diff --git a/nav2_amcl/CMakeLists.txt b/nav2_amcl/CMakeLists.txt
index e98ffe23479..18a021f4b63 100644
--- a/nav2_amcl/CMakeLists.txt
+++ b/nav2_amcl/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_amcl)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_behavior_tree/CMakeLists.txt b/nav2_behavior_tree/CMakeLists.txt
index 289b895b4de..81858072ae2 100644
--- a/nav2_behavior_tree/CMakeLists.txt
+++ b/nav2_behavior_tree/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_behavior_tree CXX)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_behavior_tree/plugins/action/follow_path_action.cpp b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
index 6db8b3b09ff..2e992b50e99 100644
--- a/nav2_behavior_tree/plugins/action/follow_path_action.cpp
+++ b/nav2_behavior_tree/plugins/action/follow_path_action.cpp
@@ -76,7 +76,7 @@ void FollowPathAction::on_wait_for_result(
   getInput("path", new_path);
 
   // Check if it is not same with the current one
-  if (goal_.path != new_path && new_path != nav_msgs::msg::Path()) {
+  if (goal_.path != new_path && !new_path.poses.empty()) {
     // the action server on the next loop iteration
     goal_.path = new_path;
     goal_updated_ = true;
diff --git a/nav2_behaviors/CMakeLists.txt b/nav2_behaviors/CMakeLists.txt
index 292191ea013..4bb96bf80b6 100644
--- a/nav2_behaviors/CMakeLists.txt
+++ b/nav2_behaviors/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_behaviors)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_bringup/CMakeLists.txt b/nav2_bringup/CMakeLists.txt
index af08ad0265b..827325db0ea 100644
--- a/nav2_bringup/CMakeLists.txt
+++ b/nav2_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_bringup)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_bringup/launch/bringup_launch.py b/nav2_bringup/launch/bringup_launch.py
index 8253dd7e3c1..54958cdf795 100644
--- a/nav2_bringup/launch/bringup_launch.py
+++ b/nav2_bringup/launch/bringup_launch.py
@@ -169,11 +169,14 @@ def generate_launch_description() -> LaunchDescription:
                 name=container_name,
                 namespace=namespace,
                 package='rclcpp_components',
-                executable='component_container_isolated',
+                executable='component_container',
                 parameters=[configured_params, {'autostart': autostart}],
-                arguments=['--ros-args', '--log-level', log_level],
-                remappings=remappings,
-                output='screen',
+                # event executor + isolated + thread num = 1
+                arguments=['--isolated', '--executor-type', 'events-cbg',
+                           '--ros-args', '--log-level', log_level, '-p', 'thread_num:=1'],
+                # single threaded + isolated
+                # arguments=['--isolated', '--executor-type', 'single-threaded',
+                #            '--ros-args', '--log-level', log_level],
             ),
             IncludeLaunchDescription(
                 PythonLaunchDescriptionSource(
diff --git a/nav2_bt_navigator/CMakeLists.txt b/nav2_bt_navigator/CMakeLists.txt
index 156ec4afff6..f3740415297 100644
--- a/nav2_bt_navigator/CMakeLists.txt
+++ b/nav2_bt_navigator/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_bt_navigator)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_collision_monitor/CMakeLists.txt b/nav2_collision_monitor/CMakeLists.txt
index f20cfafd268..7773f1dbece 100644
--- a/nav2_collision_monitor/CMakeLists.txt
+++ b/nav2_collision_monitor/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_collision_monitor)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
index f9eb52e8023..cb5311cacd5 100644
--- a/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
+++ b/nav2_collision_monitor/include/nav2_collision_monitor/circle.hpp
@@ -99,7 +99,7 @@ class Circle : public Polygon
    * @brief Updates polygon from radius value
    * @param radius New circle radius to update polygon
    */
-  void updatePolygon(double radius);
+  void updatePolygonFromRadius(double radius);
 
   /**
    * @brief Dynamic circle radius callback
diff --git a/nav2_collision_monitor/src/circle.cpp b/nav2_collision_monitor/src/circle.cpp
index ccefe3d71bb..26ef871f26f 100644
--- a/nav2_collision_monitor/src/circle.cpp
+++ b/nav2_collision_monitor/src/circle.cpp
@@ -147,7 +147,7 @@ void Circle::createSubscription(std::string & polygon_sub_topic)
   }
 }
 
-void Circle::updatePolygon(double radius)
+void Circle::updatePolygonFromRadius(double radius)
 {
   // Update circle radius
   radius_ = radius;
@@ -172,7 +172,7 @@ void Circle::radiusCallback(std_msgs::msg::Float32::ConstSharedPtr msg)
     logger_,
     "[%s]: Polygon circle radius update has been arrived",
     polygon_name_.c_str());
-  updatePolygon(msg->data);
+  updatePolygonFromRadius(msg->data);
 }
 
 }  // namespace nav2_collision_monitor
diff --git a/nav2_common/CMakeLists.txt b/nav2_common/CMakeLists.txt
index 786c9449f45..24551df6744 100644
--- a/nav2_common/CMakeLists.txt
+++ b/nav2_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 
 project(nav2_common NONE)
 
diff --git a/nav2_constrained_smoother/CMakeLists.txt b/nav2_constrained_smoother/CMakeLists.txt
index 6e179687f94..3cbe76e4848 100644
--- a/nav2_constrained_smoother/CMakeLists.txt
+++ b/nav2_constrained_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_constrained_smoother)
 
 set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup
diff --git a/nav2_controller/CMakeLists.txt b/nav2_controller/CMakeLists.txt
index 02f4aecd8fc..43e008701f7 100644
--- a/nav2_controller/CMakeLists.txt
+++ b/nav2_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_core/CMakeLists.txt b/nav2_core/CMakeLists.txt
index d3be1b6fd63..6a64e48d9dc 100644
--- a/nav2_core/CMakeLists.txt
+++ b/nav2_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_costmap_2d/CMakeLists.txt b/nav2_costmap_2d/CMakeLists.txt
index f7282456bea..2498a7d2a48 100644
--- a/nav2_costmap_2d/CMakeLists.txt
+++ b/nav2_costmap_2d/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_costmap_2d)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
index 2ea89b0b2ec..ac7e13ec357 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/footprint_subscriber.hpp
@@ -15,6 +15,7 @@
 #ifndef NAV2_COSTMAP_2D__FOOTPRINT_SUBSCRIBER_HPP_
 #define NAV2_COSTMAP_2D__FOOTPRINT_SUBSCRIBER_HPP_
 
+#include <atomic>
 #include <string>
 #include <vector>
 
@@ -90,8 +91,8 @@ class FootprintSubscriber
   tf2_ros::Buffer & tf_;
   std::string robot_base_frame_;
   double transform_tolerance_;
-  bool footprint_received_{false};
-  geometry_msgs::msg::PolygonStamped::ConstSharedPtr footprint_;
+  std::atomic_bool footprint_received_{false};
+  std::atomic<geometry_msgs::msg::PolygonStamped::ConstSharedPtr> footprint_;
   nav2::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr footprint_sub_;
 };
 
diff --git a/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
index 89a5491325f..6c59c166716 100644
--- a/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
+++ b/nav2_costmap_2d/include/nav2_costmap_2d/layered_costmap.hpp
@@ -190,7 +190,7 @@ class LayeredCostmap
   /** @brief Returns the latest footprint stored with setFootprint(). */
   const std::vector<geometry_msgs::msg::Point> & getFootprint()
   {
-    return *std::atomic_load(&footprint_);
+    return *footprint_.load();
   }
 
   /** @brief The radius of a circle centered at the origin of the
@@ -231,7 +231,7 @@ class LayeredCostmap
   bool initialized_;
   bool size_locked_;
   std::atomic<double> circumscribed_radius_, inscribed_radius_;
-  std::shared_ptr<std::vector<geometry_msgs::msg::Point>> footprint_;
+  std::atomic<std::shared_ptr<std::vector<geometry_msgs::msg::Point>>> footprint_;
 };
 
 }  // namespace nav2_costmap_2d
diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
index 6c6d8dc9107..e4c1c6d2b87 100644
--- a/nav2_costmap_2d/plugins/obstacle_layer.cpp
+++ b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -73,7 +73,7 @@ ObstacleLayer::~ObstacleLayer()
 
 void ObstacleLayer::onInitialize()
 {
-  bool track_unknown_space;
+  bool track_unknown_space = false;
   double transform_tolerance = 0.1;
 
   // The topics that we'll subscribe to from the parameter server
diff --git a/nav2_costmap_2d/src/footprint_subscriber.cpp b/nav2_costmap_2d/src/footprint_subscriber.cpp
index 7195aed1446..d1eedef7ce7 100644
--- a/nav2_costmap_2d/src/footprint_subscriber.cpp
+++ b/nav2_costmap_2d/src/footprint_subscriber.cpp
@@ -17,10 +17,7 @@
 #include <memory>
 
 #include "nav2_costmap_2d/footprint_subscriber.hpp"
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
 #include "tf2/utils.hpp"
-#pragma GCC diagnostic pop
 
 namespace nav2_costmap_2d
 {
@@ -30,11 +27,15 @@ FootprintSubscriber::getFootprintRaw(
   std::vector<geometry_msgs::msg::Point> & footprint,
   std_msgs::msg::Header & footprint_header)
 {
-  if (!footprint_received_) {
+  if (!footprint_received_.load()) {
+    return false;
+  }
+
+  auto current_footprint = footprint_.load();
+  if (!current_footprint) {
     return false;
   }
 
-  auto current_footprint = std::atomic_load(&footprint_);
   footprint = toPointVector(current_footprint->polygon);
   footprint_header = current_footprint->header;
 
@@ -76,9 +77,9 @@ void
 FootprintSubscriber::footprint_callback(
   const geometry_msgs::msg::PolygonStamped::ConstSharedPtr & msg)
 {
-  std::atomic_store(&footprint_, msg);
-  if (!footprint_received_) {
-    footprint_received_ = true;
+  footprint_.store(msg);
+  if (!footprint_received_.load()) {
+    footprint_received_.store(true);
   }
 }
 
diff --git a/nav2_costmap_2d/src/layered_costmap.cpp b/nav2_costmap_2d/src/layered_costmap.cpp
index 99973507d69..cd42f8504aa 100644
--- a/nav2_costmap_2d/src/layered_costmap.cpp
+++ b/nav2_costmap_2d/src/layered_costmap.cpp
@@ -301,8 +301,7 @@ void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::msg::Point> &
     footprint_spec);
   // use atomic store here since footprint is used by various planners/controllers
   // and not otherwise locked
-  std::atomic_store(
-    &footprint_,
+  footprint_.store(
     std::make_shared<std::vector<geometry_msgs::msg::Point>>(footprint_spec));
   inscribed_radius_.store(std::get<0>(inside_outside));
   circumscribed_radius_.store(std::get<1>(inside_outside));
diff --git a/nav2_docking/opennav_docking/CMakeLists.txt b/nav2_docking/opennav_docking/CMakeLists.txt
index c5d1b3e1246..36c47730fbc 100644
--- a/nav2_docking/opennav_docking/CMakeLists.txt
+++ b/nav2_docking/opennav_docking/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(opennav_docking)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_docking/opennav_docking_bt/CMakeLists.txt b/nav2_docking/opennav_docking_bt/CMakeLists.txt
index 2d0306397aa..44e4b196934 100644
--- a/nav2_docking/opennav_docking_bt/CMakeLists.txt
+++ b/nav2_docking/opennav_docking_bt/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(opennav_docking_bt)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_docking/opennav_docking_core/CMakeLists.txt b/nav2_docking/opennav_docking_core/CMakeLists.txt
index e8a4f821884..35f8b9d8406 100644
--- a/nav2_docking/opennav_docking_core/CMakeLists.txt
+++ b/nav2_docking/opennav_docking_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(opennav_docking_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/costmap_queue/CMakeLists.txt b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
index 8aefe263ba2..2ceffd58060 100644
--- a/nav2_dwb_controller/costmap_queue/CMakeLists.txt
+++ b/nav2_dwb_controller/costmap_queue/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(costmap_queue)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_core/CMakeLists.txt b/nav2_dwb_controller/dwb_core/CMakeLists.txt
index f69d546f551..4b669adfcf8 100644
--- a/nav2_dwb_controller/dwb_core/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(dwb_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_critics/CMakeLists.txt b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
index be02bcc98f8..8c2445c85b5 100644
--- a/nav2_dwb_controller/dwb_critics/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_critics/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(dwb_critics)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/dwb_msgs/CMakeLists.txt b/nav2_dwb_controller/dwb_msgs/CMakeLists.txt
index 9ff83591d2e..38e3801df03 100644
--- a/nav2_dwb_controller/dwb_msgs/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(dwb_msgs)
 
 find_package(backward_ros REQUIRED)
diff --git a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
index b462e7b3aab..a129b46695a 100644
--- a/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
+++ b/nav2_dwb_controller/dwb_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(dwb_plugins)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt b/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
index 3fd5af5cc2a..e8e810aca59 100644
--- a/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
+++ b/nav2_dwb_controller/nav2_dwb_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_dwb_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt b/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt
index f597712deda..5a66636e39e 100644
--- a/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav_2d_msgs)
 
 find_package(backward_ros REQUIRED)
diff --git a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
index 5378f2e4b83..75f6d453572 100644
--- a/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
+++ b/nav2_dwb_controller/nav_2d_utils/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav_2d_utils)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_following/opennav_following/CMakeLists.txt b/nav2_following/opennav_following/CMakeLists.txt
index 8273686fe61..e342e34168c 100644
--- a/nav2_following/opennav_following/CMakeLists.txt
+++ b/nav2_following/opennav_following/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(opennav_following)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_following/opennav_following/test/test_following_server_unit.cpp b/nav2_following/opennav_following/test/test_following_server_unit.cpp
index 3be1c54d8b7..c7e049d5fb4 100644
--- a/nav2_following/opennav_following/test/test_following_server_unit.cpp
+++ b/nav2_following/opennav_following/test/test_following_server_unit.cpp
@@ -85,7 +85,7 @@ class FollowingServerShim : public FollowingServer
     return FollowingServer::getTrackingPose(pose, frame_id);
   }
 
-  virtual bool rotateToObject(geometry_msgs::msg::PoseStamped &)
+  virtual bool rotateToObject(geometry_msgs::msg::PoseStamped &, const std::string &)
   {
     return true;
   }
diff --git a/nav2_graceful_controller/CMakeLists.txt b/nav2_graceful_controller/CMakeLists.txt
index 7d412464aec..77abdd76567 100644
--- a/nav2_graceful_controller/CMakeLists.txt
+++ b/nav2_graceful_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_graceful_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_lifecycle_manager/CMakeLists.txt b/nav2_lifecycle_manager/CMakeLists.txt
index 50874482167..377436fd23f 100644
--- a/nav2_lifecycle_manager/CMakeLists.txt
+++ b/nav2_lifecycle_manager/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_lifecycle_manager)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_loopback_sim/CMakeLists.txt b/nav2_loopback_sim/CMakeLists.txt
index 777f4a5fd6b..3e02dc5df22 100644
--- a/nav2_loopback_sim/CMakeLists.txt
+++ b/nav2_loopback_sim/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_loopback_sim)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_map_server/CMakeLists.txt b/nav2_map_server/CMakeLists.txt
index 8e422735612..844396c5569 100644
--- a/nav2_map_server/CMakeLists.txt
+++ b/nav2_map_server/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_map_server)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)
diff --git a/nav2_mppi_controller/CMakeLists.txt b/nav2_mppi_controller/CMakeLists.txt
index 1a810403f6b..ab2fce45110 100644
--- a/nav2_mppi_controller/CMakeLists.txt
+++ b/nav2_mppi_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_mppi_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_mppi_controller/test/parameter_handler_test.cpp b/nav2_mppi_controller/test/parameter_handler_test.cpp
index d14eda81c1d..2d586f55788 100644
--- a/nav2_mppi_controller/test/parameter_handler_test.cpp
+++ b/nav2_mppi_controller/test/parameter_handler_test.cpp
@@ -63,10 +63,15 @@ TEST(ParameterHandlerTest, asTypeConversionTest)
   EXPECT_EQ(a.asWrapped<bool>(bool_p), false);
   EXPECT_EQ(a.asWrapped<std::string>(string_p), std::string("hello"));
 
-  EXPECT_EQ(a.asWrapped<std::vector<int64_t>>(intv_p)[0], 1);
-  EXPECT_EQ(a.asWrapped<std::vector<double>>(doublev_p)[0], 10.0);
-  EXPECT_EQ(a.asWrapped<std::vector<bool>>(boolv_p)[0], false);
-  EXPECT_EQ(a.asWrapped<std::vector<std::string>>(stringv_p)[0], std::string("hello"));
+  const auto intv = a.asWrapped<std::vector<int64_t>>(intv_p);
+  const auto doublev = a.asWrapped<std::vector<double>>(doublev_p);
+  const auto boolv = a.asWrapped<std::vector<bool>>(boolv_p);
+  const auto stringv = a.asWrapped<std::vector<std::string>>(stringv_p);
+
+  EXPECT_EQ(intv[0], 1L);
+  EXPECT_DOUBLE_EQ(doublev[0], 10.0);
+  EXPECT_EQ(boolv[0], false);
+  EXPECT_EQ(stringv[0], std::string("hello"));
 }
 
 TEST(ParameterHandlerTest, PrePostDynamicCallbackTest)
diff --git a/nav2_msgs/CMakeLists.txt b/nav2_msgs/CMakeLists.txt
index d7c0bbd2eaf..0f5e711104e 100644
--- a/nav2_msgs/CMakeLists.txt
+++ b/nav2_msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_msgs)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_navfn_planner/CMakeLists.txt b/nav2_navfn_planner/CMakeLists.txt
index 251d7284cc9..f1b37f55f46 100644
--- a/nav2_navfn_planner/CMakeLists.txt
+++ b/nav2_navfn_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_navfn_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_planner/CMakeLists.txt b/nav2_planner/CMakeLists.txt
index 4ddf80bcd2a..6b704a7c45e 100644
--- a/nav2_planner/CMakeLists.txt
+++ b/nav2_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
index a6323b1dd18..5e9d5853439 100644
--- a/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
+++ b/nav2_regulated_pure_pursuit_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_regulated_pure_pursuit_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_ros_common/CMakeLists.txt b/nav2_ros_common/CMakeLists.txt
index 8ef24b25595..f159c110f98 100644
--- a/nav2_ros_common/CMakeLists.txt
+++ b/nav2_ros_common/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_ros_common)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_rotation_shim_controller/CMakeLists.txt b/nav2_rotation_shim_controller/CMakeLists.txt
index b966865fa47..ef35bade121 100644
--- a/nav2_rotation_shim_controller/CMakeLists.txt
+++ b/nav2_rotation_shim_controller/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_rotation_shim_controller)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_route/CMakeLists.txt b/nav2_route/CMakeLists.txt
index db9c139c6f1..514d8a24672 100644
--- a/nav2_route/CMakeLists.txt
+++ b/nav2_route/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_route CXX)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_rviz_plugins/CMakeLists.txt b/nav2_rviz_plugins/CMakeLists.txt
index d75fd7eb796..653589a1f49 100644
--- a/nav2_rviz_plugins/CMakeLists.txt
+++ b/nav2_rviz_plugins/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_rviz_plugins)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_rviz_plugins/src/docking_panel.cpp b/nav2_rviz_plugins/src/docking_panel.cpp
index 95e0bb516c7..4d27ab2319b 100644
--- a/nav2_rviz_plugins/src/docking_panel.cpp
+++ b/nav2_rviz_plugins/src/docking_panel.cpp
@@ -261,7 +261,7 @@ DockingPanel::DockingPanel(QWidget * parent)
 
   // Connect buttons with functions
   QObject::connect(
-    use_dock_id_checkbox_, &QCheckBox::stateChanged, this, &DockingPanel::dockIdCheckbox);
+    use_dock_id_checkbox_, &QCheckBox::checkStateChanged, this, &DockingPanel::dockIdCheckbox);
 }
 
 void DockingPanel::onInitialize()
diff --git a/nav2_rviz_plugins/src/nav2_panel.cpp b/nav2_rviz_plugins/src/nav2_panel.cpp
index a0f18df1665..0c1ea2305d9 100644
--- a/nav2_rviz_plugins/src/nav2_panel.cpp
+++ b/nav2_rviz_plugins/src/nav2_panel.cpp
@@ -416,7 +416,7 @@ Nav2Panel::Nav2Panel(QWidget * parent)
     &Nav2Panel::loophandler);
   QObject::connect(
     store_initial_pose_checkbox_,
-    &QCheckBox::stateChanged,
+    &QCheckBox::checkStateChanged,
     this,
     &Nav2Panel::initialStateHandler);
 
diff --git a/nav2_simple_commander/setup.py b/nav2_simple_commander/setup.py
index ca1a6e188bc..de4e46eab11 100644
--- a/nav2_simple_commander/setup.py
+++ b/nav2_simple_commander/setup.py
@@ -20,7 +20,9 @@
     maintainer_email='stevenmacenski@gmail.com',
     description='An importable library for writing mobile robot applications in python3',
     license='Apache-2.0',
-    tests_require=['pytest'],
+    extras_require={
+        'test': ['pytest'],
+    },
     entry_points={
         'console_scripts': [
             'example_nav_to_pose = nav2_simple_commander.example_nav_to_pose:main',
diff --git a/nav2_smac_planner/CMakeLists.txt b/nav2_smac_planner/CMakeLists.txt
index 26b5fedef53..8c7fb7bef1b 100644
--- a/nav2_smac_planner/CMakeLists.txt
+++ b/nav2_smac_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_smac_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
index 9336787b96f..eb70779b3a9 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/analytic_expansion.hpp
@@ -178,7 +178,7 @@ class AnalyticExpansion
     * @param path The Reeds-Shepp path to count direction changes in
     * @return The number of direction changes in the path
     */
-  int countDirectionChanges(const ompl::base::ReedsSheppStateSpace::ReedsSheppPath & path);
+  int countDirectionChanges(const ompl::base::ReedsSheppStateSpace::PathType & path);
 
   /**
    * @brief Takes an expanded nodes to clean up, if necessary, of any state
diff --git a/nav2_smac_planner/src/analytic_expansion.cpp b/nav2_smac_planner/src/analytic_expansion.cpp
index 5bcaf1cb60b..838e1cadd08 100644
--- a/nav2_smac_planner/src/analytic_expansion.cpp
+++ b/nav2_smac_planner/src/analytic_expansion.cpp
@@ -150,7 +150,7 @@ typename AnalyticExpansion<NodeT>::NodePtr AnalyticExpansion<NodeT>::tryAnalytic
 
 template<typename NodeT>
 int AnalyticExpansion<NodeT>::countDirectionChanges(
-  const ompl::base::ReedsSheppStateSpace::ReedsSheppPath & path)
+  const ompl::base::ReedsSheppStateSpace::PathType & path)
 {
   const double * lengths = path.length_;
   int changes = 0;
@@ -190,7 +190,7 @@ typename AnalyticExpansion<NodeT>::AnalyticExpansionNodes AnalyticExpansion<Node
   auto rs_state_space = dynamic_cast<ompl::base::ReedsSheppStateSpace *>(state_space.get());
   int direction_changes = 0;
   if (rs_state_space) {
-    direction_changes = countDirectionChanges(rs_state_space->reedsShepp(from.get(), to.get()));
+    direction_changes = countDirectionChanges(rs_state_space->getPath(from.get(), to.get()));
   }
 
   // A move of sqrt(2) is guaranteed to be in a new cell
diff --git a/nav2_smoother/CMakeLists.txt b/nav2_smoother/CMakeLists.txt
index f60d6c6ad65..fcce2579f2f 100644
--- a/nav2_smoother/CMakeLists.txt
+++ b/nav2_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_smoother)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_system_tests/CMakeLists.txt b/nav2_system_tests/CMakeLists.txt
index 9817f2f3563..5caa9b3dfe1 100644
--- a/nav2_system_tests/CMakeLists.txt
+++ b/nav2_system_tests/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_system_tests)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_theta_star_planner/CMakeLists.txt b/nav2_theta_star_planner/CMakeLists.txt
index 3b652bdf1e9..e2e7776b18b 100644
--- a/nav2_theta_star_planner/CMakeLists.txt
+++ b/nav2_theta_star_planner/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_theta_star_planner)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_util/CMakeLists.txt b/nav2_util/CMakeLists.txt
index f0c51b06905..f2181f1d504 100644
--- a/nav2_util/CMakeLists.txt
+++ b/nav2_util/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_util)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_velocity_smoother/CMakeLists.txt b/nav2_velocity_smoother/CMakeLists.txt
index f7437297d42..4672a169a81 100644
--- a/nav2_velocity_smoother/CMakeLists.txt
+++ b/nav2_velocity_smoother/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_velocity_smoother)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_voxel_grid/CMakeLists.txt b/nav2_voxel_grid/CMakeLists.txt
index e4d6d1866a8..79a7c078c25 100644
--- a/nav2_voxel_grid/CMakeLists.txt
+++ b/nav2_voxel_grid/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_voxel_grid)
 
 find_package(ament_cmake REQUIRED)
diff --git a/nav2_waypoint_follower/CMakeLists.txt b/nav2_waypoint_follower/CMakeLists.txt
index 8d66ee7ee31..6bf06b3d68a 100644
--- a/nav2_waypoint_follower/CMakeLists.txt
+++ b/nav2_waypoint_follower/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(nav2_waypoint_follower)
 
 find_package(ament_cmake REQUIRED)
diff --git a/navigation2/CMakeLists.txt b/navigation2/CMakeLists.txt
index ac8cac17ffa..82228b13c5a 100644
--- a/navigation2/CMakeLists.txt
+++ b/navigation2/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.20)
 project(navigation2)
 
 find_package(ament_cmake REQUIRED)