From 06c4a88e152b47bd46ebf575cccd78400d502eb7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20San=20Jos=C3=A9=20Pro?=
 <42489409+danielsanjosepro@users.noreply.github.com>
Date: Sat, 25 Jul 2026 14:08:37 +0200
Subject: [PATCH 1/3] fix: remove rolling form industrial_ci and update readme
 badges

---
 .github/workflows/ros2_ci.yml | 2 +-
 README.md                     | 6 ++----
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/.github/workflows/ros2_ci.yml b/.github/workflows/ros2_ci.yml
index 523a8cd..25fb778 100644
--- a/.github/workflows/ros2_ci.yml
+++ b/.github/workflows/ros2_ci.yml
@@ -11,7 +11,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ROS_DISTRO: [humble, jazzy, kilted, lyrical, rolling]
+        ROS_DISTRO: [humble, jazzy, kilted, lyrical]
         ROS_REPO: [main]
     env:
       CCACHE_DIR: "${{ github.workspace }}/.ccache"  # directory for ccache (and how we enable ccache in industrial_ci)
diff --git a/README.md b/README.md
index 5bb20bf..54497da 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,9 @@
 <img src="media/crisp_logo.webp" alt="CRISP Controllers Logo"/>
 
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/humble_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/humble_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/jazzy_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/jazzy_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/kilted_ros2_ci.yml/badge.svg"/></a>
-<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/rolling_ros2_ci.yml/badge.svg"/></a>
+<a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml/badge.svg"/></a>
 <a href="https://danielsanjosepro.github.io/crisp_controllers/"><img alt="Static Badge" src="https://img.shields.io/badge/docs-passing-blue?style=flat&link=https%3A%2F%2Fdanielsanjosepro.github.io%2Fcrisp_controllers%2F"></a>
 <a href="https://utiasDSL.github.io/crisp_controllers#citing"><img alt="Static Badge" src="https://img.shields.io/badge/arxiv-cite-b31b1b?style=flat"></a>
+<img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat&link=https%3A%2F%2Fieeexplore.ieee.org%2Fabstract%2Fdocument%2F11505755">
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more! 
 

From 722f7d4916351fe75d42990adf9d68e29d6ab26b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20San=20Jos=C3=A9=20Pro?=
 <42489409+danielsanjosepro@users.noreply.github.com>
Date: Sat, 25 Jul 2026 14:11:40 +0200
Subject: [PATCH 2/3] fix: badge link

---
 README.md | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 54497da..d6b08ac 100644
--- a/README.md
+++ b/README.md
@@ -2,8 +2,7 @@
 
 <a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml/badge.svg"/></a>
 <a href="https://danielsanjosepro.github.io/crisp_controllers/"><img alt="Static Badge" src="https://img.shields.io/badge/docs-passing-blue?style=flat&link=https%3A%2F%2Fdanielsanjosepro.github.io%2Fcrisp_controllers%2F"></a>
-<a href="https://utiasDSL.github.io/crisp_controllers#citing"><img alt="Static Badge" src="https://img.shields.io/badge/arxiv-cite-b31b1b?style=flat"></a>
-<img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat&link=https%3A%2F%2Fieeexplore.ieee.org%2Fabstract%2Fdocument%2F11505755">
+<a href="https://ieeexplore.ieee.org/document/11505755"><img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat></a>
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more! 
 

From 182b3abf3e331401d1e07024c6a3fe362ab580fd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Daniel=20San=20Jos=C3=A9=20Pro?=
 <42489409+danielsanjosepro@users.noreply.github.com>
Date: Sat, 25 Jul 2026 14:14:16 +0200
Subject: [PATCH 3/3] fix

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index d6b08ac..bcd49e9 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 <a href="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml"><img src="https://github.com/utiasDSL/crisp_controllers/actions/workflows/ros2_ci.yml/badge.svg"/></a>
 <a href="https://danielsanjosepro.github.io/crisp_controllers/"><img alt="Static Badge" src="https://img.shields.io/badge/docs-passing-blue?style=flat&link=https%3A%2F%2Fdanielsanjosepro.github.io%2Fcrisp_controllers%2F"></a>
-<a href="https://ieeexplore.ieee.org/document/11505755"><img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat></a>
+<a href="https://ieeexplore.ieee.org/document/11505755"><img alt="Static Badge" src="https://img.shields.io/badge/IEEE-RAP%202026-blue?style=flat&link=https%3A%2F%2Fieeexplore.ieee.org%2Fabstract%2Fdocument%2F11505755"></a>
 
 CRISP is a collection of real-time, C++ controllers for compliant torque-based control for manipulators compatible with `ros2_control`, including **Cartesian Impedance Control** and **Operational Space Control**. Developed for deploying high-level learning-based policies (VLA, Diffusion, ...) and teleoperation on your manipulator. It is robot-agnostic and compatible with any manipulator offering and effort interface. Check the [project website](https://utiasdsl.github.io/crisp_controllers/) for guides, getting started, demos and more!