to see if a newer firmware version is available. You can check the firmware version of your Create® 3 by visiting the webserver.
+{% tabs firmware %}
+{% tab firmware galactic %}
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider upgrading to a newer release
+```
+
+```note
+If you are using ROS 2 Galactic, make sure you install firmware with version `G.*.*`; firmware versions starting with `H` or `I` are _not_ compatible with Galactic.
+```
+{% endtab %}
+{% tab firmware humble %}
+```note
+If you are using ROS 2 Humble, make sure you install firmware with version `H.*.*`; firmware versions starting with `G` or `I` are _not_ compatible with Humble.
+```
+{% endtab %}
+{% tab firmware jazzy %}
+```note
+If you are using ROS 2 Jazzy, make sure you install firmware with version `I.*.*`; firmware versions starting with `G` or `H` are _not_ compatible with Jazzy.
+```
+
+```warning
+Unlike previous versions, the Create® 3 firmware `I.*.*` does _not_ support switching between FastDDS and CycloneDDS. Instead there are two separate versions of the firmware available, each supporting one RMW implementation. When installing the firmware on your Create® 3 you _must_ use the firmware that corresponds to the middleware you intend to use.
+
+For ROS 2 Jazzy, the default is FastDDS. Unless you have specific reasons for using CycloneDDS, it is recommended to use the FastDDS firmware on your Create® 3.
+```
+{% endtab %}
+{% endtabs %}
+
If new firmware is available, download it, then access the [webserver](./basic.md#accessing-the-create-3-webserver). Go to the Update tab, upload the firmware, then update your robot.
#### Raspberry Pi packages
@@ -253,6 +338,9 @@ Placing the Raspberry Pi into Access Point mode can be useful when using the rob
{% tabs ap %}
{% tab ap galactic %}
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider upgrading to a newer release
+```
SSH into the Raspberry Pi and call:
@@ -279,13 +367,22 @@ turtlebot4-setup
Go to Wi-Fi Setup and select Apply Defaults. Optionally you can set your own SSID and password before saving and applying the new settings.
+{% endtab %}
+{% tab ap jazzy %}
+
+SSH into the Raspberry Pi and run the [TurtleBot 4 setup tool](../software/turtlebot4_setup.md#configuration-tools):
+
+```bash
+turtlebot4-setup
+```
+
+Go to Wi-Fi Setup and select Apply Defaults. Optionally you can set your own SSID and password before saving and applying the new settings.
+
{% endtab %}
{% endtabs %}
```tip
-If you are moving your TurtleBot 4 to a new location with a different Wi-Fi network,
-reconfigure the Raspberry Pi to connect to that network beforehand or place it into AP mode.
-Otherwise it will continue trying to connect to your current network.
+If you are moving your TurtleBot 4 to a new location with a different Wi-Fi network, reconfigure the Raspberry Pi to connect to that network beforehand or place it into AP mode. Otherwise it will continue trying to connect to your current network.
```
## Troubleshooting
@@ -327,8 +424,8 @@ Installing a new image on the Raspberry Pi will delete any changes you may have
Find the latest TurtleBot 4 Raspberry Pi images at | Robot 1 | +Robot 2 | +
|---|---|
|
+
+
|
+
+
+
|
+
-
+ 
+ 
+ 
+
+ 
+ 
+ 
+ 
diff --git a/tutorials/multiple_robots.md b/tutorials/multiple_robots.md
index 28e7325..696e04a 100644
--- a/tutorials/multiple_robots.md
+++ b/tutorials/multiple_robots.md
@@ -24,6 +24,9 @@ There are four locations in which the **ROS_DOMAIN_ID** environment variable mus
{% tabs domain %}
{% tab domain galactic %}
+```warning
+**ROS 2 Galactic is no longer supported.** Please consider upgrading to a newer release
+```
For RPi4 images v0.1.3 or higher, a script `ros_config.sh` has been installed which will conveniently set the **ROS_DOMAIN_ID** in the first 3 locations. If you are using an earlier version, you can copy the [script](https://github.com/turtlebot/turtlebot4_setup/blob/galactic/scripts/ros_config.sh) to `/usr/local/bin/` on your RPi4. You will also need to update your `install.py` script by downloading it from [here](https://github.com/turtlebot/turtlebot4_setup/blob/galactic/scripts/install.py) and replacing the existing script in `/usr/local/bin`.
@@ -91,7 +94,31 @@ SSH into your TurtleBot 4 and run the turtlebot4 setup tool:
turtlebot4-setup
```
-Navigate to 'Bash Setup' in the 'ROS Setup' menu, then change your `ROS_DOMAIN_ID`. Save the settings, then apply settings in the main menu.
+Navigate to 'Bash Setup' in the 'ROS Setup' menu, then change your `ROS_DOMAIN_ID`.
+
+Save the settings, then apply settings in the main menu.
+
+
+ 
+ 
@@ -275,6 +360,17 @@ ros2 launch turtlebot4_viz view_robot.launch.py
@@ -493,6 +680,17 @@ ros2 launch turtlebot4_viz view_robot.launch.py
@@ -624,6 +855,17 @@ ros2 launch turtlebot4_viz view_robot.launch.py
@@ -771,6 +1024,17 @@ Running this example will look something like this:
+