diff --git a/built_packages b/built_packages
index c5731015..b1237558 100755
--- a/built_packages
+++ b/built_packages
@@ -1,36 +1,36 @@
 
-https://github.com/ament/ament_cmake.git ed4a0a5c2ea3f978d327b92dd60bfaa4e1278d4f
-https://github.com/ament/ament_index.git 01d28972cdbd4d46de8e327e44409289dac52757
-https://github.com/ament/ament_lint.git 2bee9151aba25b94020241c00f468f12944ab265
-https://github.com/ament/ament_package.git 9b09d9471f8bf77d5c847a6cd973da79d18d2e11
-https://github.com/ament/googletest.git 699989e5432bf26942f87232491cf50d43c650b7
-https://github.com/ament/uncrustify_vendor.git 3576a545202e1a7cd5f2002326bee97b01d8bd9b
+https://github.com/ament/ament_cmake.git dda629b5d637d5543f8c2c4e53ced61d6ee10f8e
+https://github.com/ament/ament_index.git f3b6ddc6698cff22b8724136188df5d9912ced78
+https://github.com/ament/ament_lint.git 3e794bcfd2740bd6875ddc0abc7d54ee2ea62f55
+https://github.com/ament/ament_package.git 797ecde6090689ebe0d84b6620f7bf4c972a8232
+https://github.com/ament/googletest.git bee0ad5f9bc5796fe1cb34484cb0adc13ec7c032
+https://github.com/ament/uncrustify_vendor.git a2a8e43c8bdd70f1005443f89f2e2c531cb493ab
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git 4f1dbf42db9e35b22525e3d408730a450eeb4eea
 https://github.com/micro-ROS/micro_ros_utilities a593e18e745c7fc01499e07b9cf3fb9af1ab459f
-https://github.com/micro-ROS/rcl 1e98be9528d2ace50402a7babe460d84c59d1c16
-https://github.com/micro-ROS/rcutils 686a4506c6cfe02656c615ea6bc9291d01828327
+https://github.com/micro-ROS/rcl d9ea50ffcbf7ff274cf513c748716fa4325ce75d
+https://github.com/micro-ROS/rcutils 0b7e02299ad8d739fe01ebc0b1f141cb93dd517b
 https://github.com/micro-ROS/rmw-microxrcedds.git 5eca48fef695db88473763352560b1be676139d0
-https://github.com/micro-ROS/rosidl_typesupport.git a73f70e0a6a332aba6da11080b5119168de0e87a
+https://github.com/micro-ROS/rosidl_typesupport.git 16c7df67d3b5aa5615332ef702a5da156d6b95cc
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git cbd7719e07d5ca94077784accf95eac9ad535b56
 https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e87386cf60
-https://github.com/ros2/ament_cmake_ros.git 51a4f46f847eeb1cf543f26ab6fa86760e323f64
-https://github.com/ros2/common_interfaces.git f10f180c231de6ff3edb64d931ec5a1f9a58b291
-https://github.com/ros2/example_interfaces.git ee55034cee92f708c5dfbdc5239e501cc647addb
-https://github.com/ros2/libyaml_vendor.git 855754620fd05bdc7601d464958522b395435f3c
-https://github.com/ros2/rcl.git cc72fc1769ce9e6557c0f01efde982b3212e77b0
-https://github.com/ros2/rcl_interfaces.git dcc6c0c6d5d3e10f710e75e0fa26dce99fd43087
-https://github.com/ros2/rcl_logging.git 2d5deed307163d15f9ef2379ee2facd86a643969
+https://github.com/ros2/ament_cmake_ros.git 1fa14ddd69dc1eb4b164d4ed5622442dcc118059
+https://github.com/ros2/common_interfaces.git 3631ac99a5d52898f8ee9600fe517656ec8ce72f
+https://github.com/ros2/example_interfaces.git 7b6e46844f6a894433bb113dfffb953eee7f4cde
+https://github.com/ros2/libyaml_vendor.git c69b99721471d47f88042b44e510cfefafb385b9
+https://github.com/ros2/rcl.git d290ab955ceb57fae6c76f96bdb5b649a5e3f4bd
+https://github.com/ros2/rcl_interfaces.git 04780fc64a3616b45a21bc9d5880c7d0fff2b456
+https://github.com/ros2/rcl_logging.git 2632df5bd77e2414169b5e2d61e6322cb363119b
 https://github.com/ros2/rclc 6f0a9edb3cf30df0368d3abbad2fa66149e5cc65
-https://github.com/ros2/rcpputils.git c07f417a12a3690350631979c73998007037dc4d
-https://github.com/ros2/rmw.git 5895498339ef05c300d2a683707999a962737471
-https://github.com/ros2/rmw_implementation.git a96fe869ed79e2f85e7d5db01e619029dbcf3989
-https://github.com/ros2/ros2_tracing.git 14f7434e368f6d988524c5548cc0bae2e3229cbd
-https://github.com/ros2/rosidl.git dfdff27ea6231a39333c64a796c15fd3b7c4f839
-https://github.com/ros2/rosidl_core.git 6c0ea14b7318e98365f4686d7fc347ae220aeba2
-https://github.com/ros2/rosidl_dds.git ec8143d44004909acd5e646d0884d9e221dca1b8
-https://github.com/ros2/rosidl_defaults.git 7b78d1c4ce25c52dc480648577436d0cff844db9
-https://github.com/ros2/rosidl_dynamic_typesupport.git 8137e76a962155693c82923d029824edb55800e6
-https://github.com/ros2/test_interface_files.git 25d4b699e4bcd28ab4d900dd73540ea341b8c508
-https://github.com/ros2/unique_identifier_msgs.git 2640ac258049686f27bb3f1d43ce558e942ae8e8
+https://github.com/ros2/rcpputils.git f5f89a1e85804cb1ca1d041b12cf2ae1fe0ba743
+https://github.com/ros2/rmw.git e6addf2411b8ee8a2ac43d691533b8c05ae8f1b6
+https://github.com/ros2/rmw_implementation.git dec342c43171bbfb10e1928b35d58433d2304d4d
+https://github.com/ros2/ros2_tracing.git c6c26ae191e577cd5545d0d04eb7bd2812b4ba43
+https://github.com/ros2/rosidl.git b3d84469b7a82ba63cf7ce3f708ba2db6b9d7607
+https://github.com/ros2/rosidl_core.git c3fd5020611374d6ab2f7e9a540ecf86f3c1615e
+https://github.com/ros2/rosidl_dds.git 772632eb729ab48f368a0862659224be80caf56b
+https://github.com/ros2/rosidl_defaults.git b2053ea2082bba468e6fcb6cd1bec0bd02e8940a
+https://github.com/ros2/rosidl_dynamic_typesupport.git 7f3466266dd11baf29d3b2d82ee22c93104d7675
+https://github.com/ros2/test_interface_files.git 2ded897120a72f55e96f703eecc9ab3bdca789c3
+https://github.com/ros2/unique_identifier_msgs.git f01aded52fb6e2959d9ff668cb1028a19772facf
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index 2ce151fa..92098999 100755
Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index dec006e8..14415124 100755
Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index 47ca64b4..c9353fee 100755
Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index e654f165..a0cdabb9 100755
Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 63f09936..bf830f00 100755
Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 2a6ef226..4bfed459 100755
Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index 1c854fa8..611ac198 100755
Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index 77aaef66..70c1036d 100755
Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index f1a7886d..7b3dfa4f 100755
Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 84c2c3ac..be5ba163 100755
Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 84c2c3ac..be5ba163 100755
Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/rcl/logging_rosout.h b/src/rcl/logging_rosout.h
index 26cd5142..4503676e 100755
--- a/src/rcl/logging_rosout.h
+++ b/src/rcl/logging_rosout.h
@@ -31,26 +31,6 @@ extern "C"
 {
 #endif
 
-/// The default qos profile setting for topic /rosout
-/**
- * - depth = 1000
- * - durability = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL
- * - lifespan = {10, 0}
- */
-RCUTILS_DEPRECATED_WITH_MSG("use rmw_qos_profile_rosout_default instead")
-static const rmw_qos_profile_t rcl_qos_profile_rosout_default =
-{
-  RMW_QOS_POLICY_HISTORY_KEEP_LAST,
-  1000,
-  RMW_QOS_POLICY_RELIABILITY_RELIABLE,
-  RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-  RMW_QOS_DEADLINE_DEFAULT,
-  {10, 0},
-  RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
-  RMW_QOS_LIVELINESS_LEASE_DURATION_DEFAULT,
-  false
-};
-
 /// Initializes the rcl_logging_rosout features
 /**
  * Calling this will initialize the rcl_logging_rosout features. This function must be called
diff --git a/src/rcl/node_options.h b/src/rcl/node_options.h
index a3eae90a..6b6bda49 100755
--- a/src/rcl/node_options.h
+++ b/src/rcl/node_options.h
@@ -69,7 +69,7 @@ typedef struct rcl_node_options_s
  * - use_global_arguments = true
  * - enable_rosout = true
  * - arguments = rcl_get_zero_initialized_arguments()
- * - rosout_qos = rcl_qos_profile_rosout_default
+ * - rosout_qos = rmw_qos_profile_rosout_default
  *
  * \return A structure with the default node options.
  */
diff --git a/src/rcl_action/version.h b/src/rcl_action/version.h
index ceaee9d8..0f752368 100755
--- a/src/rcl_action/version.h
+++ b/src/rcl_action/version.h
@@ -21,7 +21,7 @@
 
 /// \def RCL_ACTION_VERSION_MINOR
 /// Defines RCL_ACTION minor version number
-#define RCL_ACTION_VERSION_MINOR (1)
+#define RCL_ACTION_VERSION_MINOR (2)
 
 /// \def RCL_ACTION_VERSION_PATCH
 /// Defines RCL_ACTION version patch number
@@ -29,7 +29,7 @@
 
 /// \def RCL_ACTION_VERSION_STR
 /// Defines RCL_ACTION version string
-#define RCL_ACTION_VERSION_STR "10.1.0"
+#define RCL_ACTION_VERSION_STR "10.2.0"
 
 /// \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/rcl_lifecycle.h b/src/rcl_lifecycle/rcl_lifecycle.h
index 7f171b1c..49febd9a 100755
--- a/src/rcl_lifecycle/rcl_lifecycle.h
+++ b/src/rcl_lifecycle/rcl_lifecycle.h
@@ -351,6 +351,30 @@ rcl_lifecycle_get_transition_by_label(
   const rcl_lifecycle_state_t * state,
   const char * label);
 
+/// Get a label by id.
+/**
+ * A string label is returned based on the `id`.
+ * If the `id` is not set in the transition map then returns NULL.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] transition_map pointer to the transition map
+ * \param[in] transition_id id to be find in the transitions map
+ * \return a string pointer to the label exists in the transitino map or otherwise it return NULL
+ */
+RCL_LIFECYCLE_PUBLIC
+RCL_WARN_UNUSED
+const char *
+rcl_lifecycle_get_transition_label_by_id(
+  const rcl_lifecycle_transition_map_t * transition_map,
+  uint8_t transition_id);
+
 /// Trigger a state by id.
 /**
  * This function will trigger a transition based on the `id`. If the argument
diff --git a/src/rcl_lifecycle/version.h b/src/rcl_lifecycle/version.h
index 8be2e895..46e0d6f7 100755
--- a/src/rcl_lifecycle/version.h
+++ b/src/rcl_lifecycle/version.h
@@ -21,7 +21,7 @@
 
 /// \def RCL_LIFECYCLE_VERSION_MINOR
 /// Defines RCL_LIFECYCLE minor version number
-#define RCL_LIFECYCLE_VERSION_MINOR (1)
+#define RCL_LIFECYCLE_VERSION_MINOR (2)
 
 /// \def RCL_LIFECYCLE_VERSION_PATCH
 /// Defines RCL_LIFECYCLE version patch number
@@ -29,7 +29,7 @@
 
 /// \def RCL_LIFECYCLE_VERSION_STR
 /// Defines RCL_LIFECYCLE version string
-#define RCL_LIFECYCLE_VERSION_STR "10.1.0"
+#define RCL_LIFECYCLE_VERSION_STR "10.2.0"
 
 /// \def RCL_LIFECYCLE_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_LIFECYCLE is greater than or equal to