diff --git a/.github/workflows/ci-dsl.yaml b/.github/workflows/ci-dsl.yaml
index 94367c4bd..f750869b0 100644
--- a/.github/workflows/ci-dsl.yaml
+++ b/.github/workflows/ci-dsl.yaml
@@ -35,6 +35,10 @@ jobs:
           WRITE_JOB_LOG=1 java -jar tools/jobdsl.jar *.dsl
           find logs/* -exec sort {} -o {} \;
           popd
+      - name: Checks for existing scripts in docker/
+        run: |
+          cd jenkins-scripts/docker
+          ./sanity_checks.bash
       - name: Checks for DSL Code
         run: |
           cd jenkins-scripts/dsl
diff --git a/bloom/ros_gazebo_pkgs/README.md b/bloom/ros_gazebo_pkgs/README.md
deleted file mode 100644
index 43af4d34e..000000000
--- a/bloom/ros_gazebo_pkgs/README.md
+++ /dev/null
@@ -1,239 +0,0 @@
-# Scripts
-
-## Release new version of Gazebo unofficial wrappers
-
-### Quick commands
-
-1. bloom in the osrf/ repository
-```bash
-   $ BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro <ros_distro> --track <ros_distro> gazeboX_ros[2]_pkgs
-
-   Example
-   $ BLOOM_RELEASE_REPO_BASE=https://github.com/osrf/ bloom-release --no-pull-request --rosdistro foxy --track foxy gazebo11_ros2_pkgs
-```
-
-1. Trigger Jenkins jobs with ros_gazebo_pkgs-release.py.bash
-```bash
-   $ ros_gazebo_pkgs-release. <version <release_repo> <ros_distro> <token> 'other arguments used in release.py'*
-
-   Example:
-   $ ros_gazebo_pkgs-release.py.bash 3.4.4 https://github.com/osrf/gazebo11_ros2_pkgs-release foxy xxx -r 1 --dry-run
-```
-
-### Background
-
-Each ROS release defines one version of Gazebo supported officially through
-all the ROS packages. The different combinations of ROS <-> Gazebo can be
-found in the [REP-3](http://www.ros.org/reps/rep-0003.html). Some examples:
-
- * ROS Kinetic: Gazebo 7
- * ROS Lunar: Gazebo 7
- * ROS Melodic: Gazebo 9
-
-Some use cases require the use of alternative combinations of ROS and Gazebo
-versions. The `gazebo_ros_pkgs` code is usually prepared to be compatible with
-different versions of Gazebo, especially the latest ones.
-
-To release a modified version of `gazebo_ros_pkgs` which supports a different
-major version of gazebo, before running bloom some actions need to be taken:
-
- 1. Make the system resolve the Ubuntu package `gazebo` as `gazeboX`.
- 2. Fork and modify the official [gbp -release repo](https://github.com/ros-gbp/gazebo_ros_pkgs-release).
- 3. Run bloom on the modified release repository.
- 4. Custom infrastructure to create .deb packages.
-
-We'll go over these steps in more detail below.
-
-### Upstream versions released using this tutorial
-
-The `gbp -release repository` hosts the latest version released by the maintainers
-of `gazebo_ros_pkgs`. When using these instructions to release a new custom version
-the version of `gazebo_ros_pkgs` released will be the latest one existing in the
-official `gbp -release repository`. The version would be the same but the release number
-will be one above since bloom needs to be run on top of the modified `-release repository`.
-
-### Create a new gazeboX_{ros,ros2}_pkgs repository
-
-For a new official wrappers the notation used below correspond to:
-`gazeboX_rosY_pkgs` (`X` is major version in Gazebo, `Y` is 1 or 2 for ROS)
-
- 1. Create new repo under github.com/osrf/ organization named:
-    - ROS1 https://github.com/osrf/gazeboX_ros_pkgs-release
-    - ROS2 https://github.com/osrf/gazeboX_ros2_pkgs-release
-
- 1. Run initial_info_for_new_release_repo.bash
-    It will import all branches and tags from official gbp into the new repo
-    - Usage: *$ initial_info_for_new_release_repo X rosY*
-
- 1. Clone the new repo, go to the directory and run rename-gazebo-ros-pkgs.bash
-    - Usage: *$ rename-gazebo-ros-pkgs.bash X <space separted list of rosdistros to release>*
-
-### Make the system resolve gazeboX
-
-To have `gazebo` packages be resolved to `gazeboX` in the local
-machine where bloom-release will be run, `rosdep` should be configured
-accordingly.
-
-The repository `https://github.com/osrf/osrf-rosdep/` hosts different sets
-of custom rosdep keys that can be deployed in a system in order to override
-the default configuration of resolving gazebo packages.
-
-At `/etc/ros/rosdep/sources.list.d` there should be a default file named
-`20-default.list`. To change the default keys by a custom version of gazebo
-packages, the desired `00-gazeboX.list` from the previously indicated repository
-needs to be download to the same directory.
-
-Update the rosdep cache:
-
-    $ rosdep update
-
-To double check: run rosdep resolve, it should resolve to right major versions:
-
-    $ rosdep resolve gazebo
-    $ rosdep resolve gazebo_ros
-
-
-### Run Bloom on the custom -release repository
-
-The point of this last step is to generate the ubuntu packaging metadata from bloom templates since they were
-modified. The metadata will be uploaded to branches in the custom fork created before.
-
-`bloom-release` needs to be executed once per each desired `ROS_DISTRO` to generate metadata from. The name
-`gazeboX_ros_pkgs` is just a stub to avoid use the official name:
-
-    bloom-release --track ${ROS_DISTRO} --ros-distro ${ROS_DISTRO} gazeboX_ros_pkgs --edit
-
-Bloom will stop at some points asking for the user input:
-
-  * `Release repository url [press enter to abort]:` the URL of the forked github repo needs to be set here
-  * `Repository Name:` `gazeboX_ros_pkgs` (being `X` the custom gazebo major version)
-  * The other options can be set to default just by pressing `enter`
-
-Bloom must be stopped after generating and pushing the new tags and branches.
-
-#### Example Releasing Gazebo8 for Kinetic
-
-    $ bloom-release --track kinetic --ros-distro kinetic gazeboX_ros_pkgs --edit
-
-    Specified repository 'gazeboX_ros_pkgs' is not in the distribution file located at 'https://raw.github.com/ros/rosdistro/master/kinetic/distribution.yaml'
-    Did you mean one of these: 'gazebo_ros_pkgs'?
-    Could not determine release repository url for repository 'gazeboX_ros_pkgs' of distro 'kinetic'
-    You can continue the release process by manually specifying the location of the RELEASE repository.
-    To be clear this is the url of the RELEASE repository not the upstream repository.
-    For release repositories on github, you should provide the `https://` url which should end in `.git`.
-    Release repository url [press enter to abort]: git@github.com:osrf/gazebo8_ros_pkgs-release.git
-    The release repository url you provided is not a `https://` address.
-    Would you like to enter the address again?
-    Continue [Y/n]? n
-    Very well, the address 'git@github.com:osrf/gazebo8_ros_pkgs-release.git' will be used as is.
-    ==> Fetching 'gazeboX_ros_pkgs' repository from 'git@github.com:osrf/gazebo8_ros_pkgs-release.git'
-    Cloning into '/tmp/tmpRGYh76'...
-    remote: Counting objects: 16388, done.
-    remote: Total 16388 (delta 0), reused 0 (delta 0)
-    Receiving objects: 100% (16388/16388), 4.02 MiB | 954.00 KiB/s, done.
-    Resolving deltas: 100% (4232/4232), done.
-    Checking connectivity... done.
-    Track 'kinetic' exists, editing...
-    Repository Name:
-      upstream
-	Default value, leave this as upstream if you are unsure
-      <name>
-	Name of the repository (used in the archive name)
-      ['gazebo4_ros_pkgs']:
-    Upstream Repository URI:
-      <uri>
-	Any valid URI. This variable can be templated, for example an svn url
-	can be templated as such: "https://svn.foo.com/foo/tags/foo-:{version}"
-	where the :{version} token will be replaced with the version for this release.
-      ['https://github.com/ros-simulation/gazebo_ros_pkgs.git']:
-    Upstream VCS Type:
-      svn
-	Upstream URI is a svn repository
-      git
-	Upstream URI is a git repository
-      hg
-	Upstream URI is a hg repository
-      tar
-	Upstream URI is a tarball
-      ['git']:
-    Version:
-      :{ask}
-	This means that the user will be prompted for the version each release.
-	This also means that the upstream devel will be ignored.
-      :{auto}
-	This means the version will be guessed from the devel branch.
-	This means that the devel branch must be set, the devel branch must exist,
-	and there must be a valid package.xml in the upstream devel branch.
-      <version>
-	This will be the version used.
-	It must be updated for each new upstream version.
-      [':{auto}']:
-    Release Tag:
-      :{none}
-	For svn and tar only you can set the release tag to :{none}, so that
-	it is ignored.  For svn this means no revision number is used.
-      :{ask}
-	This means the user will be prompted for the release tag on each release.
-      :{version}
-	This means that the release tag will match the :{version} tag.
-	This can be further templated, for example: "foo-:{version}" or "v:{version}"
-
-	This can describe any vcs reference. For git that means {tag, branch, hash},
-	for hg that means {tag, branch, hash}, for svn that means a revision number.
-	For tar this value doubles as the sub directory (if the repository is
-	in foo/ of the tar ball, putting foo here will cause the contents of
-	foo/ to be imported to upstream instead of foo itself).
-      [':{version}']:
-    Upstream Devel Branch:
-      <vcs reference>
-	Branch in upstream repository on which to search for the version.
-	This is used only when version is set to ':{auto}'.
-      ['kinetic-devel']:
-    ROS Distro:
-      <ROS distro>
-	This can be any valid ROS distro, e.g. groovy, hydro
-      ['kinetic']:
-    Patches Directory:
-      :{none}
-	Use this if you want to disable overlaying of files.
-      <path in bloom branch>
-	This can be any valid relative path in the bloom branch. The contents
-	of this folder will be overlaid onto the upstream branch after each
-	import-upstream.  Additionally, any package.xml files found in the
-	overlay will have the :{version} string replaced with the current
-	version being released.
-      [None]:
-    Release Repository Push URL:
-      :{none}
-	This indicates that the default release url should be used.
-      <url>
-	(optional) Used when pushing to remote release repositories. This is only
-	needed when the release uri which is in the rosdistro file is not writable.
-	This is useful, for example, when a releaser would like to use a ssh url
-	to push rather than a https:// url.
-      [None]:
-    Saving 'kinetic' track.
-
-    ... (all bloom output while generating) ...
-
-    <== Pushed tags successfully
-    ==> Generating pull request to distro file located at 'https://raw.github.com/ros/rosdistro/master/kinetic/distribution.yaml'
-    Would you like to add documentation information for this repository? [Y/n]?
-
-    <control+C>
-
-### Custom infrastructure to create .deb packages
-
-All the previous steps are designed to generate the appropriate Ubuntu metadata
-inside the `forked -prerelease repository`. The metadata is being hosted in
-git tags following the schema:
-
-
-    release/<ros_distro>/<gazebo_ros_pkg_name>/<version>
-    debian/ros-<ros_distro>-<gazebo_ros_pkg_name>_<version>_<ubuntu_distro>
-
-The `debian/...` tag contains the upstream code together with the `debian/` metadata repository ready to be
-build using `debbuild` or any other debian generation tool.
-
-For reference, the OSRF buildfarm is using [this script](https://github.com/gazebo-tooling/release-tools/blob/master/jenkins-scripts/docker/lib/debbuild-bloom-base.bash)
-
diff --git a/bloom/ros_gazebo_pkgs/initial_info_for_new_release_repo.bash b/bloom/ros_gazebo_pkgs/initial_info_for_new_release_repo.bash
deleted file mode 100755
index 9b8bcea69..000000000
--- a/bloom/ros_gazebo_pkgs/initial_info_for_new_release_repo.bash
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/bin/bash -e
-#
-# This script will populate an empty gazeboX_rosY_pkgs-release repository with
-# information from current official -release repositories
-#
-
-if [[ ${#} -lt 2 ]]; then
-    echo "Usage: ${0} <gazebo_major_version> [ros1|ros2]"
-    exit -1
-fi
-
-GZ_MAJOR=${1}
-ROS_VERSION=${2}
-
-SOURCE_REPO="https://github.com/${ROS_VERSION}-gbp/gazebo_ros_pkgs-release"
-DEST_REPO="https://github.com/osrf/gazebo${GZ_MAJOR}_${ROS_VERSION}_pkgs-release"
-TEST_DIR=$(mktemp -d)
-
-safety_check()
-{
-  RAW_URL="${DEST_REPO/github.com/raw.githubusercontent.com}/master/tracks.yaml"
-
-  if wget -q "${RAW_URL}"; then
-      echo "!! Looks like the ${DEST_REPO} exists!"
-      echo "!! this tool is only for new repos"
-      exit -1
-  fi
-}
-
-clone_all_remote_branches()
-{
-    # source: https://coderwall.com/p/0ypmka
-    for branch in `git branch -a | grep remotes | grep -v HEAD | grep -v master `; do
-	   git branch --track ${branch#remotes/origin/} $branch
-    done
-}
-
-echo "Summary: "
-echo " - The source repo to use would be: ${SOURCE_REPO}"
-echo " - The destination repo would be  : ${DEST_REPO}"
-
-pushd ${TEST_DIR}
-safety_check
-
-git clone "${DEST_REPO}" dest_repo
-git clone "${SOURCE_REPO}" source_repo
-cp source_repo/* dest_repo/
-cd dest_repo
-git add *
-git commit -m "Import metadata from gazebo_ros_pkgs repository"
-git remote rename origin gazebo${GZ_MAJOR}
-git remote add origin ${SOURCE_REPO}
-git fetch origin
-clone_all_remote_branches
-git remote remove origin
-git remote rename gazebo${GZ_MAJOR} origin
-# 7. Push all the local branch and tags to the new repo
-git push origin --all
-git push origin --tags
-
-echo " ** READY"
-echo " remember to run: "
-echo "   - rename-gazebo-ros-pkgs.bash ${GZ_MAJOR} <ros_distros>"
-popd 2> /dev/null
diff --git a/bloom/ros_gazebo_pkgs/rename-gazebo-ros-pkgs.bash b/bloom/ros_gazebo_pkgs/rename-gazebo-ros-pkgs.bash
deleted file mode 100755
index 352ed3a45..000000000
--- a/bloom/ros_gazebo_pkgs/rename-gazebo-ros-pkgs.bash
+++ /dev/null
@@ -1,52 +0,0 @@
-#!/bin/bash
-#
-# This script should be run on a fork of gazebo_ros_pkgs-release repository
-# and will modify control.em bloom templates for:
-#
-#   - Rename the Package name to $(Package)X (X being major version)
-#   - Define a conflict on current official versiona dn 2 previous major versions $(Package)
-#
-
-if [[ ${#} -lt 2 ]]; then
-    echo "Usage: ${0} <major_version> <space separted list of rosdistros to release>"
-    exit -1
-fi
-
-MAJOR_VERSION=${1}
-ROS_DISTROS=${*:2}
-
-for i in $(seq 1 2); do
-  conflict_ver=$((MAJOR_VERSION - i)) 
-  CONFLICTS="${CONFLICTS}, @(Package.replace('gazebo-','gazebo${conflict_ver}-'))"
-done
-
-PKGS="gazebo_dev gazebo_plugins gazebo_msgs gazebo_ros gazebo_ros_control gazebo_ros_pkgs"
-
-for pkg in ${PKGS}; do
-    for distro in ${ROS_DISTROS}; do
-	echo " - Processing $pkg in $distro"
-        if ! git checkout "debian/$distro/$pkg"; then
-	    if [[ ${pkg} == "gazebo_ros_control" ]]; then
-		echo " [??] gazebo_ros_control not found in the repository"
-		echo " [??] assuming not avilable in this platform"
-		continue
-	    fi
-	    echo "The branch debian/$distro/$pkg was not found in the repo"
-	    echo "Did you forget to run git fetch?"
-	    exit 1
-	fi
-	if grep 'Package.replace' debian/control.em; then
-	    echo " + skip ${pkg} for ${distro}: seems to have changes in place"
-	    continue
-	fi
-	# Modify package name
-	sed -i -e "s/Package: @(Package)/Package: @(Package.replace('gazebo-','gazebo${MAJOR_VERSION}-'))/" debian/control.em
-	sed -i -e "s/Source: @(Package)/Source: @(Package.replace('gazebo-','gazebo${MAJOR_VERSION}-'))/" debian/control.em
-	sed -i -e "s/@(Package)/@(Package.replace('gazebo-','gazebo${MAJOR_VERSION}-'))/" debian/changelog.em
-	git commit debian/control.em debian/changelog.em -m "Patch name to release ${MAJOR_VERSION} version"
-	# Include conflict with same package (not current)
-	sed -i -e "/^Depends/aConflicts: @(Package) ${CONFLICTS}" debian/control.em
-	git commit debian/control.em -m "Set up a conflict with official ROS packages and the two previous gazebo versions"
-	git push origin "debian/$distro/$pkg"
-    done
-done
diff --git a/bloom/ros_gazebo_pkgs/ros_gazebo_pkgs-release.py.bash b/bloom/ros_gazebo_pkgs/ros_gazebo_pkgs-release.py.bash
deleted file mode 100755
index 721954fb1..000000000
--- a/bloom/ros_gazebo_pkgs/ros_gazebo_pkgs-release.py.bash
+++ /dev/null
@@ -1,18 +0,0 @@
-#!/bin/bash
-# Launch all the suite of ros_gazebo_pkgs:
-# Usage: ros_gazebo_pkgs <version>
-# 
-
-if [[ $# -lt 2 ]]; then
-    echo "ros_gazebo_pkgs-release <version> <release_repo> <ros_distro> <token> 'other arguments used in release.py'"
-    exit 1
-fi
-
-if [[ ${1%-*} != "${1}" ]]; then
-  echo "Version should not contain a revision number. Use -r argument"
-  exit 1
-fi
-
-for p in gazebo-dev gazebo-msgs gazebo-plugins gazebo-ros gazebo-ros-control gazebo-ros-pkgs; do
-    ../release-bloom.py ${p} $(for i in $@; do echo -n "$i "; done)
-done
diff --git a/conda/envs/legacy/pixi.lock b/conda/envs/legacy/pixi.lock
index 852ac8c96..985701f36 100644
--- a/conda/envs/legacy/pixi.lock
+++ b/conda/envs/legacy/pixi.lock
@@ -509,6 +509,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libvorbis-1.3.7-h01db608_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libvpx-1.13.1-h2f0025b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebp-base-1.5.0-h0886dbf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebsockets-4.3.3-h8945da3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcb-1.15-h2a766a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcrypt-4.4.36-h31becfc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxkbcommon-1.7.0-h2555907_0.conda
@@ -748,6 +749,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/libuv-1.50.0-h2466b09_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libvorbis-1.3.7-h0e60522_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/win-64/libwebp-base-1.5.0-h3b0e114_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libwebsockets-4.3.3-heb0366b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libxml2-2.12.7-h283a6d9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libzip-1.10.1-h1d365fa_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.2.13-h2466b09_6.conda
@@ -8860,6 +8862,23 @@ packages:
   license_family: BSD
   size: 429973
   timestamp: 1734777489810
+- kind: conda
+  name: libwebsockets
+  version: 4.3.3
+  build: h8945da3_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebsockets-4.3.3-h8945da3_0.conda
+  sha256: 25a18da74fbc048307f5cb5cce5addeaa9caa3c4f94d3ef1ae11fad2279c6095
+  md5: 2446142d49dadc928caa6e4efb7f2e58
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libuv >=1.46.0,<2.0a0
+  - openssl >=3.1.4,<4.0a0
+  license: MIT
+  license_family: MIT
+  size: 395813
+  timestamp: 1700469095651
 - kind: conda
   name: libwebsockets
   version: 4.3.3
@@ -8878,6 +8897,24 @@ packages:
   license_family: MIT
   size: 385161
   timestamp: 1700469113171
+- kind: conda
+  name: libwebsockets
+  version: 4.3.3
+  build: heb0366b_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libwebsockets-4.3.3-heb0366b_0.conda
+  sha256: cae70d40d705d69b3e11254681f4692001ef79e692ff61b21475cc861bf50746
+  md5: 35a441c21943345aa0b5a247206dbaed
+  depends:
+  - libuv >=1.48.0,<2.0a0
+  - openssl >=3.2.1,<4.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: MIT
+  license_family: MIT
+  size: 354282
+  timestamp: 1712216657465
 - kind: conda
   name: libxcb
   version: '1.15'
diff --git a/conda/envs/legacy/pixi.toml b/conda/envs/legacy/pixi.toml
index 7bcf18572..62e3a8675 100644
--- a/conda/envs/legacy/pixi.toml
+++ b/conda/envs/legacy/pixi.toml
@@ -36,6 +36,7 @@ tinyxml2 = "*"
 yaml = "*"
 zeromq = "4.3.4"
 cli11 = "2.1.2.*"
+libwebsockets = ">=4.3.3,<5"
 
 [target.win-64.dependencies]
 dlfcn-win32 = "*"
diff --git a/conda/envs/legacy_ogre23/pixi.lock b/conda/envs/legacy_ogre23/pixi.lock
index 0e537762b..c8eb13781 100644
--- a/conda/envs/legacy_ogre23/pixi.lock
+++ b/conda/envs/legacy_ogre23/pixi.lock
@@ -507,6 +507,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libvorbis-1.3.7-h01db608_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libvpx-1.13.1-h2f0025b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebp-base-1.5.0-h0886dbf_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebsockets-4.3.3-h8945da3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcb-1.15-h2a766a3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxcrypt-4.4.36-h31becfc_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-aarch64/libxkbcommon-1.7.0-h2555907_0.conda
@@ -745,6 +746,7 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/win-64/libuv-1.50.0-h2466b09_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libvorbis-1.3.7-h0e60522_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/win-64/libwebp-base-1.5.0-h3b0e114_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/win-64/libwebsockets-4.3.3-heb0366b_0.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libxml2-2.12.7-h283a6d9_1.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libzip-1.10.1-h1d365fa_3.conda
       - conda: https://conda.anaconda.org/conda-forge/win-64/libzlib-1.2.13-h2466b09_6.conda
@@ -8812,6 +8814,23 @@ packages:
   license_family: BSD
   size: 429973
   timestamp: 1734777489810
+- kind: conda
+  name: libwebsockets
+  version: 4.3.3
+  build: h8945da3_0
+  subdir: linux-aarch64
+  url: https://conda.anaconda.org/conda-forge/linux-aarch64/libwebsockets-4.3.3-h8945da3_0.conda
+  sha256: 25a18da74fbc048307f5cb5cce5addeaa9caa3c4f94d3ef1ae11fad2279c6095
+  md5: 2446142d49dadc928caa6e4efb7f2e58
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - libuv >=1.46.0,<2.0a0
+  - openssl >=3.1.4,<4.0a0
+  license: MIT
+  license_family: MIT
+  size: 395813
+  timestamp: 1700469095651
 - kind: conda
   name: libwebsockets
   version: 4.3.3
@@ -8830,6 +8849,24 @@ packages:
   license_family: MIT
   size: 385161
   timestamp: 1700469113171
+- kind: conda
+  name: libwebsockets
+  version: 4.3.3
+  build: heb0366b_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/libwebsockets-4.3.3-heb0366b_0.conda
+  sha256: cae70d40d705d69b3e11254681f4692001ef79e692ff61b21475cc861bf50746
+  md5: 35a441c21943345aa0b5a247206dbaed
+  depends:
+  - libuv >=1.48.0,<2.0a0
+  - openssl >=3.2.1,<4.0a0
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: MIT
+  license_family: MIT
+  size: 354282
+  timestamp: 1712216657465
 - kind: conda
   name: libxcb
   version: '1.15'
diff --git a/conda/envs/legacy_ogre23/pixi.toml b/conda/envs/legacy_ogre23/pixi.toml
index 8112e900a..7d247babd 100644
--- a/conda/envs/legacy_ogre23/pixi.toml
+++ b/conda/envs/legacy_ogre23/pixi.toml
@@ -35,6 +35,7 @@ ruby = "3.2.*"
 tinyxml2 = "*"
 yaml = "*"
 zeromq = "4.3.4"
+libwebsockets = ">=4.3.3,<5"
 
 [target.win-64.dependencies]
 dlfcn-win32 = "*"
diff --git a/jenkins-scripts/docker/gazebo_ros_pkgs-compilation.bash b/jenkins-scripts/docker/gazebo_ros_pkgs-compilation.bash
deleted file mode 100644
index 03e1b0f29..000000000
--- a/jenkins-scripts/docker/gazebo_ros_pkgs-compilation.bash
+++ /dev/null
@@ -1,29 +0,0 @@
-#!/bin/bash -x
-
-# Knowing Script dir beware of symlink
-[[ -L ${0} ]] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0}
-SCRIPT_DIR="${SCRIPT_DIR%/*}"
-
-# Handle github-pullrequest jenkins plugin if present
-if [[ -n ${ghprbTargetBranch} ]]; then
-  if [[ ${ghprbTargetBranch} != 'ros2' ]]; then
-    export ROS_DISTRO="${ghprbTargetBranch/-devel}"
-  fi
-fi
-
-if [[ -z ${ARCH} ]]; then
-  echo "ARCH variable not set!"
-  exit 1
-fi
-
-if [[ -z ${DISTRO} ]]; then
-  echo "DISTRO variable not set!"
-  exit 1
-fi
-
-if [[ -z ${ROS_DISTRO} ]]; then
-  echo "ROS_DISTRO variable not set!"
-  exit 1
-fi
-
-. ${SCRIPT_DIR}/lib/gazebo_ros_pkgs-base.bash
diff --git a/jenkins-scripts/docker/gazebo_ros_pkgs-compilation_regression.bash b/jenkins-scripts/docker/gazebo_ros_pkgs-compilation_regression.bash
deleted file mode 100644
index 450556e18..000000000
--- a/jenkins-scripts/docker/gazebo_ros_pkgs-compilation_regression.bash
+++ /dev/null
@@ -1,30 +0,0 @@
-#!/bin/bash -x
-
-# Knowing Script dir beware of symlink
-[[ -L ${0} ]] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0}
-SCRIPT_DIR="${SCRIPT_DIR%/*}"
-
-# Handle github-pullrequest jenkins plugin if present
-if [[ -n ${ghprbTargetBranch} ]]; then
-  export ROS_DISTRO="${ghprbTargetBranch/-devel}"
-fi
-
-if [[ -z ${ARCH} ]]; then
-  echo "ARCH variable not set!"
-  exit 1
-fi
-
-if [[ -z ${DISTRO} ]]; then
-  echo "DISTRO variable not set!"
-  exit 1
-fi
-
-if [[ -z ${ROS_DISTRO} ]]; then
-  echo "ROS_DISTRO variable not set!"
-  exit 1
-fi
-
-ROS_WS_PREBUILD_HOOK="""
-git clone https://github.com/tu-darmstadt-ros-pkg/hector_gazebo -b ${ROS_DISTRO}-devel
-"""
-. ${SCRIPT_DIR}/lib/gazebo_ros_pkgs-base.bash
diff --git a/jenkins-scripts/docker/gazebo_ros_pkgs-release-testing.bash b/jenkins-scripts/docker/gazebo_ros_pkgs-release-testing.bash
deleted file mode 100644
index 50177ac39..000000000
--- a/jenkins-scripts/docker/gazebo_ros_pkgs-release-testing.bash
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/bin/bash -x
-
-# Knowing Script dir beware of symlink
-[[ -L ${0} ]] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0}
-SCRIPT_DIR="${SCRIPT_DIR%/*}"
-export GPU_SUPPORT_NEEDED=true
-
-. ${SCRIPT_DIR}/lib/gazebo_ros_pkgs-check-release.bash
diff --git a/jenkins-scripts/docker/lib/_sdformat_version_hook.bash b/jenkins-scripts/docker/lib/_sdformat_version_hook.bash
new file mode 100644
index 000000000..40c061ef3
--- /dev/null
+++ b/jenkins-scripts/docker/lib/_sdformat_version_hook.bash
@@ -0,0 +1,10 @@
+# Identify SDFORMAT_MAJOR_VERSION to help with dependency resolution
+SDFORMAT_MAJOR_VERSION=$(\
+  python3 ${SCRIPT_DIR}/../tools/detect_cmake_major_version.py \
+  ${WORKSPACE}/sdformat/CMakeLists.txt)
+
+# Check SDFORMAT version is integer
+if ! [[ ${SDFORMAT_MAJOR_VERSION} =~ ^-?[0-9]+$ ]]; then
+  echo "Error! SDFORMAT_MAJOR_VERSION is not an integer, check the detection"
+  exit -1
+fi
diff --git a/jenkins-scripts/docker/lib/debbuild-bloom-base.bash b/jenkins-scripts/docker/lib/debbuild-bloom-base.bash
index 3bd74ca0c..11b4296d3 100644
--- a/jenkins-scripts/docker/lib/debbuild-bloom-base.bash
+++ b/jenkins-scripts/docker/lib/debbuild-bloom-base.bash
@@ -96,13 +96,6 @@ PKGS=\`find .. -name '*.deb' || true\`
 FOUND_PKG=0
 for pkg in \${PKGS}; do
     echo "found \$pkg"
-    # Check for problems in gazebo_ros_pkgs unofficial wrappers to avoid
-    # uploads with the same name than official ROS packages
-    # ros-DISTRO-gazebo-* instead of ros-DISTRO-gazeboX-*
-    if [[ \${pkg}  !=  \${pkg/-gazebo-} ]]; then
-       echo "Detected official ROS names in gazebo_ros_pkgs"
-       exit -1
-    fi
     # Check for correctly generated packages size > 3Kb
     [[ \$(find \$pkg -size +3k) ]] || echo "WARNING: empty package?"
     cp \${pkg} $WORKSPACE/pkgs
diff --git a/jenkins-scripts/docker/sanity_checks.bash b/jenkins-scripts/docker/sanity_checks.bash
new file mode 100755
index 000000000..891e314ce
--- /dev/null
+++ b/jenkins-scripts/docker/sanity_checks.bash
@@ -0,0 +1,22 @@
+#!/bin/bash -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+#
+# Check for existing scripts. Lines:
+# 1. Find all .bash files excluding *_checks.bash
+# 2. Search for occurrences of ${SCRIPT_DIR}/ in the files
+# 3. Exclude lines containing '//' (comments)
+# 4. Extract the paths containing ${SCRIPT_DIR}/
+# 5. Remove spurious "
+# 6. Sort and remove duplicates to get clean output
+for f in $(find -type f -name '*.bash' ! -path '*_checks.bash' -exec grep -Eh '\${SCRIPT_DIR}/' {} \; | grep -v '//' | \
+       grep -Eh -o '\${SCRIPT_DIR}/.*' | awk '{print $1}' | \
+       sed 's/"//g' | \
+       sort | uniq); do
+  f=$(eval echo $f)
+  if ! test -f ${f}; then
+    echo "${f} script not found in the repository"
+    exit 1
+  fi
+done
diff --git a/jenkins-scripts/docker/sdformat-compilation.bash b/jenkins-scripts/docker/sdformat-compilation.bash
new file mode 100644
index 000000000..6f7b91895
--- /dev/null
+++ b/jenkins-scripts/docker/sdformat-compilation.bash
@@ -0,0 +1,30 @@
+#!/bin/bash -x
+
+# Knowing Script dir beware of symlink
+[[ -L ${0} ]] && SCRIPT_DIR=$(readlink ${0}) || SCRIPT_DIR=${0}
+SCRIPT_DIR="${SCRIPT_DIR%/*}"
+
+if [[ -z ${ARCH} ]]; then
+  echo "ARCH variable not set!"
+  exit 1
+fi
+
+if [[ -z ${DISTRO} ]]; then
+  echo "DISTRO variable not set!"
+  exit 1
+fi
+
+. "${SCRIPT_DIR}/lib/_sdformat_version_hook.bash"
+
+export BUILDING_SOFTWARE_DIRECTORY="${BUILDING_SOFTWARE_DIRECTORY:-sdformat}"
+
+if [[ ${SDFORMAT_MAJOR_VERSION} -ge 8 ]]; then
+  export NEED_C17_COMPILER=true
+fi
+
+export GZDEV_PROJECT_NAME="sdformat${SDFORMAT_MAJOR_VERSION}"
+
+# master and major branches compilations
+export BUILDING_PKG_DEPENDENCIES_VAR_NAME="SDFORMAT_BASE_DEPENDENCIES"
+
+. "${SCRIPT_DIR}/lib/generic-building-base.bash"
diff --git a/jenkins-scripts/lib/colcon-default-devel-windows.bat b/jenkins-scripts/lib/colcon-default-devel-windows.bat
index aeaba2d3f..b0d425132 100644
--- a/jenkins-scripts/lib/colcon-default-devel-windows.bat
+++ b/jenkins-scripts/lib/colcon-default-devel-windows.bat
@@ -20,8 +20,9 @@
 set win_lib=%SCRIPT_DIR%\lib\windows_library.bat
 set EXPORT_TEST_RESULT_PATH=%WORKSPACE%\build\test_results
 set LOCAL_WS=%WORKSPACE%\ws
-set LOCAL_WS_SOFTWARE_DIR=%LOCAL_WS%\%VCS_DIRECTORY%
-set LOCAL_WS_BUILD=%WORKSPACE%\build
+set LOCAL_WS_BUILD=%LOCAL_WS%\build
+set LOCAL_WS_SRC=%LOCAL_WS%\src
+set LOCAL_WS_SOFTWARE_DIR=%LOCAL_WS_SRC%\%VCS_DIRECTORY%
 
 :: default values
 @if "%BUILD_TYPE%" == "" set BUILD_TYPE=Release
@@ -133,28 +134,28 @@ if defined USE_PIXI (
 
 echo # BEGIN SECTION: setup workspace
 if not defined KEEP_WORKSPACE (
-  IF exist %LOCAL_WS_BUILD% (
+  IF exist %LOCAL_WS% (
     echo # BEGIN SECTION: preclean workspace
-    rmdir /s /q %LOCAL_WS_BUILD% || goto :error
+    rmdir /s /q %LOCAL_WS% || goto :error
     echo # END SECTION
   )
 )
-mkdir %LOCAL_WS% || echo "Workspace already exists!"
-cd %LOCAL_WS%
+mkdir %LOCAL_WS%
+mkdir %LOCAL_WS_SRC%
 echo # END SECTION
 
 echo # BEGIN SECTION: get open robotics deps (%GAZEBODISTRO_FILE%) sources into the workspace
-if exist %LOCAL_WS_SOFTWARE_DIR% ( rmdir /q /s %LOCAL_WS_SOFTWARE_DIR% )
-call %win_lib% :get_source_from_gazebodistro %GAZEBODISTRO_FILE% %LOCAL_WS% || goto :error
+call %win_lib% :get_source_from_gazebodistro %GAZEBODISTRO_FILE% %LOCAL_WS_SRC% || goto :error
 echo # END SECTION
 
 :: this step is important since overwrite the gazebodistro file
 echo # BEGIN SECTION: move %VCS_DIRECTORY% source to workspace
-if exist %LOCAL_WS_SOFTWARE_DIR% ( rmdir /q /s %LOCAL_WS_SOFTWARE_DIR% )
+if exist %LOCAL_WS_SOFTWARE_DIR% ( rmdir /q /s %LOCAL_WS_SOFTWARE_DIR% )                                                                                                                                                                   
 xcopy %WORKSPACE%\%VCS_DIRECTORY% %LOCAL_WS_SOFTWARE_DIR% /s /e /i > xcopy_vcs_directory.log || goto :error
 echo # END SECTION
 
 echo # BEGIN SECTION: packages in workspace
+cd %LOCAL_WS%
 call %win_lib% :list_workspace_pkgs || goto :error
 echo # END SECTION
 
@@ -163,13 +164,13 @@ echo # BEGIN SECTION: Update package !COLCON_PACKAGE! from gz to ignition
 echo Packages in workspace:
 colcon list --names-only
 
-colcon list --names-only | find "!COLCON_PACKAGE!"
+colcon list --names-only | find "!COLCON_PACKAGE!" > nul 2>&1
 if errorlevel 1 (
   :: REQUIRED for Gazebo Fortress
   set COLCON_PACKAGE=!COLCON_PACKAGE:gz=ignition!
   set COLCON_PACKAGE=!COLCON_PACKAGE:sim=gazebo!
 )
-colcon list --names-only | find "!COLCON_PACKAGE!"
+colcon list --names-only | find "!COLCON_PACKAGE!" > nul 2>&1
 if errorlevel 1 (
   echo Failed to find package !COLCON_PACKAGE! in workspace.
   goto :error
@@ -183,7 +184,7 @@ call %win_lib% :build_workspace !COLCON_PACKAGE! !COLCON_PACKAGE_EXTRA_CMAKE_ARG
 echo # END SECTION
 
 if "%ENABLE_TESTS%" == "TRUE" (
-    set TEST_RESULT_PATH=%WORKSPACE%\ws\build\!COLCON_PACKAGE!\test_results
+    set TEST_RESULT_PATH=%LOCAL_WS_BUILD%\!COLCON_PACKAGE!\test_results
 
     echo # BEGIN SECTION: running tests for !COLCON_PACKAGE!
     call %win_lib% :tests_in_workspace !COLCON_PACKAGE!
diff --git a/jenkins-scripts/sdformat-default-devel-windows-amd64.bat b/jenkins-scripts/sdformat-default-devel-windows-amd64.bat
new file mode 100644
index 000000000..22587f442
--- /dev/null
+++ b/jenkins-scripts/sdformat-default-devel-windows-amd64.bat
@@ -0,0 +1,22 @@
+@echo on
+
+set SCRIPT_DIR=%~dp0
+
+if not defined VCS_DIRECTORY set VCS_DIRECTORY=sdformat
+set PLATFORM_TO_BUILD=x86_amd64
+set IGN_CLEAN_WORKSPACE=true
+
+set DEPEN_PKGS="libxml2 tinyxml2"
+
+for /f %%i in ('python "%SCRIPT_DIR%\tools\detect_cmake_major_version.py" "%WORKSPACE%\%VCS_DIRECTORY%\CMakeLists.txt"') do set SDFORMAT_MAJOR_VERSION=%%i
+
+if %SDFORMAT_MAJOR_VERSION% GEQ 10 (
+  set COLCON_PACKAGE=sdformat
+  set COLCON_AUTO_MAJOR_VERSION=true
+  call "%SCRIPT_DIR%\lib\colcon-default-devel-windows.bat"
+) else if %SDFORMAT_MAJOR_VERSION% GEQ 6 (
+  call "%SCRIPT_DIR%/lib/generic-default-devel-windows.bat"
+) else (
+  echo "Ancient version of sdformat is not supported %SDFORMAT_MAJOR_VERSION%"
+  exit 1
+)