diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b91e0faa..53dcca16 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,6 +6,10 @@ on:
       ci_target_ref:
         required: true
         type: string
+  workflow_dispatch:
+    inputs:
+      name:
+        description: "Manual trigger"
 
 env:
   ROS_DISTRO: rolling
diff --git a/config/android/generic/create.sh b/config/android/generic/create.sh
index 460ca3dd..33b3f2e1 100755
--- a/config/android/generic/create.sh
+++ b/config/android/generic/create.sh
@@ -3,11 +3,14 @@ pushd $FW_TARGETDIR >/dev/null
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_log4cxx/COLCON_IGNORE
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2_tracing/test_tracetools/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
diff --git a/config/freertos/crazyflie21/create.sh b/config/freertos/crazyflie21/create.sh
index 9c78ddb8..e81f40b1 100755
--- a/config/freertos/crazyflie21/create.sh
+++ b/config/freertos/crazyflie21/create.sh
@@ -13,6 +13,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -20,5 +21,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
\ No newline at end of file
diff --git a/config/freertos/esp32/build.sh b/config/freertos/esp32/build.sh
index 3325c457..4f8867fd 100755
--- a/config/freertos/esp32/build.sh
+++ b/config/freertos/esp32/build.sh
@@ -8,6 +8,11 @@ source $FW_TARGETDIR/venv/bin/activate
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
 export IDF_PATH=$FW_TARGETDIR/toolchain/esp-idf
 
+# ESP-IDF v4.1 vendors third-party trees (mbedtls) whose cmake_minimum_required
+# predates 3.5, which CMake 4 rejects outright. Restore the old floor until the
+# pinned ESP-IDF is bumped.
+export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
 . $IDF_PATH/export.sh
diff --git a/config/freertos/esp32/configure.sh b/config/freertos/esp32/configure.sh
index b1d5dd62..6d55a3e9 100755
--- a/config/freertos/esp32/configure.sh
+++ b/config/freertos/esp32/configure.sh
@@ -57,6 +57,11 @@ UROS_APP_FOLDER="$FW_TARGETDIR/freertos_apps/apps/$UROS_APP"
 export IDF_TOOLS_PATH=$FW_TARGETDIR/toolchain/espressif
 export IDF_PATH=$FW_TARGETDIR/toolchain/esp-idf
 
+# ESP-IDF v4.1 vendors third-party trees (mbedtls) whose cmake_minimum_required
+# predates 3.5, which CMake 4 rejects outright. Restore the old floor until the
+# pinned ESP-IDF is bumped.
+export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 eval $(python3 $FW_TARGETDIR/toolchain/esp-idf/tools/idf_tools.py export --prefer-system)
 
 . $IDF_PATH/export.sh
diff --git a/config/freertos/esp32/create.sh b/config/freertos/esp32/create.sh
index 06d60a59..030fdb2b 100755
--- a/config/freertos/esp32/create.sh
+++ b/config/freertos/esp32/create.sh
@@ -47,6 +47,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -54,5 +55,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
diff --git a/config/freertos/nucleo_f446re/create.sh b/config/freertos/nucleo_f446re/create.sh
index 7b4b4b74..cb2b1d58 100755
--- a/config/freertos/nucleo_f446re/create.sh
+++ b/config/freertos/nucleo_f446re/create.sh
@@ -14,6 +14,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -21,5 +22,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
diff --git a/config/freertos/nucleo_f446ze/create.sh b/config/freertos/nucleo_f446ze/create.sh
index 1e4ba43e..0fda72db 100755
--- a/config/freertos/nucleo_f446ze/create.sh
+++ b/config/freertos/nucleo_f446ze/create.sh
@@ -14,6 +14,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -21,5 +22,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
\ No newline at end of file
diff --git a/config/freertos/nucleo_f746zg/create.sh b/config/freertos/nucleo_f746zg/create.sh
index 1e4ba43e..0fda72db 100755
--- a/config/freertos/nucleo_f746zg/create.sh
+++ b/config/freertos/nucleo_f746zg/create.sh
@@ -14,6 +14,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -21,5 +22,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
\ No newline at end of file
diff --git a/config/freertos/nucleo_f767zi/create.sh b/config/freertos/nucleo_f767zi/create.sh
index 1e4ba43e..0fda72db 100755
--- a/config/freertos/nucleo_f767zi/create.sh
+++ b/config/freertos/nucleo_f767zi/create.sh
@@ -14,6 +14,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -21,5 +22,7 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
 popd >/dev/null
\ No newline at end of file
diff --git a/config/freertos/olimex-stm32-e407/create.sh b/config/freertos/olimex-stm32-e407/create.sh
index 1331c351..ae4d4699 100755
--- a/config/freertos/olimex-stm32-e407/create.sh
+++ b/config/freertos/olimex-stm32-e407/create.sh
@@ -14,6 +14,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -21,6 +22,8 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     touch mcu_ws/ros2/rmw/rmw_security_common/COLCON_IGNORE
 
 popd >/dev/null
\ No newline at end of file
diff --git a/config/generate_lib/generic/create.sh b/config/generate_lib/generic/create.sh
index ec90323b..95bd513c 100755
--- a/config/generate_lib/generic/create.sh
+++ b/config/generate_lib/generic/create.sh
@@ -2,6 +2,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -9,6 +10,8 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     touch mcu_ws/ros2/rmw/rmw_security_common/COLCON_IGNORE
 
 popd >/dev/null
diff --git a/config/raspbian/generic/configure.sh b/config/raspbian/generic/configure.sh
index 002c29f7..53ad6b47 100755
--- a/config/raspbian/generic/configure.sh
+++ b/config/raspbian/generic/configure.sh
@@ -11,6 +11,8 @@ pushd $FW_TARGETDIR >/dev/null
     if [ -d mcu_ws/ros2/rosidl ]; then
         touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_c/COLCON_IGNORE
         touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
+        touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+        touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
     fi
 
     vcs import --input raspbian_apps/$CONFIG_NAME/app.repos mcu_ws/
diff --git a/config/zephyr/generic/build.sh b/config/zephyr/generic/build.sh
index 41bc9d12..ca8e4f01 100755
--- a/config/zephyr/generic/build.sh
+++ b/config/zephyr/generic/build.sh
@@ -9,6 +9,11 @@ pushd $FW_TARGETDIR >/dev/null
     export ZEPHYR_SDK_INSTALL_DIR=$FW_TARGETDIR/zephyr-sdk
     export PATH=~/.local/bin:"$PATH"
 
+    # Zephyr v2.6.0 vendors third-party modules (civetweb) whose
+    # cmake_minimum_required predates 3.5, which CMake 4 rejects outright.
+    # Restore the old floor until the pinned Zephyr is bumped.
+    export CMAKE_POLICY_VERSION_MINIMUM=3.5
+
 
     # Retrieve user app
     unset UROS_APP
diff --git a/config/zephyr/generic/create.sh b/config/zephyr/generic/create.sh
index 0d4ef02b..1676b161 100755
--- a/config/zephyr/generic/create.sh
+++ b/config/zephyr/generic/create.sh
@@ -70,6 +70,7 @@ pushd $FW_TARGETDIR >/dev/null
 
     # ignore broken packages
     touch mcu_ws/ros2/rcl_logging/rcl_logging_spdlog/COLCON_IGNORE
+    touch mcu_ws/ros2/rcl_logging/rcl_logging_implementation/COLCON_IGNORE
     touch mcu_ws/ros2/rcl/COLCON_IGNORE
     touch mcu_ws/ros2/rosidl/rosidl_typesupport_introspection_cpp/COLCON_IGNORE
     touch mcu_ws/ros2/rcpputils/COLCON_IGNORE
@@ -77,6 +78,8 @@ pushd $FW_TARGETDIR >/dev/null
     touch mcu_ws/uros/rcl/rcl_yaml_param_parser/COLCON_IGNORE
     touch mcu_ws/uros/rclc/rclc_examples/COLCON_IGNORE
     touch mcu_ws/ros2/ros2_tracing/lttngpy/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_py/COLCON_IGNORE
+    touch mcu_ws/ros2/rosidl/rosidl_buffer_backend_registry/COLCON_IGNORE
 
     # Upgrade sphinx
     pip install --force-reinstall docutils==0.16 Sphinx==4.2.0