diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 59436717..667f8722 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -3,9 +3,9 @@ name: Lint
 # Controls when the action will run. Triggers the workflow on push or pull request
 on:
   push:
-    branches: [ ros2, ros2-devel, foxy-devel ]
+    branches: [ ros2 ]
   pull_request:
-    branches: [ ros2, ros2-devel ]
+    branches: [ ros2 ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
diff --git a/.github/workflows/ros-ci.yml b/.github/workflows/ros-ci.yml
index e2cf863d..14460832 100644
--- a/.github/workflows/ros-ci.yml
+++ b/.github/workflows/ros-ci.yml
@@ -1,15 +1,15 @@
-name: ros2-devel
+name: ros2
 
 # Controls when the action will run. Triggers the workflow on push or pull request
 on:
   push:
     branches: [ ros2, ros2-devel ]
   pull_request:
-    branches: [ ros2 ros2-devel ]
+    branches: [ ros2, ros2-devel ]
 
 # A workflow run is made up of one or more jobs that can run sequentially or in parallel
 jobs:
-  ros2-devel-ci:
+  ros2-ci:
     runs-on: ubuntu-latest
     strategy:
       fail-fast: false
@@ -54,4 +54,4 @@ jobs:
         with:
           package-name: turtlebot3
           target-ros2-distro: ${{ matrix.ros_distribution }}
-          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2-devel/turtlebot3_ci.repos"
+          vcs-repo-file-url: "https://raw.githubusercontent.com/ROBOTIS-GIT/turtlebot3/ros2/turtlebot3_ci.repos"
diff --git a/turtlebot3.repos b/turtlebot3.repos
index 387ed7e3..a7b8da9f 100644
--- a/turtlebot3.repos
+++ b/turtlebot3.repos
@@ -2,20 +2,20 @@ repositories:
   turtlebot3/turtlebot3:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3.git
-    version: ros2-devel
+    version: ros2
   turtlebot3/turtlebot3_msgs:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
-    version: ros2-devel
+    version: ros2
   turtlebot3/turtlebot3_simulations:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
-    version: ros2-devel
+    version: ros2
   utils/DynamixelSDK:
     type: git
     url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-    version: ros2-devel
+    version: ros2
   utils/hls_lfcd_lds_driver:
     type: git
     url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
-    version: ros2-devel
+    version: ros2
diff --git a/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py b/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py
index b9732353..242f0ddc 100644
--- a/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py
+++ b/turtlebot3_bringup/launch/turtlebot3_state_publisher.launch.py
@@ -34,16 +34,10 @@ def generate_launch_description():
 
     print("urdf_file_name : {}".format(urdf_file_name))
 
-    urdf = os.path.join(get_package_share_directory('turtlebot3_description'),
-                        'urdf', urdf_file_name)
-
-    with open(urdf, 'r') as infp:
-        # Dummy to use parameter instead of using argument=[urdf] in Node.
-        robot_desc = infp.read()
-
-    rsp_params = {'robot_description': robot_desc}
-
-    # print (robot_desc)  # Printing urdf information.
+    urdf = os.path.join(
+        get_package_share_directory('turtlebot3_description'),
+        'urdf',
+        urdf_file_name)
 
     # Major refactor of the robot_state_publisher
     # Reference page: https://github.com/ros2/demos/pull/426
diff --git a/turtlebot3_ci.repos b/turtlebot3_ci.repos
index 3e91a961..6892982e 100644
--- a/turtlebot3_ci.repos
+++ b/turtlebot3_ci.repos
@@ -2,12 +2,12 @@ repositories:
   turtlebot3/turtlebot3_msgs:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
-    version: ros2-devel
+    version: ros2
   utils/DynamixelSDK:
     type: git
     url: https://github.com/ROBOTIS-GIT/DynamixelSDK.git
-    version: ros2-devel
+    version: ros2
   utils/hls_lfcd_lds_driver:
     type: git
     url: https://github.com/ROBOTIS-GIT/hls_lfcd_lds_driver.git
-    version: ros2-devel
+    version: ros2