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diff --git a/2021summerOfCode/Summer_2021_Student_Program.html b/2021summerOfCode/Summer_2021_Student_Program.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/assisted_teleop.html b/2021summerOfCode/projects/assisted_teleop.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
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diff --git a/2021summerOfCode/projects/create_configuration_assistant.html b/2021summerOfCode/projects/create_configuration_assistant.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/create_plugins.html b/2021summerOfCode/projects/create_plugins.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/dynamic.html b/2021summerOfCode/projects/dynamic.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/grid_maps.html b/2021summerOfCode/projects/grid_maps.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/localization.html b/2021summerOfCode/projects/localization.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/multithreading.html b/2021summerOfCode/projects/multithreading.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/navigation_rebranding.html b/2021summerOfCode/projects/navigation_rebranding.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/safety_node.html b/2021summerOfCode/projects/safety_node.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/semantics.html b/2021summerOfCode/projects/semantics.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/spinners.html b/2021summerOfCode/projects/spinners.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/testing.html b/2021summerOfCode/projects/testing.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/2021summerOfCode/projects/twist_n_config.html b/2021summerOfCode/projects/twist_n_config.html
@@ -64,7 +64,11 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="../../development_guides/index.html">Development Guides</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="../../development_guides/build_docs/index.html">Build and Install</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#install">Install</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-iron-and-older">For Iron and Older</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#for-jazzy-and-newer">For Jazzy and Newer</a></li>
+</ul>
+</li>
 <li class="toctree-l3"><a class="reference internal" href="../../development_guides/build_docs/index.html#build">Build</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#released-distribution-binaries">Released Distribution Binaries</a></li>
 <li class="toctree-l4"><a class="reference internal" href="../../development_guides/build_docs/index.html#rolling-development-source">Rolling Development Source</a></li>

diff --git a/_sources/development_guides/build_docs/index.rst.txt b/_sources/development_guides/build_docs/index.rst.txt
@@ -6,9 +6,13 @@ Build and Install
 Install
 *******
 
+
 Nav2 and its dependencies are released as binaries.
 You may install it via the following to get the latest stable released version:
 
+For Iron and Older
+==================
+
 .. code:: bash
 
   source /opt/ros/<distro>/setup.bash
@@ -17,6 +21,17 @@ You may install it via the following to get the latest stable released version:
     ros-$ROS_DISTRO-nav2-bringup \
     ros-$ROS_DISTRO-turtlebot3*
 
+For Jazzy and Newer
+===================
+
+.. code:: bash
+
+  source /opt/ros/<distro>/setup.bash
+  sudo apt install \
+    ros-$ROS_DISTRO-navigation2 \
+    ros-$ROS_DISTRO-nav2-bringup \
+    ros-$ROS_DISTRO-nav2-minimal-tb*
+
 Build
 *****
 
@@ -91,6 +106,7 @@ Once your environment is setup, clone the repo and build the workspace:
   source <ros_ws>/install/setup.bash
   mkdir -p ~/nav2_ws/src && cd ~/nav2_ws
   git clone https://github.com/ros-navigation/navigation2.git --branch main ./src/navigation2
+  git clone https://github.com/ros-navigation/nav2_minimal_turtlebot_simulation.git --branch main ./src/nav2_minimal_turtlebot_simulation
   rosdep install -r -y \
     --from-paths ./src \
     --ignore-src