diff --git a/README.md b/README.md
index c121d38..63dd1e0 100644
--- a/README.md
+++ b/README.md
@@ -1,10 +1,10 @@
 # opentera-webrtc-ros
 
-Welcome to the opentera-webrtc-ros project. The goal of the project is to provide useful ROS nodes to stream audio/video/data through Google's WebRTC library wrapped in [opentera-webrtc](https://github.com/introlab/opentera-webrtc). Wrappers are written in C++ and Python and are compatible with ROS1 (Noetic) at the moment. We use the [signaling server](https://github.com/introlab/opentera-webrtc/tree/main/signaling-server) implementation provided by opentera-webrtc.
+Welcome to the opentera-webrtc-ros project. The goal of the project is to provide useful ROS nodes to stream audio/video/data through Google's WebRTC library wrapped in [opentera-webrtc](https://github.com/introlab/opentera-webrtc). Wrappers are written in C++ and Python and are compatible with ROS2 (Humble) at the moment. Support for ROS1 (Noetic) is in the [`ros1`](https://github.com/introlab/opentera-webrtc-ros/tree/ros1) branch. We use the [signaling server](https://github.com/introlab/opentera-webrtc/tree/main/signaling-server) implementation provided by opentera-webrtc.
 
 Here are the key features:
 
-* [ROS Messages](opentera_webrtc_ros_msgs) adding compatibility with ROS and [OpenTera protobuf protocol](https://github.com/introlab/opentera_messages) used in[opentera-teleop-service](https://github.com/introlab/opentera-teleop-service).
+* [ROS Messages](opentera_webrtc_ros_msgs) adding compatibility with ROS and [OpenTera protobuf protocol](https://github.com/introlab/opentera_messages) used in [opentera-teleop-service](https://github.com/introlab/opentera-teleop-service).
 
 * [ROS Streaming nodes](opentera_webrtc_ros/README.md) capable of sending / receiving audio, video and data from WebRTC streams.
 
@@ -14,7 +14,7 @@ Here are the key features:
 
 * Sound Source Localization / Tracking / Separation using [ODAS ROS](https://github.com/introlab/odas_ros).
 
-* [Stand alone demonstrations](opentera_webrtc_demos/README.md) with simulated robot in gazebo.
+* [Stand alone demonstrations](opentera_webrtc_demos/README.md) with simulated robot in Gazebo.
 
 * [Robot side front-end (Qt)](opentera_webrtc_robot_gui/README.md) to display call information and remote user interaction.
 
@@ -42,48 +42,52 @@ The project is licensed with:
 
 ## Dependencies / Requirements
 
-The procedure is written for Ubuntu 20.04 using ROS noetic. We assume ROS is already installed. If not, follow the [ROS Installation Instructions](http://wiki.ros.org/noetic/Installation/Ubuntu) first. The following packages must also be installed :
+The procedure is written for Ubuntu 22.04 using ROS2 Humble. We assume ROS is already installed. If not, follow the [ROS2 Humble Installation Instructions](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) first. A more recent CMake than the default on Ubunuttu 22.04 is required. If the installed CMake version is 3.22, follow the [CMake Installation Instructions](https://apt.kitware.com/). The following packages must also be installed :
 
 ```bash
+# utilities
+sudo apt install unzip rsync ros-dev-tools
+
 # opentera-webrtc-ros packages
-sudo apt-get install nodejs ros-noetic-turtlebot3 ros-noetic-turtlebot3-gazebo ros-noetic-cv-camera ros-noetic-dwa-local-planner ros-noetic-rtabmap-ros
+sudo apt install ros-humble-camera-info-manager ros-humble-rtabmap-ros ros-humble-rqt-tf-tree ros-humble-turtlebot3-gazebo ros-humble-turtlebot3-description ros-humble-turtlebot3-navigation2 ros-humble-joint-state-publisher-gui
 
 # protobuf
-sudo apt-get install libprotobuf-dev protobuf-compiler python3-protobuf
+sudo apt install libprotobuf-dev protobuf-compiler python3-protobuf
 
 # python dependencies
-sudo apt-get install python3-pip portaudio19-dev
+sudo apt install python3-pip portaudio19-dev
 
 # nodejs dependencies
-sudo apt-get install nodejs npm
+sudo apt install nodejs npm
 
 # audio_utils packages
-sudo apt-get install cmake build-essential gfortran texinfo libasound2-dev libpulse-dev libgfortran-*-dev
+sudo apt install cmake build-essential gfortran texinfo libasound2-dev libpulse-dev 'libgfortran-*-dev'
 
 # odas_ros packages
-sudo apt-get install libfftw3-dev libconfig-dev
+sudo apt install libfftw3-dev libconfig-dev
+
+# gstreamer for hardware acceleration
+sudo apt install libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev libgstreamer-plugins-bad1.0-dev gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly gstreamer1.0-libav gstreamer1.0-tools
 
 # qt submodules
-sudo apt-get install libqt5charts5-dev
+sudo apt install libqt5charts5-dev
 ```
 
 ## Installation
 
-### 1 - Create a catkin workspace (if not already done)
+### 1 - Create a colcon workspace (if not already done)
 
 ```bash
-# Make sure ROS is installed first.
-source /opt/ros/noetic/setup.bash
-# Create the workspace and initial build files
+# Create the workspace
 mkdir -p ~/teleop_ws/src
-cd ~/teleop_ws/
-catkin_make
 ```
 
 ### 2 - Get all the required ROS packages
 
 ```bash
 cd ~/teleop_ws/src
+# cv_camera
+git clone https://github.com/Kapernikov/cv_camera.git
 # audio_utils
 git clone https://github.com/introlab/audio_utils.git --recurse-submodules
 # odas_ros
@@ -107,8 +111,7 @@ python3 -m pip install -r requirements.txt
 
 ```bash
 cd ~/teleop_ws
-source devel/setup.bash
-catkin_make
+colcon build --symlink-install --cmake-args -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_BUILD_TYPE=Debug --no-warn-unused-cli
 ```
 
 ## Running the demos
diff --git a/face_cropping/README.md b/face_cropping/README.md
index b12ff48..69f236b 100644
--- a/face_cropping/README.md
+++ b/face_cropping/README.md
@@ -47,9 +47,9 @@ It can be enabled and disabled from the robot GUI by pressing the face cropping
 
 ### Subscribed Topics
 
-- `enable_face_cropping` [std_msgs/Bool](http://docs.ros2.org/foxy/api/std_msgs/msg/Bool.html): The topic to enable or disable the node.
-- `input_image` [sensor_msgs/Image](http://docs.ros2.org/foxy/api/sensor_msgs/msg/Image.html): The input image topic.
+- `enable_face_cropping` [std_msgs/Bool](https://docs.ros.org/en/humble/p/std_msgs/interfaces/msg/Bool.html): The topic to enable or disable the node.
+- `input_image` [sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html): The input image topic.
 
 ### Published Topics
 
-- `output_image` [sensor_msgs/Image](http://docs.ros2.org/foxy/api/sensor_msgs/msg/Image.html): The output image topic.
+- `output_image` [sensor_msgs/Image](https://docs.ros.org/en/humble/p/sensor_msgs/interfaces/msg/Image.html): The output image topic.
diff --git a/map_image_generator/package.xml b/map_image_generator/package.xml
index 3bca25b..5b19ac4 100644
--- a/map_image_generator/package.xml
+++ b/map_image_generator/package.xml
@@ -18,7 +18,7 @@
     <depend>visualization_msgs</depend>
     <depend>rtabmap_msgs</depend>
     <depend>opentera_webrtc_ros_msgs</depend>
-    <depend>odas_ros</depend>
+    <depend>odas_ros_msgs</depend>
 
     <depend>cv_bridge</depend>
     <depend>framework</depend>
diff --git a/opentera_webrtc_demos/README.md b/opentera_webrtc_demos/README.md
index e67e619..a325c36 100644
--- a/opentera_webrtc_demos/README.md
+++ b/opentera_webrtc_demos/README.md
@@ -4,21 +4,17 @@ To launch the stand alone demo try :
 
 ```bash
 # Load ROS environment
-$ source ~/teleop_ws/install/setup.bash
-# Needed for simulation
-$ export TURTLEBOT3_MODEL=waffle
+source ~/teleop_ws/install/setup.bash
 # Run the demo
-$ ros2 launch opentera_webrtc_demos demo.launch is_stand_alone:=true
+ros2 launch opentera_webrtc_demos demo.launch.xml is_stand_alone:=true
 ```
 
 To launch the stand alone demo with ODAS functionnality, you will need the [ReSpeaker 4-mic array](https://respeaker.io/usb_4_mic_array/) plugged-in your computer:
 ```bash
 # Load ROS environment
-$ source ~/teleop_ws/install/setup.bash
-# Needed for simulation
-$ export TURTLEBOT3_MODEL=waffle
+source ~/teleop_ws/install/setup.bash
 # Run the demo
-$ ros2 launch opentera_webrtc_demos demo_odas.launch is_stand_alone:=true
+ros2 launch opentera_webrtc_demos demo_odas.launch.xml is_stand_alone:=true
 ```
 
 Once launched go to the following URL :
diff --git a/opentera_webrtc_robot_gui/src/MainWindow.cpp b/opentera_webrtc_robot_gui/src/MainWindow.cpp
index 80c3505..7b7b76b 100644
--- a/opentera_webrtc_robot_gui/src/MainWindow.cpp
+++ b/opentera_webrtc_robot_gui/src/MainWindow.cpp
@@ -104,7 +104,7 @@ void MainWindow::localImageCallback(const sensor_msgs::msg::Image::ConstSharedPt
     if (msg->encoding == "rgb8")
     {
         // Step #1 Transform ROS Image to QtImage
-        QImage image(&msg->data[0], msg->width, msg->height, QImage::Format_RGB888);
+        QImage image(&msg->data[0], msg->width, msg->height, msg->step, QImage::Format_RGB888);
 
         // Step #2 emit new signal with image
         emit newLocalImage(image.copy());
@@ -112,7 +112,7 @@ void MainWindow::localImageCallback(const sensor_msgs::msg::Image::ConstSharedPt
     else if (msg->encoding == "bgr8")
     {
         // Step #1 Transform ROS Image to QtImage
-        QImage image(&msg->data[0], msg->width, msg->height, QImage::Format_RGB888);
+        QImage image(&msg->data[0], msg->width, msg->height, msg->step, QImage::Format_RGB888);
 
         // Step #2 emit new signal with image
         // Invert R & B here
@@ -239,7 +239,7 @@ void MainWindow::closeCameraWindow()
 void MainWindow::peerImageCallback(const opentera_webrtc_ros_msgs::msg::PeerImage::ConstSharedPtr& msg)
 {
     // Step #1 Transform ROS Image to QtImage
-    QImage image(&msg->frame.data[0], msg->frame.width, msg->frame.height, QImage::Format_RGB888);
+    QImage image(&msg->frame.data[0], msg->frame.width, msg->frame.height, msg->frame.step, QImage::Format_RGB888);
 
     // Step #2 Emit signal (will be handled in Qt main thread)
     // Image will be automatically deleted when required
diff --git a/opentera_webrtc_ros/CMakeLists.txt b/opentera_webrtc_ros/CMakeLists.txt
index 946f0d3..b14cc3a 100644
--- a/opentera_webrtc_ros/CMakeLists.txt
+++ b/opentera_webrtc_ros/CMakeLists.txt
@@ -37,7 +37,7 @@ find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(audio_utils REQUIRED)
+find_package(audio_utils_msgs REQUIRED)
 find_package(opentera_webrtc_ros_msgs REQUIRED)
 find_package(map_image_generator REQUIRED)
 
@@ -145,7 +145,7 @@ ament_target_dependencies(${PROJECT_NAME}_topic_streamer
     std_srvs
     sensor_msgs
     geometry_msgs
-    audio_utils
+    audio_utils_msgs
 )
 target_link_libraries(${PROJECT_NAME}_topic_streamer
     ${opentera_webrtc_native_client_libs}
@@ -167,7 +167,7 @@ ament_target_dependencies(${PROJECT_NAME}_data_channel_bridge
     std_srvs
     sensor_msgs
     geometry_msgs
-    audio_utils
+    audio_utils_msgs
 )
 target_link_libraries(${PROJECT_NAME}_data_channel_bridge
     ${opentera_webrtc_native_client_libs}
@@ -188,7 +188,7 @@ ament_target_dependencies(${PROJECT_NAME}_json_data_handler
     std_srvs
     sensor_msgs
     geometry_msgs
-    audio_utils
+    audio_utils_msgs
 )
 set_target_properties(${PROJECT_NAME}_json_data_handler PROPERTIES OUTPUT_NAME json_data_handler PREFIX "")
 install(TARGETS ${PROJECT_NAME}_json_data_handler DESTINATION lib/${PROJECT_NAME})
diff --git a/opentera_webrtc_ros/README.md b/opentera_webrtc_ros/README.md
index 8201dfb..7b0b251 100644
--- a/opentera_webrtc_ros/README.md
+++ b/opentera_webrtc_ros/README.md
@@ -19,14 +19,14 @@ It also forwards images and audio received on the WebRTC stream to ROS.
 
 #### Subscribes
 
-- ros_image : `sensor_msgs::Image`
-- audio_in : `audio_utils::AudioFrame`
+- ros_image : `sensor_msgs/Image`
+- audio_in : `audio_utils_msgs/AudioFrame`
 
 #### Advertises
 
-- webrtc_image : `opentera_webrtc_ros::PeerImage`
-- webrtc_audio : `opentera_webrtc_ros::PeerAudio`
-- audio_mixed : `audio_utils::AudioFrame`
+- webrtc_image : `opentera_webrtc_ros_msgs/PeerImage`
+- webrtc_audio : `opentera_webrtc_ros_msgs/PeerAudio`
+- audio_mixed : `audio_utils_msgs/AudioFrame`
 
 #### Default Parameters
 
@@ -40,7 +40,7 @@ It also forwards images and audio received on the WebRTC stream to ROS.
   <param name="is_screen_cast" value="false"/>           <!-- Is the image source a screen capture? -->
   <param name="needs_denoising" value="false"/>          <!-- Does the image source needs denoising? -->
 </param>
-<param value="signaling">
+<param name="signaling">
   <param name="server_url" value="http://localhost:8080"/>  <!-- Signaling server URL used in stand_alone mode -->
   <param name="client_name" value="streamer"/>              <!-- Peer name as which to join the room -->
   <param name="room_name" value="chat"/>                    <!-- Room name to join -->
@@ -48,7 +48,7 @@ It also forwards images and audio received on the WebRTC stream to ROS.
 </param>
 ```
 
-For usage exemple look at [ros_stream_client.launch](launch/ros_stream_client.launch).
+For usage exemple look at [ros_stream_client.launch.xml](launch/ros_stream_client.launch.xml).
 
 ## RosDataChannelBridge
 
@@ -59,17 +59,17 @@ data channel. It also forwards messages received on the WebRTC data channel to R
 
 #### Subscribes (RosDataChannelBridge)
 
-- ros_data : `std_msgs::String`
+- ros_data : `std_msgs/String`
 
 #### Advertises (RosDataChannelBridge)
 
-- webrtc_data : `opentera_webrtc_ros_msgs::PeerData`
+- webrtc_data : `opentera_webrtc_ros_msgs/PeerData`
 
 #### Default Parameters (RosDataChannelBridge)
 
 ```xml
 <param name="is_stand_alone" value="true"/>
-<param value="signaling">
+<param name="signaling">
   <param name="server_url" value="http://localhost:8080"/>  <!-- Signaling server URL used in stand_alone mode -->
   <param name="client_name" value="data_bridge"/>           <!-- Peer name as which to join the room -->
   <param name="room_name" value="chat"/>                    <!-- Room name to join -->
@@ -77,7 +77,7 @@ data channel. It also forwards messages received on the WebRTC data channel to R
 </param>
 ```
 
-For usage exemple look at [ros_data_channel_client.launch](launch/ros_data_channel_client.launch).
+For usage exemple look at [ros_data_channel_client.launch.xml](launch/ros_data_channel_client.launch.xml).
 
 ## RosJsonDataHandler
 
@@ -87,21 +87,21 @@ Implement a ROS node that dispatch received JSON messages and forward them on th
 
 #### Subscribes (RosJsonDataHandler)
 
-- webrtc_data : `opentera_webrtc_ros_msgs::PeerData`
+- webrtc_data : `opentera_webrtc_ros_msgs/PeerData`
 
 #### Advertises (RosJsonDataHandler)
 
-- cmd_vel : `geometry_msgs::Twist`
+- cmd_vel : `geometry_msgs/Twist`
 
 #### JSON Format (RosJsonDataHandler)
 
-For usage exemple look at [ros_json_data_handler.launch](launch/ros_json_data_handler.launch).
+For usage exemple look at [ros_json_data_handler.launch.xml](launch/ros_json_data_handler.launch.xml).
 
 ## libnavigation
 
 ### Description (libnavigation)
 
-Shared library for `goal_manager` and `label_manager` to send navigation commands to `move_base` as well as navigation waypoints to `map_image_generator`.
+Shared library for `goal_manager` and `labels_manager` to send navigation commands to the `nav2` stack as well as navigation waypoints to `map_image_generator`.
 The library is embedded in both nodes, a single instance is not shared.
 
 #### Subscribed topics (libnavigation)
@@ -138,7 +138,7 @@ Manages labels.
 The stored labels are dependent on the `map` transform and the database needs to be cleaned if the map changes.
 A label represents a name grouped with an associated pose and a description.
 This node relies on a service provided by the `map_image_generator` package to convert the labels from image coordinates to map coordinates.
-This node can also send a label as a goal to `move_base` by its name.
+This node can also send a label as a goal to `nav2` by its name.
 
 #### Subscribed topics (labels_manager)
 
diff --git a/opentera_webrtc_ros/package.xml b/opentera_webrtc_ros/package.xml
index c70689a..dd2c50a 100644
--- a/opentera_webrtc_ros/package.xml
+++ b/opentera_webrtc_ros/package.xml
@@ -18,7 +18,7 @@
     <depend>std_msgs</depend>
     <depend>std_srvs</depend>
     <depend>sensor_msgs</depend>
-    <depend>audio_utils</depend>
+    <depend>audio_utils_msgs</depend>
     <depend>opentera_webrtc_ros_msgs</depend>
 
     <depend>map_image_generator</depend>
diff --git a/opentera_webrtc_ros_msgs/CMakeLists.txt b/opentera_webrtc_ros_msgs/CMakeLists.txt
index 759bc46..8ede306 100644
--- a/opentera_webrtc_ros_msgs/CMakeLists.txt
+++ b/opentera_webrtc_ros_msgs/CMakeLists.txt
@@ -5,7 +5,7 @@ find_package(ament_cmake REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
-find_package(audio_utils REQUIRED)
+find_package(audio_utils_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
@@ -38,7 +38,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "srv/ImageGoalToMapGoal.srv"
     "srv/SetString.srv"
 
-    DEPENDENCIES std_msgs geometry_msgs sensor_msgs audio_utils
+    DEPENDENCIES std_msgs geometry_msgs sensor_msgs audio_utils_msgs
 )
 
 ament_package()
diff --git a/opentera_webrtc_ros_msgs/package.xml b/opentera_webrtc_ros_msgs/package.xml
index 7efbcdf..9beddf3 100644
--- a/opentera_webrtc_ros_msgs/package.xml
+++ b/opentera_webrtc_ros_msgs/package.xml
@@ -15,7 +15,7 @@
     <depend>std_msgs</depend>
     <depend>geometry_msgs</depend>
     <depend>sensor_msgs</depend>
-    <depend>audio_utils</depend>
+    <depend>audio_utils_msgs</depend>
 
     <member_of_group>rosidl_interface_packages</member_of_group>