diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 553cdf3..f00d44f 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,4 +1,4 @@
-ARG ROS_DISTRO=rolling
+ARG ROS_DISTRO=jazzy
 FROM ros:$ROS_DISTRO-ros-base
 
 ENV DEBIAN_FRONTEND=noninteractive
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e37de40..2812311 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -19,7 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - ROS_DISTRO: rolling
+          - ROS_DISTRO: jazzy
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
index 66f73a7..50fb883 100644
--- a/.vscode/c_cpp_properties.json
+++ b/.vscode/c_cpp_properties.json
@@ -4,7 +4,7 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/rolling/include/**",
+        "/opt/ros/jazzy/include/**",
         "/usr/include/eigen3/**",
         "/home/${USER}/ws_ros/install/**"
       ],
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 57a6675..5dd0c3d 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -23,16 +23,16 @@
   "autoDocstring.startOnNewLine": false,
   "autoDocstring.docstringFormat": "google-notypes",
   "python.autoComplete.extraPaths": [
-    "/opt/ros/rolling/lib/python3.12/site-packages/",
-    "/opt/ros/rolling/local/lib/python3.12/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.12/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.12/dist-packages/",
     "${workspaceFolder}/install/"
   ],
   "python.analysis.extraPaths": [
-    "/opt/ros/rolling/lib/python3.12/site-packages/",
-    "/opt/ros/rolling/local/lib/python3.12/dist-packages/",
+    "/opt/ros/jazzy/lib/python3.12/site-packages/",
+    "/opt/ros/jazzy/local/lib/python3.12/dist-packages/",
     "${workspaceFolder}/install/"
   ],
-  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/waterlinked_dvl/bin/python",
+  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/auv_controllers/bin/python",
   "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
   "C_Cpp.clang_format_fallbackStyle": "Google",
   "C_Cpp.codeAnalysis.clangTidy.enabled": true,
diff --git a/README.md b/README.md
index 11b0095..5137acd 100644
--- a/README.md
+++ b/README.md
@@ -12,8 +12,8 @@ benchmarking against other commonly-used control algorithms.
 ## Installation
 
 auv_controllers is currently supported on Linux and is available for the ROS 2
-Iron distribution. To install auv_controllers, first clone this project to the
-`src` directory of your ROS workspace:
+Rolling, Jazzy, Iron and Humble distributions. To install auv_controllers,
+first clone this project to the `src` directory of your ROS workspace:
 
 ```bash
 git clone git@github.com:Robotic-Decision-Making-Lab/auv_controllers.git