diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8916227..9463173 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -5,6 +5,19 @@ All notable changes to the `robotiq_hande_driver` package will be documented in
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [0.2.0] - 2025-08-25
+
+### Added
+
+* [PR-14](https://github.com/AGH-CEAI/robotiq_hande_description/pull/14) - Adds new parameters for the ros2_control: `frequency_hz`, `create_socat_tty`, `ip_adress` and `port`.
+
+### Changed
+
+* [PR-15](https://github.com/AGH-CEAI/robotiq_hande_description/pull/15) - Renamed `ip_adress` to `socat_ip_address` and `port` to `socat_port`.
+
+* [PR-14](https://github.com/AGH-CEAI/robotiq_hande_description/pull/14) - Updated CMake version from `3.8` to `3.16`; changed ros2_control param name `tty` to `tty_port`.
+
+
 ## [0.1.1] - 2025-03-18
 
 ### Fixed
@@ -16,6 +29,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+* [PR-11](https://github.com/AGH-CEAI/robotiq_hande_description/pull/11) - Parametrized link transform for the gripper.
 * [PR-1](https://github.com/AGH-CEAI/robotiq_hande_description/pull/1) - Configuration parameters for ModbusRTU.
 
 ### Changed
diff --git a/CITATION.cff b/CITATION.cff
index 5404876..21b2530 100644
--- a/CITATION.cff
+++ b/CITATION.cff
@@ -10,6 +10,8 @@ authors:
   - family-names: Płachno
     given-names: Jakub
 title: "Robotiq Hand-E ROS 2 Description Package"
-version: 0.1.1
+version: 0.2.0
 identifiers:
+  - type: doi
+    value: 10.5281/zenodo.15047935
 date-released: 2025-03-18
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 73b06c0..bb97564 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.8)
+cmake_minimum_required(VERSION 3.16)
 project(robotiq_hande_description)
 
 find_package(ament_cmake REQUIRED)
diff --git a/README.md b/README.md
index 0819fad..421a935 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,11 @@
 ### For the driver, check the [robotiq_hande_driver](https://github.com/AGH-CEAI/robotiq_hande_driver/) package from AGH UST.
 ---
 
+[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
 [![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit)](https://github.com/pre-commit/pre-commit)
+[![DOI](https://zenodo.org/badge/760425699.svg)](https://doi.org/10.5281/zenodo.15047934)
+
+
 
 This package contains meshes and URDF description of [Robotiq Hand-E gripper](https://robotiq.com/products/hand-e-adaptive-robot-gripper). It was originally developed for integration with Universal Robots e-series (UR5e), however it is be possible to change the coupler model to fit your needs. **PRs are welcome!**
 
@@ -38,12 +42,13 @@ For estabilishg a connection with [robotiq_hande_driver](https://github.com/AGH-
     parent="tool0"
     grip_pos_min="0.0"
     grip_pos_max="0.025"
-    tty="/tmp/ttyUR"
+    tty_port="/tmp/ttyUR"
     baudrate="115200"
     parity="N"
     data_bits="8"
     stop_bit="1"
     slave_id="9"
+    frequency_hz="10"
     use_fake_hardware="false"
   />
 ```
diff --git a/package.xml b/package.xml
index 4676c3c..574a028 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>robotiq_hande_description</name>
-  <version>0.1.1</version>
+  <version>0.2.0</version>
   <description>Contains meshes and URDF description of the Robotiq Hand-E gripper.</description>
   <maintainer email="mac.aleksandrowicz@gmail.com">Maciej Aleksandrowicz</maintainer>
   <license>Apache-2.0</license>
diff --git a/urdf/robotiq_hande_gripper.ros2_control.xacro b/urdf/robotiq_hande_gripper.ros2_control.xacro
index e0ea0af..5fda327 100644
--- a/urdf/robotiq_hande_gripper.ros2_control.xacro
+++ b/urdf/robotiq_hande_gripper.ros2_control.xacro
@@ -1,6 +1,9 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hande_ros2_control" params="name prefix grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware">
+  <xacro:macro
+    name="robotiq_hande_ros2_control"
+    params="name prefix grip_pos_min grip_pos_max tty_port baudrate parity data_bits stop_bit slave_id frequency_hz create_socat_tty socat_ip_address socat_port use_fake_hardware"
+  >
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
@@ -11,12 +14,18 @@
           <plugin>robotiq_hande_driver/RobotiqHandeHardwareInterface</plugin>
           <param name="grip_pos_min">${grip_pos_min}</param>
           <param name="grip_pos_max">${grip_pos_max}</param>
-          <param name="tty">${tty}</param>
+
+          <param name="tty_port">${tty_port}</param>
           <param name="baudrate">${baudrate}</param>
           <param name="parity">${parity}</param>
           <param name="data_bits">${data_bits}</param>
           <param name="stop_bit">${stop_bit}</param>
           <param name="slave_id">${slave_id}</param>
+          <param name="frequency_hz">${frequency_hz}</param>
+
+          <param name="create_socat_tty">${create_socat_tty}</param>
+          <param name="socat_ip_address">${socat_ip_address}</param>
+          <param name="socat_port">${socat_port}</param>
         </xacro:unless>
       </hardware>
 
diff --git a/urdf/robotiq_hande_gripper.urdf.xacro b/urdf/robotiq_hande_gripper.urdf.xacro
index e868390..43b64fd 100644
--- a/urdf/robotiq_hande_gripper.urdf.xacro
+++ b/urdf/robotiq_hande_gripper.urdf.xacro
@@ -3,12 +3,18 @@
   <xacro:arg name="parent" default="tool0"/>
   <xacro:arg name="grip_pos_min" default="0"/>
   <xacro:arg name="grip_pos_max" default="0.025"/>
-  <xacro:arg name="tty" default="/tmp/ttyUR"/>
+  <xacro:arg name="tty_port" default="/tmp/ttyUR"/>
   <xacro:arg name="baudrate" default="115200"/>
   <xacro:arg name="parity" default="N"/>
   <xacro:arg name="data_bits" default="8"/>
   <xacro:arg name="stop_bit" default="1"/>
   <xacro:arg name="slave_id" default="9"/>
+  <xacro:arg name="frequency_hz" default="10"/>
+
+  <xacro:arg name="create_socat_tty" default="false"/>
+  <xacro:arg name="socat_ip_address" default="192.168.100.10"/>
+  <xacro:arg name="socat_port" default="54321"/>
+
   <xacro:arg name="use_fake_hardware" default="true"/>
 
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.xacro"/>
@@ -20,12 +26,16 @@
     parent="$(arg parent)"
     grip_pos_min="$(arg grip_pos_min)"
     grip_pos_max="$(arg grip_pos_max)"
-    tty="$(arg tty)"
+    tty_port="$(arg tty_port)"
     baudrate="$(arg baudrate)"
     parity="$(arg parity)"
     data_bits="$(arg data_bits)"
     stop_bit="$(arg stop_bit)"
     slave_id="$(arg slave_id)"
+    frequency_hz="$(arg frequency_hz)"
+    create_socat_tty="$(arg create_socat_tty)"
+    socat_ip_address="$(arg socat_ip_address)"
+    socat_port="$(arg socat_port)"
     use_fake_hardware="$(arg use_fake_hardware)"
   />
 </robot>
diff --git a/urdf/robotiq_hande_gripper.xacro b/urdf/robotiq_hande_gripper.xacro
index 5d2cb81..8ce2b5f 100644
--- a/urdf/robotiq_hande_gripper.xacro
+++ b/urdf/robotiq_hande_gripper.xacro
@@ -7,19 +7,44 @@
   <xacro:include filename="$(find robotiq_hande_description)/urdf/robotiq_hande_gripper.ros2_control.xacro"/>
   <xacro:include filename="$(find robotiq_hande_description)/urdf/cylinder_inertial.xacro"/>
 
-  <xacro:macro name="robotiq_hande_gripper" params="name prefix parent grip_pos_min grip_pos_max tty baudrate parity data_bits stop_bit slave_id use_fake_hardware coupler_mass:=0.119">
+  <xacro:macro
+    name="robotiq_hande_gripper"
+    params="name
+            prefix
+            parent
+            grip_pos_min
+            grip_pos_max
+            tty_port
+            baudrate
+            parity
+            data_bits
+            stop_bit
+            slave_id
+            use_fake_hardware
+            frequency_hz:=10
+            create_socat_tty:=false
+            socat_ip_address:=192.168.100.10
+            socat_port:=54321
+            coupler_mass:=0.119
+            xyz:='0 0 0'
+            rpy:='0 0 0'"
+  >
     <!-- ros2_control parameters  -->
     <xacro:robotiq_hande_ros2_control
       name="${name}"
       prefix="${prefix}"
       grip_pos_min="${grip_pos_min}"
       grip_pos_max="${grip_pos_max}"
-      tty="${tty}"
+      tty_port="${tty_port}"
       baudrate="${baudrate}"
       parity="${parity}"
       data_bits="${data_bits}"
       stop_bit="${stop_bit}"
       slave_id="${slave_id}"
+      frequency_hz="${frequency_hz}"
+      create_socat_tty="${create_socat_tty}"
+      socat_ip_address="${socat_ip_address}"
+      socat_port="${socat_port}"
       use_fake_hardware="${use_fake_hardware}"
     />
 
@@ -36,7 +61,7 @@
     <xacro:arg name="hande_radius" default="0.0375"/>
 
     <joint name="${prefix}robotiq_hande_coupler_joint" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <origin xyz="${xyz}" rpy="${rpy}"/>
       <parent link="${parent}"/>
       <child link="${prefix}robotiq_hande_coupler"/>
     </joint>