diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index d19b74d..b164798 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -2,8 +2,8 @@ binutils-dev
 libgflags-dev
 libgz-cmake4-dev
 libgz-common6-dev
-libgz-sim9-dev
-libgz-gui9-dev
+libgz-sim10-dev
+libgz-gui10-dev
 libgz-math8-dev
 libgz-math8-eigen3-dev
 libgz-msgs11-dev
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8230361..e2c2481 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -9,19 +9,6 @@ on:
       - 'main'
 
 jobs:
-  jammy-ci:
-    runs-on: ubuntu-latest
-    name: Ubuntu Jammy CI
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-      - name: Compile and test
-        id: ci
-        uses: gazebo-tooling/action-gz-ci@jammy
-        with:
-          codecov-enabled: true
-          cppcheck-enabled: true
-          cpplint-enabled: true
   noble-ci:
     runs-on: ubuntu-latest
     name: Ubuntu Noble CI
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6df8013..08e04be 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -76,8 +76,8 @@ set(GZ_MATH_VER ${gz-math8_VERSION_MAJOR})
 
 #--------------------------------------
 # Find gz-gui
-gz_find_package(gz-gui9 REQUIRED)
-set(GZ_GUI_VER ${gz-gui9_VERSION_MAJOR})
+gz_find_package(gz-gui10 REQUIRED)
+set(GZ_GUI_VER ${gz-gui10_VERSION_MAJOR})
 gz_find_package (Qt5
   COMPONENTS
     Core
@@ -88,8 +88,8 @@ gz_find_package (Qt5
 
 #--------------------------------------
 # Find gz-sim
-gz_find_package(gz-sim9 REQUIRED PRIVATE COMPONENTS gui)
-set(GZ_SIM_VER ${gz-sim9_VERSION_MAJOR})
+gz_find_package(gz-sim10 REQUIRED PRIVATE COMPONENTS gui)
+set(GZ_SIM_VER ${gz-sim10_VERSION_MAJOR})
 
 gz_pkg_check_modules(websockets libwebsockets)
 if (NOT websockets_FOUND)
diff --git a/package.xml b/package.xml
index f74356d..dd50224 100644
--- a/package.xml
+++ b/package.xml
@@ -13,11 +13,11 @@
   <depend>binutils</depend>
   <depend>gz-cmake4</depend>
   <depend>gz-common6</depend>
-  <depend>gz-gui9</depend>
+  <depend>gz-gui10</depend>
   <depend>gz-math8</depend>
   <depend>gz-msgs11</depend>
   <depend>gz-plugin3</depend>
-  <depend>gz-sim9</depend>
+  <depend>gz-sim10</depend>
   <depend>gz-tools2</depend>
   <depend>gz-transport14</depend>
   <depend>libgflags-dev</depend>
diff --git a/tutorials/install.md b/tutorials/install.md
index fd75cc6..8e88a73 100644
--- a/tutorials/install.md
+++ b/tutorials/install.md
@@ -71,7 +71,7 @@ necessary prerequisites followed by building from source.
     sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
     wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
     sudo apt-get update
-    sudo apt-get -y install libgz-cmake4-dev libgz-sim9-dev
+    sudo apt-get -y install libgz-cmake4-dev libgz-sim10-dev
     ```
 
 ### Building from source
diff --git a/tutorials/tutorial.md b/tutorials/tutorial.md
index 7824eb1..259014c 100644
--- a/tutorials/tutorial.md
+++ b/tutorials/tutorial.md
@@ -26,7 +26,7 @@ Every script starts with these two tags, which specify the `xml` version and `gz
 
 We can run multiple commands from one file.
 
-Take a look at the [sim.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/sim.gzlaunch) launch file. This script runs the Gazebo `server` and Gazebo `client`. We need to just write the command in the `command` tag.
+Take a look at the [sim.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch9/examples/sim.gzlaunch) launch file. This script runs the Gazebo `server` and Gazebo `client`. We need to just write the command in the `command` tag.
 
 ```xml
 <executable name='sim-server'>
@@ -36,11 +36,11 @@ Take a look at the [sim.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz
 
 ## Spawn a robot into simulation with plugins
 
-Now take a look at the [factory.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/factory.gzlaunch) launch file. We defined a `SimFactory` plugin under which we included an `X2 UGV` robot and added the `DiffDrive` plugin to control the robot. We also added the `StatePublisher` plugin which publishes the robot state information.
+Now take a look at the [factory.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch9/examples/factory.gzlaunch) launch file. We defined a `SimFactory` plugin under which we included an `X2 UGV` robot and added the `DiffDrive` plugin to control the robot. We also added the `StatePublisher` plugin which publishes the robot state information.
 
 ## Launch simulation with plugins in separate processes
 
-The [sim_plugins.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch8/examples/sim_plugins.gzlaunch) launch file loads some plugins
+The [sim_plugins.gzlaunch](https://github.com/gazebosim/gz-launch/blob/gz-launch9/examples/sim_plugins.gzlaunch) launch file loads some plugins
 and also starts simulation. The `joystick` plugin will be launched in its own process
 and will read from a joystick device and output data onto a topic. The `JoyToTwist`
 plugin also launches into a separate process and transforms a `joystick` message to a