diff --git a/README.md b/README.md
index 7ef7ff9..2126a12 100644
--- a/README.md
+++ b/README.md
@@ -105,6 +105,21 @@ resolved in the past.
   rely on the remote commits. In case of porting to other versions, you must
   possibly revert some of those commits.
 
+  ament-cmake-core depends on python3-pyparsing which is available in
+  meta-python since pyro
+  1a373a033f482981eb59ff8d9eb7a9437fa18cd4@meta-openembedded and native
+  version since rocko
+  06eb9d658e71b6a61f2589d9618ae2ca35eaaf8b@meta-openembedded
+  python3-pyparsing-native depends on python3-datetime-native,
+  python3-debugger-native and python3-stringold-native which were added
+  in oe-core python3-native in pyro:
+  462ccb35a5de32b52ddb733d1868df6ac5426f20@openembedded-core and
+  800753069f667cd1664d70b3779150c467e3b3fe@openembedded-core simple
+  bbappend as shown in:
+  https://github.com/bmwcarit/meta-ros/pull/607#pullrequestreview-143981126
+  is enough to resolve this if you're using old pyro unsupported
+  release.
+
   cv-bridge and dependent recipes, e.g., the image-transport recipes, depend on
   7568bfdd114597956a1da68746f207ec7f93a48d@openembedded-core.
   For native python-numpy support, these recipes also depend on
diff --git a/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb b/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb
index 10c1b46..41574e5 100644
--- a/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb
+++ b/recipes-ros2/ament-cmake-ros/ament-cmake-ros_git.bb
@@ -3,7 +3,7 @@ HOMEPAGE = "https://github.com/ros2/ament_cmake_ros"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
 
-SRCREV = "0e8f0152717159bfac572745cbd143f326cbee35"
+SRCREV = "85f37bee18a7e139e62a84909b5677dc44281387"
 SRC_URI = "git://github.com/ros2/ament_cmake_ros.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/ament-cmake/ament-cmake-core_git.bb b/recipes-ros2/ament-cmake/ament-cmake-core_git.bb
index 9f86217..55f9c54 100644
--- a/recipes-ros2/ament-cmake/ament-cmake-core_git.bb
+++ b/recipes-ros2/ament-cmake/ament-cmake-core_git.bb
@@ -1,7 +1,7 @@
 SUMMARY = "The core of the ament buildsystem in CMake."
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
-DEPENDS = "ament-package-native"
+DEPENDS = "ament-package-native ${PYTHON_PN}-pyparsing"
 
 include ament-cmake.inc
 
diff --git a/recipes-ros2/ament-cmake/ament-cmake.inc b/recipes-ros2/ament-cmake/ament-cmake.inc
index 57548c8..a80678b 100644
--- a/recipes-ros2/ament-cmake/ament-cmake.inc
+++ b/recipes-ros2/ament-cmake/ament-cmake.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ament/ament_cmake"
 
-SRCREV = "dc243d84429ccefbe3532c59a242a114eb20bad6"
+SRCREV = "af0789c46d03aabf6ee2cae360bf0487dd8a84d4"
 SRC_URI = "git://github.com/ament/ament_cmake.git;protocol=git;"
 
 inherit cmake python3native
diff --git a/recipes-ros2/ament-index/ament-index.inc b/recipes-ros2/ament-index/ament-index.inc
index 20e0288..ece7e8e 100644
--- a/recipes-ros2/ament-index/ament-index.inc
+++ b/recipes-ros2/ament-index/ament-index.inc
@@ -1,4 +1,4 @@
 HOMEPAGE = "https://github.com/ament/ament_index"
 
-SRCREV = "3ef7abab8edc308523f794e6bdfe38bbef7215a3"
+SRCREV = "1df2aef4d7f1271d80082cc01aa08e13bfc58fce"
 SRC_URI = "git://github.com/ament/ament_index.git;protocol=git;"
diff --git a/recipes-ros2/ament-package/ament-package_git.bb b/recipes-ros2/ament-package/ament-package_git.bb
index 87484c2..0c6c3f9 100644
--- a/recipes-ros2/ament-package/ament-package_git.bb
+++ b/recipes-ros2/ament-package/ament-package_git.bb
@@ -3,7 +3,7 @@ HOMEPAGE = "https://github.com/ament/ament_package"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
 
-SRCREV = "778906c805fd6b3fa070c582fbb06b7a5fab03b8"
+SRCREV = "2cc251b627607e2d8ada6fa75add45cbe86cb9d8"
 SRC_URI = "git://github.com/ament/ament_package.git;protocol=git;"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-ros2/ament-tools/ament-tools_git.bb b/recipes-ros2/ament-tools/ament-tools_git.bb
index 19d6080..4169ffd 100644
--- a/recipes-ros2/ament-tools/ament-tools_git.bb
+++ b/recipes-ros2/ament-tools/ament-tools_git.bb
@@ -4,7 +4,7 @@ LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
 DEPENDS = "osrf-pycommon ament-package"
 
-SRCREV = "d1c6bcebea9cd5d9ac171d2e226146f07c147bed"
+SRCREV = "0885dfb957260bcab00e6a626624cf4e447d19c0"
 SRC_URI = "git://github.com/ament/ament_tools.git;protocol=git;"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-ros2/common-interfaces/common-interfaces.inc b/recipes-ros2/common-interfaces/common-interfaces.inc
index 38d9849..b370bb7 100644
--- a/recipes-ros2/common-interfaces/common-interfaces.inc
+++ b/recipes-ros2/common-interfaces/common-interfaces.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/common_interfaces"
 
-SRCREV = "474c3dbcd2175d8ce727ad6df5dce3ace4219512"
+SRCREV = "5372c3c98a71e05e8c7584e77ffe7b68bd08819c"
 SRC_URI = "git://github.com/ros2/common_interfaces.git;protocol=git;"
 
 inherit ament pythonpath-insane
diff --git a/recipes-ros2/example-interfaces/example-interfaces_git.bb b/recipes-ros2/example-interfaces/example-interfaces_git.bb
index 2702712..4016ff5 100644
--- a/recipes-ros2/example-interfaces/example-interfaces_git.bb
+++ b/recipes-ros2/example-interfaces/example-interfaces_git.bb
@@ -17,11 +17,11 @@ DEPENDS = " \
     python-cmake-module \
 "
 
-SRCREV = "dfcbbd8ead5fc254daee76166710fdd254b902f5"
+SRCREV = "b9f9477cd7f368e61f81d55c5021f4c70ad1fe12"
 SRC_URI = "git://github.com/ros2/example_interfaces.git;protocol=git;"
 
 inherit ament pythonpath-insane
 
 S = "${WORKDIR}/git"
 
-FILES_${PN} += "${datadir}/${ROS_BPN}/mapping_rules.yaml"
\ No newline at end of file
+FILES_${PN} += "${datadir}/${ROS_BPN}/mapping_rules.yaml"
diff --git a/recipes-ros2/fastcdr/fastcdr_git.bb b/recipes-ros2/fastcdr/fastcdr_git.bb
index 25ca6f7..244bf46 100644
--- a/recipes-ros2/fastcdr/fastcdr_git.bb
+++ b/recipes-ros2/fastcdr/fastcdr_git.bb
@@ -3,7 +3,7 @@ HOMEPAGE = "https://github.com/eProsima/Fast-CDR"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
 
-SRCREV = "affa48d511a36351ef24d40029db1e8217be86b1"
+SRCREV = "8d1489780cd58947e5f7104b84641f680224cdea"
 SRC_URI = "git://github.com/eProsima/Fast-CDR.git;protocol=git; \
            file://0001-don-t-use-INSTALL_INTERFACE.patch \
            "
diff --git a/recipes-ros2/fastrtps/fastrtps_git.bb b/recipes-ros2/fastrtps/fastrtps_git.bb
index 7979e88..9225383 100644
--- a/recipes-ros2/fastrtps/fastrtps_git.bb
+++ b/recipes-ros2/fastrtps/fastrtps_git.bb
@@ -4,7 +4,7 @@ LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=3b83ef96387f14655fc854ddc3c6bd57"
 DEPENDS = "asio libtinyxml2"
 
-SRCREV = "e49bbe6a18fbff509097fb3d2e0d18648e94f7c1"
+SRCREV = "bfb448e19bff253293e8f28ee8c3d3d78d882be2"
 SRC_URI = "git://github.com/eProsima/Fast-RTPS.git;protocol=git; \
     file://0001-don-t-use-INSTALL_INTERFACE.patch \
     file://0001-FindTinyXML2-use-pkg-config-to-find-tinyxml2.patch \
diff --git a/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb b/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb
index 5c1ec03..b467ef6 100644
--- a/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb
+++ b/recipes-ros2/osrf-pycommon/osrf-pycommon_git.bb
@@ -3,7 +3,7 @@ HOMEPAGE = "https://github.com/osrf/osrf_pycommon"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://LICENSE;md5=6c4db32a2fa8717faffa1d4f10136f47"
 
-SRCREV = "4fca399dee4e4b888c8a9a7026bc3facde376dd5"
+SRCREV = "e32de70e8b42dcd96bb66d29ddfb62e7fd8b795e"
 SRC_URI = "git://github.com/osrf/osrf_pycommon.git;protocol=git;"
 
 S = "${WORKDIR}/git"
diff --git a/recipes-ros2/packagegroups/packagegroup-ros2-world.bb b/recipes-ros2/packagegroups/packagegroup-ros2-world.bb
index 8ccef09..84f845c 100644
--- a/recipes-ros2/packagegroups/packagegroup-ros2-world.bb
+++ b/recipes-ros2/packagegroups/packagegroup-ros2-world.bb
@@ -15,4 +15,5 @@ RDEPENDS_${PN} = "\
     ros2-stereo-msgs \
     ros2-trajectory-msgs \
     ros2-visualization-msgs \
+    rosidl-generator-py \
 "
diff --git a/recipes-ros2/common-interfaces/builtin-interfaces_git.bb b/recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb
similarity index 55%
rename from recipes-ros2/common-interfaces/builtin-interfaces_git.bb
rename to recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb
index 063ef8f..285a7a6 100644
--- a/recipes-ros2/common-interfaces/builtin-interfaces_git.bb
+++ b/recipes-ros2/rcl-interfaces/builtin-interfaces_git.bb
@@ -1,4 +1,5 @@
-SUMMARY = ">A package containing builtin message and service definitions."
+SUMMARY = "The ROS client library common interfaces."
+HOMEPAGE = "https://github.com/ros2/rcl_interfaces"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
 DEPENDS = " \
@@ -12,7 +13,14 @@ DEPENDS = " \
     rmw \
     rmw-fastrtps-cpp \
     rosidl-typesupport-c \
+    rosidl-typesupport-cpp \
     python-cmake-module \
 "
 
-include common-interfaces.inc
+SRCREV = "22340f5828a8ea54675d47bef604d7c51fc9e101"
+SRC_URI = "git://github.com/ros2/rcl_interfaces.git;protocol=git;"
+
+ROS_BPN = "builtin_interfaces"
+
+inherit ament pythonpath-insane
+
diff --git a/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb b/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb
index 214858c..0deb39b 100644
--- a/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb
+++ b/recipes-ros2/rcl-interfaces/rcl-interfaces_git.bb
@@ -17,7 +17,7 @@ DEPENDS = " \
     python-cmake-module \
 "
 
-SRCREV = "53cd9455efebf9fc78a23cd7d20d9af2b57688f0"
+SRCREV = "22340f5828a8ea54675d47bef604d7c51fc9e101"
 SRC_URI = "git://github.com/ros2/rcl_interfaces.git;protocol=git;"
 
 inherit ament pythonpath-insane
diff --git a/recipes-ros2/rcl/rcl_git.bb b/recipes-ros2/rcl/rcl_git.bb
index f1a41b8..93c608f 100644
--- a/recipes-ros2/rcl/rcl_git.bb
+++ b/recipes-ros2/rcl/rcl_git.bb
@@ -8,7 +8,7 @@ DEPENDS = " \
     rmw-implementation \
 "
 
-SRCREV = "a57f66b54cb220c978140cfb3d00fde09f86751f"
+SRCREV = "b41d4e333e2b977f7c93a18009cd93a8db5e87f0"
 SRC_URI = "git://github.com/ros2/rcl.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/rclcpp/rclcpp_git.bb b/recipes-ros2/rclcpp/rclcpp_git.bb
index a024f8a..ae25aa1 100644
--- a/recipes-ros2/rclcpp/rclcpp_git.bb
+++ b/recipes-ros2/rclcpp/rclcpp_git.bb
@@ -8,7 +8,7 @@ DEPENDS = " \
     rcl \
 "
 
-SRCREV = "9dd3d4c3c5f95972ee2ede755fec8a32587a6eef"
+SRCREV = "bea1a52e24eaea0ad141a4d13dfa4606fcf190e7"
 SRC_URI = "git://github.com/ros2/rclcpp.git;protocol=git;"
 
-inherit ament
+inherit ament pythonpath-insane
diff --git a/recipes-ros2/rclpy/rclpy_git.bb b/recipes-ros2/rclpy/rclpy_git.bb
index 83c3f46..468a088 100644
--- a/recipes-ros2/rclpy/rclpy_git.bb
+++ b/recipes-ros2/rclpy/rclpy_git.bb
@@ -7,7 +7,9 @@ DEPENDS = " \
         rcl \
 "
 
-SRCREV = "6b217daf62f4be6b679d3b8a4946aaafff5dc2be"
+SRCREV = "018b9fbf1c66f1c1c488510e0caa299fb0223277"
 SRC_URI = "git://github.com/ros2/rclpy.git;protocol=git;"
 
+RDEPENDS_${PN} += "${PYTHON_PN}-multiprocessing"
+
 inherit ament
diff --git a/recipes-ros2/rcutils/rcutils_git.bb b/recipes-ros2/rcutils/rcutils_git.bb
index e81eed1..6e3d668 100644
--- a/recipes-ros2/rcutils/rcutils_git.bb
+++ b/recipes-ros2/rcutils/rcutils_git.bb
@@ -7,7 +7,7 @@ DEPENDS = " \
         python3-empy-native \
 "
 
-SRCREV = "346a02b856cf457c820e5c6bcbca674932a86058"
+SRCREV = "85043d2da60cae000ea8137ab3eaff78d2ff2d42"
 SRC_URI = "git://github.com/ros2/rcutils.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc b/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc
index 73ceb3a..b1e4ace 100644
--- a/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc
+++ b/recipes-ros2/rmw-fastrtps/rmw-fastrtps.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/rmw_fastrtps"
 
-SRCREV = "6695dcf223b5e29b6e32ecdfa8fb6006b30ed34e"
+SRCREV = "640d7de7e2af1a4281ba910d0ed6702e337ed48c"
 SRC_URI = "git://github.com/ros2/rmw_fastrtps.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/rmw-implementation/rmw-implementation_git.bb b/recipes-ros2/rmw-implementation/rmw-implementation_git.bb
index 1a0c49f..9416144 100644
--- a/recipes-ros2/rmw-implementation/rmw-implementation_git.bb
+++ b/recipes-ros2/rmw-implementation/rmw-implementation_git.bb
@@ -11,7 +11,7 @@ DEPENDS = " \
     poco \
 "
 
-SRCREV = "2c75b061917def24592ae195368689187a550984"
+SRCREV = "856611439680209e46d0f4fc4c79d62e7c29867d"
 SRC_URI = "git://github.com/ros2/rmw_implementation.git;protocol=git; \
            file://0001-get-rid-of-poco-vendor-dependency.patch;patchdir=.. \
            "
diff --git a/recipes-ros2/rmw/rmw.inc b/recipes-ros2/rmw/rmw.inc
index 060bba9..ecafe15 100644
--- a/recipes-ros2/rmw/rmw.inc
+++ b/recipes-ros2/rmw/rmw.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/rmw"
 
-SRCREV = "10ba01cbb5cf44f49bc87aff9cedf0cc29824ef1"
+SRCREV = "4c39335411910f1e8d6cb49352b44fef6052455d"
 SRC_URI = "git://github.com/ros2/rmw.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/ros2-demos/ros2-demos.inc b/recipes-ros2/ros2-demos/ros2-demos.inc
index 759acfe..5a3beff 100644
--- a/recipes-ros2/ros2-demos/ros2-demos.inc
+++ b/recipes-ros2/ros2-demos/ros2-demos.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/demos"
 
-SRCREV = "16dc63380acca31eddd7cd6518a416830fa53dec"
+SRCREV = "ac2db5662a45029c1e2205aefdb93302cadc0f43"
 SRC_URI = "git://github.com/ros2/demos.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/ros2-launch/ros2-launch_git.bb b/recipes-ros2/ros2-launch/ros2-launch_git.bb
index 7694004..baddb79 100644
--- a/recipes-ros2/ros2-launch/ros2-launch_git.bb
+++ b/recipes-ros2/ros2-launch/ros2-launch_git.bb
@@ -3,7 +3,7 @@ HOMEPAGE = "https://github.com/ros2/launch"
 LICENSE = "Apache-2.0"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
 
-SRCREV = "499097a47e6474ebd7caf7a4b7dc4ad9c6004eee"
+SRCREV = "90181d102362028eb88f225f2b3377f51dc74526"
 SRC_URI = "git://github.com/ros2/launch.git;protocol=git;"
 
 S = "${WORKDIR}/git/launch"
diff --git a/recipes-ros2/ros2cli/ros2cli.inc b/recipes-ros2/ros2cli/ros2cli.inc
index c70d3c1..1f2a967 100644
--- a/recipes-ros2/ros2cli/ros2cli.inc
+++ b/recipes-ros2/ros2cli/ros2cli.inc
@@ -1,4 +1,4 @@
 HOMEPAGE = "https://github.com/ros2/ros2cli"
 
-SRCREV = "b4037f84ac60aafb0dce0caf4416486370b3d463"
+SRCREV = "df36377ff44695b43390dccf2df5a7bffd012e61"
 SRC_URI = "git://github.com/ros2/ros2cli.git;protocol=git;"
diff --git a/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc b/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc
index d74470a..1f2301c 100644
--- a/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc
+++ b/recipes-ros2/rosidl-typesupport/rosidl-typesupport.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/rosidl_typesupport"
 
-SRCREV = "c6155e49690cfd9492cb15fe72d5c48c4c02391d"
+SRCREV = "aa94c5724d05bd264a11f2d9aa0383b2e8b87001"
 SRC_URI = "git://github.com/ros2/rosidl_typesupport.git;protocol=git;"
 
 inherit ament
diff --git a/recipes-ros2/rosidl/python-cmake-module_git.bb b/recipes-ros2/rosidl/python-cmake-module_git.bb
index ecc4b97..c60d93f 100644
--- a/recipes-ros2/rosidl/python-cmake-module_git.bb
+++ b/recipes-ros2/rosidl/python-cmake-module_git.bb
@@ -1,5 +1,5 @@
 SUMMARY = "Provide CMake module with extra functionality for Python."
 LICENSE = "Apache-2.0"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=12c26a18c7f493fdc7e8a93b16b7c04f"
 
 include rosidl.inc
diff --git a/recipes-ros2/rosidl/rosidl.inc b/recipes-ros2/rosidl/rosidl.inc
index 88aae10..5966529 100644
--- a/recipes-ros2/rosidl/rosidl.inc
+++ b/recipes-ros2/rosidl/rosidl.inc
@@ -1,6 +1,6 @@
 HOMEPAGE = "https://github.com/ros2/rosidl"
 
-SRCREV = "c4cfbae3905bdb128378b1198fb4a581afcd2889"
-SRC_URI = "git://github.com/ros2/rosidl.git;protocol=git;"
+SRCREV = "8a19b290a04b36136bcf931cb4a983ab587b4db6"
+SRC_URI = "git://github.com/ros2/rosidl.git;protocol=git;branch=ardent;"
 
 inherit ament