diff --git a/.clang-format b/.clang-format
index 28dedb8..9a6ec50 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,64 +1,75 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
 PenaltyBreakString: 100
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 70
+PenaltyReturnTypeOnItsOwnLine: 50
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping:
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 09c9de8..d7a89eb 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -3,7 +3,12 @@
 
 name: CI
 
-on: [push, pull_request]
+on:
+  workflow_dispatch:
+  pull_request:
+  push:
+    branches:
+      - ros2
 
 jobs:
   default:
@@ -11,53 +16,34 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: melodic
-            CCOV: true
-            CATKIN_LINT: true
-            UPSTREAM_WORKSPACE: github:PickNikRobotics/rviz_visual_tools#master
-          - IMAGE: noetic
-            CATKIN_LINT: true
+          - ROS_DISTRO: rolling
+            ROS_REPO: main
+          - ROS_DISTRO: rolling
+            ROS_REPO: testing
+          - ROS_DISTRO: humble
+            ROS_REPO: main
+          - ROS_DISTRO: humble
+            ROS_REPO: testing
     env:
-      DOCKER_IMAGE: 'moveit/moveit:${{ matrix.env.IMAGE }}-release'
-      AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }}
-      TARGET_CMAKE_ARGS: >
-        -DCMAKE_BUILD_TYPE=${{ matrix.env.CCOV && 'RelWithDebInfo' || 'Release'}}
-        ${{ matrix.env.CCOV && '-DCMAKE_CXX_FLAGS="--coverage" --no-warn-unused-cli' || '' }}
-      CCACHE_DIR: "${{ github.workspace }}/.ccache"
       BASEDIR: ${{ github.workspace }}/.work
-      CACHE_PREFIX: "${{ matrix.env.IMAGE }}${{ matrix.env.CCOV && '-ccov' || '' }}"
-      CLANG_TIDY_BASE_REF: "${{ github.base_ref || github.ref }}"
+      CCACHE_DIR: ~/.ccache
 
-    name: "${{ matrix.env.IMAGE }}${{ matrix.env.CATKIN_LINT && ' + catkin_lint' || ''}}${{ matrix.env.CCOV && ' + ccov' || ''}}${{ matrix.env.IKFAST_TEST && ' + ikfast' || ''}}${{ matrix.env.CLANG_TIDY && ' + clang-tidy' || '' }}"
+    name: ${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
-      - name: cache upstream_ws
-        uses: pat-s/always-upload-cache@v2.1.3
-        with:
-          path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}-${{ github.run_id }}
-          restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('upstream.rosinstall') }}
-      - name: cache ccache
-        uses: actions/cache@v2
+      - uses: actions/cache@v2
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}-${{ github.sha }}  
           restore-keys: |
-            ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
-            ccache-${{ env.CACHE_PREFIX }}
-      - name: industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
+            ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
+      - id: industrial_ci
+        uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
       - name: upload test artifacts (on failure)
         uses: actions/upload-artifact@v2
-        if: failure()
+        if: steps.industrial_ci.outcome != 'success'
         with:
-          name: test-results
+          name: test-results-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO}}
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
-      - name: upload codecov report
-        uses: codecov/codecov-action@v1
-        if: ${{ matrix.env.CCOV }}
-        with:
-          files: ${{ env.BASEDIR }}/coverage.info
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index b3770ce..0416689 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -1,31 +1,23 @@
+
 # This is a format job. Pre-commit has a first-party GitHub action, so we use
 # that: https://github.com/pre-commit/action
 
-name: Format
+name: Formatting (pre-commit)
 
 on:
   workflow_dispatch:
   pull_request:
   push:
+    branches:
+      - ros2
 
 jobs:
   pre-commit:
-    name: pre-commit
+    name: Format
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      - uses: actions/setup-python@v2
-      - name: Install clang-format-10
-        run: sudo apt-get install clang-format-10
-      - name: Install catkin-lint
-        run: |
-          lsb_release -sc
-          sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
-          sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-          sudo apt-get -q update
-          sudo apt-get -q install python3-rosdep
-          sudo rosdep init
-          rosdep update
-          sudo apt-get -q install catkin-lint
-          export ROS_DISTRO=noetic
-      - uses: pre-commit/action@v2.0.0
+    - uses: actions/checkout@v2
+    - uses: actions/setup-python@v2
+    - name: Install clang-format-10
+      run: sudo apt-get install clang-format-10
+    - uses: pre-commit/action@v2.0.0
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index abe766e..4f71fbf 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -26,10 +26,9 @@ repos:
       - id: debug-statements
       - id: end-of-file-fixer
       - id: mixed-line-ending
-      - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 22.3.0
     hooks:
       - id: black
 
@@ -42,20 +41,3 @@ repos:
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']
-
-  - repo: local
-    hooks:
-      - id: misspelled-moveit
-        name: misspelled-moveit
-        description: MoveIt should be spelled exactly as MoveIt
-        language: pygrep
-        entry: Moveit|MoveIt!
-        exclude: .pre-commit-config.yaml|README.md
-
-      - id: catkin_lint
-        name: catkin_lint
-        description: Check package.xml and cmake files
-        entry: catkin_lint .
-        language: system
-        always_run: true
-        pass_filenames: false
diff --git a/README.md b/README.md
index 5c2b74c..dc013ab 100644
--- a/README.md
+++ b/README.md
@@ -17,6 +17,7 @@ repository. For background, see this [Github discussion](https://github.com/ros-
 
 ## GitHub Actions - Continuous Integration
 
-[![Format](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yaml?branch=master)
-[![BuildAndTest](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml/badge.svg?branch=master)](https://github.com/ros-planning/moveit_calibration/actions/workflows/ci.yaml?branch=master)
+GitHub Actions: 
+[![Formatting (pre-commit))](https://github.com/ros-planning/moveit_resources/actions/workflows/format.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/format.yml?query=branch%3Aros2) 
+[![Build and Test](https://github.com/ros-planning/moveit_resources/actions/workflows/industrial_ci_action.yml/badge.svg?branch=ros2)](https://github.com/ros-planning/moveit_calibration/actions/workflows/industrial_ci_action.yml?query=branch%3Aros2)
 [![codecov](https://codecov.io/gh/ros-planning/moveit_calibration/branch/master/graph/badge.svg?token=W7uHKcY0ly)](https://codecov.io/gh/ros-planning/moveit_calibration)