diff --git a/.github/workflows/ci-format.yml b/.github/workflows/ci-format.yml
index b7a922ea9..0debd4ac5 100644
--- a/.github/workflows/ci-format.yml
+++ b/.github/workflows/ci-format.yml
@@ -15,11 +15,13 @@ jobs:
     - uses: actions/checkout@v2
 
     - uses: actions/setup-python@v2
-      with:
-        python-version: 3.9.7
+      #with:
+      #  python-version: 3.9.7
 
     - name: Install clang-format
-      run: sudo apt-get install clang-format cppcheck
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y clang-format cppcheck
 
     - uses: pre-commit/action@v2.0.3
       with:
diff --git a/SMACC2-not-released.humble.repos b/SMACC2-not-released.humble.repos
index c22e013ad..a5eb303a1 100644
--- a/SMACC2-not-released.humble.repos
+++ b/SMACC2-not-released.humble.repos
@@ -1 +1,41 @@
-repositories:
\ No newline at end of file
+repositories:
+
+  moveit2:
+    type: git
+    url: https://github.com/ros-planning/moveit2.git
+    version: feature/multiple_namespace_support_from_parameters
+
+  ros2_control:
+    type: git
+    url: https://github.com/ros-controls/ros2_control.git
+    version: 30131b42f082a06032507040840c7ca4c48a6241
+
+  ros2_controllers:
+    type: git
+    url: https://github.com/ros-controls/ros2_controllers.git
+    version: f08c3789e81b72f64858eccfb4a1553fd9ed801f # 2.15.0
+
+  realtime_tools:
+    type: git
+    url: https://github.com/ros-controls/realtime_tools.git
+    version: 2.4.0
+
+  ros_param_shortcuts:
+    type: git
+    url: https://github.com/PickNikRobotics/rosparam_shortcuts
+    version: 0.5.0
+
+  generate_parameter_library:
+    type: git
+    url: https://github.com/PickNikRobotics/generate_parameter_library.git
+    version: 0.3.0
+
+  rsl:
+    type: git
+    url: https://github.com/PickNikRobotics/RSL.git
+    version: 0.2.0
+
+  moveit_resources:
+    type: git
+    url: https://github.com/ros-planning/moveit_resources.git
+    version: ros2
diff --git a/SMACC2.humble.repos b/SMACC2.humble.repos
index c22e013ad..56f46b6f7 100644
--- a/SMACC2.humble.repos
+++ b/SMACC2.humble.repos
@@ -1 +1 @@
-repositories:
\ No newline at end of file
+repositories:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index fafe35d5e..7422939eb 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -22,17 +22,16 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
 
 WORKDIR "/home/ros2_ws/src"
 
-RUN echo "x23"
+RUN echo "copying current code version to docker image:"
 ADD . /home/ros2_ws/src/SMACC2
-RUN if [ $LOCAL_FOLDER_SOURCE -eq 0 ] ; then (echo "downloading repo" && rm -R /home/ros2_ws/src/SMACC2  && git clone -b $GIT_BRANCH https://github.com/robosoft-ai/SMACC2.git /home/ros2_ws/src/SMACC2); else  (echo "using local copy" &&  rm -R /home/ros2_ws/src/SMACC2/.git); fi
 WORKDIR "/home/ros2_ws"
 
-
 # install dependencies and build
-RUN ls src && vcs import  src --skip-existing --input src/SMACC2/SMACC2-not-released.$ROS_DISTRO.repos \
-  && ls src
+RUN ls src
+RUN vcs import  src --skip-existing --input src/SMACC2/SMACC2-not-released.$ROS_DISTRO.repos || true
+RUN ls src
 
-RUN rosdep install --from-paths src --ignore-src -r -y
+RUN rosdep install --from-paths src --ignore-src -r -y --skip-keys warehouse-ros-mongo || true
 RUN apt-get update && apt-get install -q -y --no-install-recommends xterm
 
-RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.sh && colcon build --merge-install"
+RUN bash -c "source /opt/ros/$ROS_DISTRO/setup.sh && colcon build --merge-install --packages-skip moveit_servo"
diff --git a/docker/build_docker.sh b/docker/build_docker.sh
index b7175887e..c730e19a7 100755
--- a/docker/build_docker.sh
+++ b/docker/build_docker.sh
@@ -11,5 +11,6 @@ NOCACHE="--no-cache"
 NOCACHE=
 
 echo "ros distro: $ROS_DISTRO"
-echo "git branch: $GITBRANCH"
-sudo docker build --build-arg ROS_DISTRO=$ROS_DISTRO --build-arg GIT_BRANCH=$GIT_BRANCH -t smacc2:$ROS_DISTRO -f docker/Dockerfile . $NOCACHE
+echo "git branch: $GIT_BRANCH"
+echo "ubuntu version: $UBUNTU_VERSION"
+sudo docker build --build-arg ROS_DISTRO=$ROS_DISTRO --build-arg GIT_BRANCH=$GIT_BRANCH --build-arg UBUNTU_VERSION=$UBUNTU_VERSION -t smacc2:$ROS_DISTRO -f docker/Dockerfile . $NOCACHE
diff --git a/docker/build_docker_humble.sh b/docker/build_docker_humble.sh
new file mode 100755
index 000000000..ed0429b57
--- /dev/null
+++ b/docker/build_docker_humble.sh
@@ -0,0 +1,4 @@
+#!/bin/sh
+DIR="$(dirname "$(realpath "$0")")"
+echo $DIR
+$DIR/build_docker.sh humble humble jammy
diff --git a/docker/run_sm_atomic.sh b/docker/examples/run_sm_atomic.sh
similarity index 100%
rename from docker/run_sm_atomic.sh
rename to docker/examples/run_sm_atomic.sh
diff --git a/docker/run_docker_bash_humble.sh b/docker/run_docker_bash_humble.sh
new file mode 100755
index 000000000..9665c22b6
--- /dev/null
+++ b/docker/run_docker_bash_humble.sh
@@ -0,0 +1,2 @@
+#!/bin/sh
+sudo docker run -it smacc2:humble /bin/bash