diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 8960868f..b7cda287 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -6,6 +6,7 @@ on:
         - humble
         - iron
         - rolling
+        - jazzy
     pull_request:
       branches:
         - '**'
@@ -13,7 +14,7 @@ on:
 jobs:
     rmw_microxrcedds_ci:
         runs-on: ubuntu-latest
-        container: microros/micro-ros-agent:rolling
+        container: microros/micro-ros-agent:jazzy
 
         steps:
         - uses: actions/checkout@v3
@@ -25,12 +26,12 @@ jobs:
             apt update && apt install -y python3-pip git python3-rosdep python3-colcon-common-extensions curl ros-$ROS_DISTRO-performance-test-fixture
             git clone -b ros2 https://github.com/eProsima/Micro-CDR src/Micro-CDR
             git clone -b ros2 https://github.com/eProsima/Micro-XRCE-DDS-Client src/Micro-XRCE-DDS-Client
-            git clone -b rolling https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
-            git clone -b rolling https://github.com/ros2/rmw src/rmw
+            git clone -b jazzy https://github.com/micro-ROS/rosidl_typesupport_microxrcedds src/rosidl_typesupport_microxrcedds
+            git clone -b jazzy https://github.com/ros2/rmw src/rmw
             touch src/rosidl_typesupport_microxrcedds/test/COLCON_IGNORE
 
             # Install coverage tools
-            pip3 install gcovr
+            apt install -y gcovr
             . /opt/ros/$ROS_DISTRO/setup.sh
             rosdep init && rosdep update
             rosdep install --from-paths src -r
@@ -46,15 +47,6 @@ jobs:
             colcon test --event-handlers console_direct+ --packages-select=rmw_microxrcedds --return-code-on-test-failure
             ./build/rmw_microxrcedds/test/test-sizes 2> memanalisys_out
 
-        - name: Static memory
-          continue-on-error: true
-          if: github.event_name == 'pull_request'
-          uses: machine-learning-apps/pr-comment@master
-          env:
-            GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-          with:
-            path: memanalisys_out
-
         - name: Coverage
           run: |
             cd src/rmw-microxrcedds/
diff --git a/.github/workflows/uncrustify.yml b/.github/workflows/uncrustify.yml
index 8a7107cc..e3d2437d 100644
--- a/.github/workflows/uncrustify.yml
+++ b/.github/workflows/uncrustify.yml
@@ -8,7 +8,7 @@ jobs:
     run_uncrustify:
       if: contains(github.event.comment.html_url, '/pull/') && contains(github.event.comment.body, 'Marie Kondo')
       runs-on: ubuntu-latest
-      container: ros:rolling
+      container: ros:jazzy
       steps:
         - uses: xt0rted/pull-request-comment-branch@v1
           id: comment-branch
diff --git a/rmw_microxrcedds_c/src/rmw_graph.c b/rmw_microxrcedds_c/src/rmw_graph.c
index d0a81689..698b71cf 100644
--- a/rmw_microxrcedds_c/src/rmw_graph.c
+++ b/rmw_microxrcedds_c/src/rmw_graph.c
@@ -83,8 +83,10 @@ rmw_ret_t rmw_graph_init(
 
   graph_info->datareader_id = uxr_object_id(context->id_datareader++, UXR_DATAREADER_ID);
   const char * graph_topic_name = "ros_to_microros_graph";
+
   graph_info->graph_type_support =
-    rosidl_typesupport_microxrcedds_c__get_message_type_support_handle__micro_ros_msgs__msg__Graph(); //NOLINT
+    // NOLINTNEXTLINE
+    rosidl_typesupport_microxrcedds_c__get_message_type_support_handle__micro_ros_msgs__msg__Graph();
 
   // Create graph topic request
   graph_info->topic_id = uxr_object_id(context->id_topic++, UXR_TOPIC_ID);