diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 1fe517a9..6dffbf07 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -12,7 +12,7 @@ on:
         description: "Manual trigger"
 
 env:
-  ROS_DISTRO: rolling
+  ROS_DISTRO: lyrical
   # Pinned to avoid a flaky api.github.com lookup for the latest release
   # Keep it updated with the latest version from
   # https://github.com/ros-infrastructure/ros-apt-source/releases
@@ -38,16 +38,12 @@ jobs:
       - name: Install ROS apt source
         run: |
           apt-get update && apt-get install -y ca-certificates curl
-          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
           apt-get install -y /tmp/ros2-apt-source.deb
 
       - uses: ros-tooling/setup-ros@0.7.19
         with:
-          # Rolling binaries for Ubuntu Resolute are only published to the
-          # ros2-testing repository; the main repository currently ships
-          # Lyrical only
-          # Revert once Rolling syncs to the main repository
-          use-ros2-testing: true
+          use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
 
       - name: Dependencies
@@ -96,16 +92,12 @@ jobs:
       - name: Install ROS apt source
         run: |
           apt-get update && apt-get install -y ca-certificates curl
-          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
           apt-get install -y /tmp/ros2-apt-source.deb
 
       - uses: ros-tooling/setup-ros@0.7.19
         with:
-          # Rolling binaries for Ubuntu Resolute are only published to the
-          # ros2-testing repository; the main repository currently ships
-          # Lyrical only
-          # Revert once Rolling syncs to the main repository
-          use-ros2-testing: true
+          use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
 
       - name: dependencies
@@ -257,16 +249,12 @@ jobs:
       - name: Install ROS apt source
         run: |
           apt-get update && apt-get install -y ca-certificates curl
-          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-testing-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
+          curl -fL -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.resolute_all.deb
           apt-get install -y /tmp/ros2-apt-source.deb
 
       - uses: ros-tooling/setup-ros@0.7.19
         with:
-          # Rolling binaries for Ubuntu Resolute are only published to the
-          # ros2-testing repository; the main repository currently ships
-          # Lyrical only
-          # Revert once Rolling syncs to the main repository
-          use-ros2-testing: true
+          use-ros2-testing: false
           required-ros-distributions: ${{ env.ROS_DISTRO }}
 
       - name: Dependencies
diff --git a/config/agent_uros_packages.repos b/config/agent_uros_packages.repos
index dc132d91..dca42a7e 100644
--- a/config/agent_uros_packages.repos
+++ b/config/agent_uros_packages.repos
@@ -2,11 +2,11 @@ repositories:
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: lyrical
   uros/micro-ROS-Agent:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-Agent.git
-    version: rolling
+    version: lyrical
   uros/drive_base:
     type: git
     url: https://github.com/micro-ROS/drive_base.git
diff --git a/config/android/generic/client_uros_packages.repos b/config/android/generic/client_uros_packages.repos
index 6b087bd6..85548103 100644
--- a/config/android/generic/client_uros_packages.repos
+++ b/config/android/generic/client_uros_packages.repos
@@ -2,46 +2,47 @@ repositories:
   eProsima/Micro-CDR:
     type: git
     url: https://github.com/eProsima/Micro-CDR.git
-    version: ros2
+    version: v2.0.2
   eProsima/Micro-XRCE-DDS-Client:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
-    version: ros2
+    version: v3.0.2
 
 # MicroROS
   uros/rcl:
     type: git
     url: https://github.com/micro-ROS/rcl
-    version: rolling
+    version: lyrical
+  # TEMPORARY: switch back to ros2/rclc once it has a lyrical branch
   uros/rclc:
     type: git
-    url: https://github.com/ros2/rclc
-    version: rolling
+    url: https://github.com/eProsima/rclc
+    version: lyrical
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: lyrical
   uros/rcutils:
     type: git
     url: https://github.com/micro-ROS/rcutils
-    version: rolling
+    version: lyrical
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: lyrical
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: lyrical
   uros/rosidl_typesupport:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport.git
-    version: rolling
+    version: lyrical
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: lyrical
   uros/micro-ROS-demos:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-demos.git
-    version: rolling
+    version: lyrical
diff --git a/config/client_uros_packages.repos b/config/client_uros_packages.repos
index e621d4da..e2207b64 100644
--- a/config/client_uros_packages.repos
+++ b/config/client_uros_packages.repos
@@ -2,42 +2,43 @@ repositories:
   eProsima/Micro-CDR:
     type: git
     url: https://github.com/eProsima/Micro-CDR.git
-    version: ros2
+    version: v2.0.2
   eProsima/Micro-XRCE-DDS-Client:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
-    version: ros2
+    version: v3.0.2
 
 # MicroROS
   uros/rcl:
     type: git
     url: https://github.com/micro-ROS/rcl
-    version: rolling
+    version: lyrical
+  # TEMPORARY: switch back to ros2/rclc once it has a lyrical branch
   uros/rclc:
     type: git
-    url: https://github.com/ros2/rclc
-    version: rolling
+    url: https://github.com/eProsima/rclc
+    version: lyrical
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: lyrical
   uros/rcutils:
     type: git
     url: https://github.com/micro-ROS/rcutils
-    version: rolling
+    version: lyrical
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: lyrical
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: lyrical
   uros/rosidl_typesupport:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport.git
-    version: rolling
+    version: lyrical
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: lyrical
diff --git a/config/freertos/crazyflie21/board.repos b/config/freertos/crazyflie21/board.repos
index 6eea2d2f..60a2562a 100644
--- a/config/freertos/crazyflie21/board.repos
+++ b/config/freertos/crazyflie21/board.repos
@@ -7,5 +7,5 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: lyrical
 
diff --git a/config/freertos/esp32/board.repos b/config/freertos/esp32/board.repos
index e37e8a41..187bfd38 100644
--- a/config/freertos/esp32/board.repos
+++ b/config/freertos/esp32/board.repos
@@ -2,7 +2,7 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: lyrical
 
 
 
diff --git a/config/freertos/nucleo_f446re/board.repos b/config/freertos/nucleo_f446re/board.repos
index 8dafe74e..360d4e80 100644
--- a/config/freertos/nucleo_f446re/board.repos
+++ b/config/freertos/nucleo_f446re/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: lyrical
diff --git a/config/freertos/nucleo_f446ze/board.repos b/config/freertos/nucleo_f446ze/board.repos
index 8dafe74e..360d4e80 100644
--- a/config/freertos/nucleo_f446ze/board.repos
+++ b/config/freertos/nucleo_f446ze/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: lyrical
diff --git a/config/freertos/nucleo_f746zg/board.repos b/config/freertos/nucleo_f746zg/board.repos
index 8dafe74e..360d4e80 100644
--- a/config/freertos/nucleo_f746zg/board.repos
+++ b/config/freertos/nucleo_f746zg/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: lyrical
diff --git a/config/freertos/nucleo_f767zi/board.repos b/config/freertos/nucleo_f767zi/board.repos
index 8dafe74e..360d4e80 100644
--- a/config/freertos/nucleo_f767zi/board.repos
+++ b/config/freertos/nucleo_f767zi/board.repos
@@ -2,4 +2,4 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ros/freertos_apps
-    version: rolling
+    version: lyrical
diff --git a/config/freertos/olimex-stm32-e407/board.repos b/config/freertos/olimex-stm32-e407/board.repos
index e37e8a41..187bfd38 100644
--- a/config/freertos/olimex-stm32-e407/board.repos
+++ b/config/freertos/olimex-stm32-e407/board.repos
@@ -2,7 +2,7 @@ repositories:
   freertos_apps:
     type: git
     url: https://github.com/micro-ROS/freertos_apps
-    version: rolling
+    version: lyrical
 
 
 
diff --git a/config/host/generic/client_host_packages.repos b/config/host/generic/client_host_packages.repos
index f9d261aa..91ad6ec5 100644
--- a/config/host/generic/client_host_packages.repos
+++ b/config/host/generic/client_host_packages.repos
@@ -2,62 +2,63 @@ repositories:
   eProsima/Micro-CDR:
     type: git
     url: https://github.com/eProsima/Micro-CDR.git
-    version: ros2
+    version: v2.0.2
   eProsima/Micro-XRCE-DDS-Client:
     type: git
     url: https://github.com/eProsima/Micro-XRCE-DDS-Client.git
-    version: ros2
+    version: v3.0.2
 
 # MicroROS
 
+  # TEMPORARY: switch back to ros2/rclc once it has a lyrical branch
   uros/rclc:
     type: git
-    url: https://github.com/ros2/rclc.git
-    version: rolling
+    url: https://github.com/eProsima/rclc.git
+    version: lyrical
   uros/micro_ros_msgs:
     type: git
     url: https://github.com/micro-ROS/micro_ros_msgs.git
-    version: rolling
+    version: lyrical
   uros/rmw_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rmw-microxrcedds.git
-    version: rolling
+    version: lyrical
   uros/rosidl_typesupport_microxrcedds:
     type: git
     url: https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git
-    version: rolling
+    version: lyrical
   uros/micro-ROS-demos:
     type: git
     url: https://github.com/micro-ROS/micro-ROS-demos.git
-    version: rolling
+    version: lyrical
   uros/micro_ros_utilities:
     type: git
     url: https://github.com/micro-ROS/micro_ros_utilities
-    version: rolling
+    version: lyrical
 
 # Required messages packages
 
   ros2/common_interfaces:
     type: git
     url: https://github.com/ros2/common_interfaces
-    version: rolling
+    version: lyrical
 
   ros2/example_interfaces:
     type: git
     url: https://github.com/ros2/example_interfaces
-    version: rolling
+    version: lyrical
 
   ros2/rcl_interfaces:
     type: git
     url: https://github.com/ros2/rcl_interfaces
-    version: rolling
+    version: lyrical
 
   ros2/unique_identifier_msgs:
     type: git
     url: https://github.com/ros2/unique_identifier_msgs
-    version: rolling
+    version: lyrical
 
   ros2/test_interface_files:
     type: git
     url: https://github.com/ros2/test_interface_files
-    version: rolling
+    version: lyrical
diff --git a/config/raspbian/generic/configure.sh b/config/raspbian/generic/configure.sh
index f6f2199e..46affe06 100755
--- a/config/raspbian/generic/configure.sh
+++ b/config/raspbian/generic/configure.sh
@@ -4,7 +4,7 @@ pushd $FW_TARGETDIR >/dev/null
     rm -rf mcu_ws/*
     cp raspbian_apps/toolchain.cmake mcu_ws/
     # ROS_DISTRO SPECIFIC
-    curl -s https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos |\
+    curl -s https://raw.githubusercontent.com/ros2/ros2/lyrical/ros2.repos |\
         ros2 run micro_ros_setup yaml_filter.py raspbian_apps/$CONFIG_NAME/ros2_repos.filter > ros2.repos
     vcs import --input ros2.repos mcu_ws/ && rm ros2.repos
 
diff --git a/config/raspbian/generic/create.sh b/config/raspbian/generic/create.sh
index 6ce11cc1..7ce95873 100755
--- a/config/raspbian/generic/create.sh
+++ b/config/raspbian/generic/create.sh
@@ -18,5 +18,5 @@ pushd $FW_TARGETDIR/$DEV_WS_DIR >/dev/null
 popd >/dev/null
 
 pushd $FW_TARGETDIR >/dev/null
-    git clone -b rolling https://github.com/micro-ROS/raspbian_apps.git
+    git clone -b lyrical https://github.com/micro-ROS/raspbian_apps.git
 popd >/dev/null
\ No newline at end of file
diff --git a/config/zephyr/generic/board.repos b/config/zephyr/generic/board.repos
index 9e7932ab..12822b97 100644
--- a/config/zephyr/generic/board.repos
+++ b/config/zephyr/generic/board.repos
@@ -2,4 +2,4 @@ repositories:
   zephyr_apps:
     type: git
     url: https://github.com/micro-ROS/zephyr_apps
-    version: rolling
+    version: lyrical
diff --git a/scripts/create_ws.sh b/scripts/create_ws.sh
index 8ca675d8..cb455bfc 100755
--- a/scripts/create_ws.sh
+++ b/scripts/create_ws.sh
@@ -40,7 +40,7 @@ then
 fi
 
 # ROS_DISTRO SPECIFIC
-curl -s https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos |\
+curl -s https://raw.githubusercontent.com/ros2/ros2/lyrical/ros2.repos |\
     ros2 run micro_ros_setup yaml_filter.py ${PACKAGES} > ros2.repos
 vcs import --input ros2.repos --skip-existing
 vcs import --input $REPOS --skip-existing