diff --git a/built_packages b/built_packages
index 4833b789..4d52f80b 100755
--- a/built_packages
+++ b/built_packages
@@ -9,7 +9,7 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git b935f634ba4afc91b56afd71ce3adf71179f90a5
 https://github.com/micro-ROS/micro_ros_utilities 7764fb371a6c68dc56fffef9ce9005344f34ce85
-https://github.com/micro-ROS/rcl 8037e4a276970ac06fc133f3b572a0d3f8dff322
+https://github.com/micro-ROS/rcl e629807e9a1eead75e042d0c71d63c0cdea81bca
 https://github.com/micro-ROS/rcutils 93c7505d6b64f920fc6cb7bdd9fd51b66656f1e8
 https://github.com/micro-ROS/rmw-microxrcedds.git b6e02669d42fd5aeddc1e5b71bac65afd76cddf7
 https://github.com/micro-ROS/rosidl_typesupport.git 16c7df67d3b5aa5615332ef702a5da156d6b95cc
@@ -21,13 +21,13 @@ https://github.com/ros2/example_interfaces.git e4f46c5762e433a72b2496bb23b0375ec
 https://github.com/ros2/libyaml_vendor.git c69b99721471d47f88042b44e510cfefafb385b9
 https://github.com/ros2/rcl.git 4af269ffd487bb24c99aae6246296f3b9376f13c
 https://github.com/ros2/rcl_interfaces.git 1bd7d0b36c79e9e6db6980301f3732fff51ddc50
-https://github.com/ros2/rcl_logging.git 2632df5bd77e2414169b5e2d61e6322cb363119b
+https://github.com/ros2/rcl_logging.git 06814b3a5730d4cdd6db66e529c227febbc1638d
 https://github.com/ros2/rclc 74acd42f850d8b2ebc647ae1c326d871fdddf1b3
 https://github.com/ros2/rcpputils.git 37a8801c18632d7d725ff1659248e8b12a7f2089
-https://github.com/ros2/rmw.git e6addf2411b8ee8a2ac43d691533b8c05ae8f1b6
+https://github.com/ros2/rmw.git db761272b97dff7ffced709dc2b33236af0aabbd
 https://github.com/ros2/rmw_implementation.git f2989ebe617679effe9c0e032415821435532c65
-https://github.com/ros2/ros2_tracing.git d373a61c90a3ad3a4a833e46679bb736d4952746
-https://github.com/ros2/rosidl.git eedfa01db9c8039432a6ce58bb89427006a2ea0b
+https://github.com/ros2/ros2_tracing.git 9a6a75ea4bef3fe5094123ce6d3e5990706629aa
+https://github.com/ros2/rosidl.git 409437194a5c0b6a9aff9b62015342746803b5aa
 https://github.com/ros2/rosidl_core.git c3fd5020611374d6ab2f7e9a540ecf86f3c1615e
 https://github.com/ros2/rosidl_dds.git 772632eb729ab48f368a0862659224be80caf56b
 https://github.com/ros2/rosidl_defaults.git 1c730458cbee50e2941f67e441e0fd5a3d3c7e6b
diff --git a/src/rcl_action/version.h b/src/rcl_action/version.h
index f83bc838..078de46b 100755
--- a/src/rcl_action/version.h
+++ b/src/rcl_action/version.h
@@ -25,11 +25,11 @@
 
 /// \def RCL_ACTION_VERSION_PATCH
 /// Defines RCL_ACTION version patch number
-#define RCL_ACTION_VERSION_PATCH (2)
+#define RCL_ACTION_VERSION_PATCH (3)
 
 /// \def RCL_ACTION_VERSION_STR
 /// Defines RCL_ACTION version string
-#define RCL_ACTION_VERSION_STR "10.2.2"
+#define RCL_ACTION_VERSION_STR "10.2.3"
 
 /// \def RCL_ACTION_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_ACTION is greater than or equal to
diff --git a/src/rcl_lifecycle/version.h b/src/rcl_lifecycle/version.h
index 1330688b..091b61fd 100755
--- a/src/rcl_lifecycle/version.h
+++ b/src/rcl_lifecycle/version.h
@@ -25,11 +25,11 @@
 
 /// \def RCL_LIFECYCLE_VERSION_PATCH
 /// Defines RCL_LIFECYCLE version patch number
-#define RCL_LIFECYCLE_VERSION_PATCH (2)
+#define RCL_LIFECYCLE_VERSION_PATCH (3)
 
 /// \def RCL_LIFECYCLE_VERSION_STR
 /// Defines RCL_LIFECYCLE version string
-#define RCL_LIFECYCLE_VERSION_STR "10.2.2"
+#define RCL_LIFECYCLE_VERSION_STR "10.2.3"
 
 /// \def RCL_LIFECYCLE_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_LIFECYCLE is greater than or equal to
diff --git a/src/rmw/rmw.h b/src/rmw/rmw.h
index c6fea475..35dc2103 100755
--- a/src/rmw/rmw.h
+++ b/src/rmw/rmw.h
@@ -3223,7 +3223,7 @@ rmw_set_log_severity(rmw_log_severity_t severity);
  * \param[in] user_data Given to the callback when called later, may be NULL
  * \return `RMW_RET_OK` if successful, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `subscription` is NULL, or
- * \return `RMW_RET_UNSUPPORTED` if the API is not implemented in the dds implementation
+ * \return `RMW_RET_UNSUPPORTED` if the API is not supported by the middleware
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
@@ -3258,7 +3258,7 @@ rmw_subscription_set_on_new_message_callback(
  * \param[in] user_data Given to the callback when called later, may be NULL
  * \return `RMW_RET_OK` if callback was set to the listener, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `service` is NULL, or
- * \return `RMW_RET_UNSUPPORTED` if the API is not implemented in the dds implementation
+ * \return `RMW_RET_UNSUPPORTED` if the API is not supported by the middleware
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
@@ -3293,7 +3293,7 @@ rmw_service_set_on_new_request_callback(
  * \param[in] user_data Given to the callback when called later, may be NULL
  * \return `RMW_RET_OK` if callback was set to the listener, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `client` is NULL, or
- * \return `RMW_RET_UNSUPPORTED` if the API is not implemented in the dds implementation
+ * \return `RMW_RET_UNSUPPORTED` if the API is not supported by the middleware
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
@@ -3332,7 +3332,7 @@ rmw_client_set_on_new_response_callback(
  * \param[in] user_data Given to the callback when called later, may be NULL
  * \return `RMW_RET_OK` if callback was set to the listener, or
  * \return `RMW_RET_INVALID_ARGUMENT` if `event` is NULL, or
- * \return `RMW_RET_UNSUPPORTED` if the API is not implemented in the dds implementation
+ * \return `RMW_RET_UNSUPPORTED` if the API is not supported by the middleware
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED