diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index b8f1f2028..c959f9874 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -26,7 +26,7 @@ jobs:
         mkdir -p ${{github.workspace}}/devel     # compilation cache for formatter & linter
 
     - name: Checkout
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         path: src/franka_ros
 
@@ -35,7 +35,7 @@ jobs:
 
     - name: Build Docker Image
       if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
-      uses: docker/build-push-action@v2
+      uses: docker/build-push-action@v6
       with:
         tags: franka_ros:${{matrix.ros_distro}}
         file: .ci/Dockerfile.${{matrix.ros_distro}}
@@ -74,7 +74,7 @@ jobs:
         run: |
           source /ros/devel/setup.bash
           cmake --build /ros/build --target check-format
-    
+
     - name: Check Python Format
       if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
       uses: addnab/docker-run-action@v3
@@ -111,7 +111,7 @@ jobs:
           catkin_test_results
 
     - name: Upload Tests to Artifacts
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v4
       if:   github.ref == 'refs/heads/develop' || ${{env.FLAVOR == matrix.ros_distro}}
       with:
         name: test-results
diff --git a/franka_control/CMakeLists.txt b/franka_control/CMakeLists.txt
index b2e24688f..a1bbf1122 100644
--- a/franka_control/CMakeLists.txt
+++ b/franka_control/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.4)
 project(franka_control)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 find_package(catkin REQUIRED COMPONENTS
   controller_interface
   controller_manager
diff --git a/franka_example_controllers/CMakeLists.txt b/franka_example_controllers/CMakeLists.txt
index 2ad6b6b09..5486f3178 100644
--- a/franka_example_controllers/CMakeLists.txt
+++ b/franka_example_controllers/CMakeLists.txt
@@ -2,8 +2,6 @@ cmake_minimum_required(VERSION 3.4)
 project(franka_example_controllers)
 
 set(CMAKE_BUILD_TYPE Release)
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 find_package(catkin REQUIRED COMPONENTS
   controller_interface
diff --git a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp
index fa9eb7785..d81cfcc06 100644
--- a/franka_example_controllers/src/cartesian_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/cartesian_impedance_example_controller.cpp
@@ -10,6 +10,9 @@
 #include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 
+using boost::placeholders::_1;
+using boost::placeholders::_2;
+
 #include <franka_example_controllers/pseudo_inversion.h>
 
 namespace franka_example_controllers {
diff --git a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp
index ba51d4722..9883271bc 100644
--- a/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/dual_arm_cartesian_impedance_example_controller.cpp
@@ -18,6 +18,9 @@
 #include <tf/transform_listener.h>
 #include <tf_conversions/tf_eigen.h>
 
+using boost::placeholders::_1;
+using boost::placeholders::_2;
+
 namespace franka_example_controllers {
 
 bool DualArmCartesianImpedanceExampleController::initArm(
diff --git a/franka_example_controllers/src/force_example_controller.cpp b/franka_example_controllers/src/force_example_controller.cpp
index 7864d4987..2df8902f9 100644
--- a/franka_example_controllers/src/force_example_controller.cpp
+++ b/franka_example_controllers/src/force_example_controller.cpp
@@ -11,6 +11,9 @@
 
 #include <franka/robot_state.h>
 
+using boost::placeholders::_1;
+using boost::placeholders::_2;
+
 namespace franka_example_controllers {
 
 bool ForceExampleController::init(hardware_interface::RobotHW* robot_hw,
diff --git a/franka_example_controllers/src/teleop_gripper_node.cpp b/franka_example_controllers/src/teleop_gripper_node.cpp
index e1fd7c21c..26d2cdb9e 100644
--- a/franka_example_controllers/src/teleop_gripper_node.cpp
+++ b/franka_example_controllers/src/teleop_gripper_node.cpp
@@ -17,6 +17,9 @@
 #include <memory>
 #include <mutex>
 
+using boost::placeholders::_1;
+using boost::placeholders::_2;
+
 using franka_gripper::GraspAction;
 using franka_gripper::HomingAction;
 using franka_gripper::MoveAction;
diff --git a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp
index acd815452..398f80c82 100644
--- a/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp
+++ b/franka_example_controllers/src/teleop_joint_pd_example_controller.cpp
@@ -17,6 +17,8 @@
 #include <vector>
 
 using Vector7d = Eigen::Matrix<double, 7, 1>;
+using boost::placeholders::_1;
+using boost::placeholders::_2;
 
 const std::string kControllerName = "TeleopJointPDExampleController";
 
diff --git a/franka_gazebo/CMakeLists.txt b/franka_gazebo/CMakeLists.txt
index 56bdcae13..8757b7949 100644
--- a/franka_gazebo/CMakeLists.txt
+++ b/franka_gazebo/CMakeLists.txt
@@ -11,9 +11,6 @@ if(${ARCHITECTURE} STREQUAL "armv7l")
 endif()
 
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 # Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
   gazebo_dev
diff --git a/franka_gazebo/src/franka_gripper_sim.cpp b/franka_gazebo/src/franka_gripper_sim.cpp
index 7f8c17ab2..672b54205 100644
--- a/franka_gazebo/src/franka_gripper_sim.cpp
+++ b/franka_gazebo/src/franka_gripper_sim.cpp
@@ -4,6 +4,8 @@
 #include <franka_gazebo/franka_gripper_sim.h>
 #include <pluginlib/class_list_macros.h>
 
+using boost::placeholders::_1;
+
 namespace franka_gazebo {
 
 using actionlib::SimpleActionServer;
diff --git a/franka_gripper/CMakeLists.txt b/franka_gripper/CMakeLists.txt
index 6a830b389..ca97e652f 100644
--- a/franka_gripper/CMakeLists.txt
+++ b/franka_gripper/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.4)
 project(franka_gripper)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   message_generation
diff --git a/franka_hw/CMakeLists.txt b/franka_hw/CMakeLists.txt
index d7888a831..2f5bcbcb1 100644
--- a/franka_hw/CMakeLists.txt
+++ b/franka_hw/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.4)
 project(franka_hw)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   controller_interface
diff --git a/franka_hw/include/franka_hw/resource_helpers.h b/franka_hw/include/franka_hw/resource_helpers.h
index 111461a01..30d40a1aa 100644
--- a/franka_hw/include/franka_hw/resource_helpers.h
+++ b/franka_hw/include/franka_hw/resource_helpers.h
@@ -2,6 +2,7 @@
 // Use of this source code is governed by the Apache-2.0 license, see LICENSE
 #pragma once
 
+#include <stdint.h>
 #include <list>
 #include <map>
 #include <string>
diff --git a/franka_hw/package.xml b/franka_hw/package.xml
index e64ea5804..8629d7942 100644
--- a/franka_hw/package.xml
+++ b/franka_hw/package.xml
@@ -31,8 +31,4 @@
   <test_depend>franka_description</test_depend>
   <test_depend>gtest</test_depend>
   <test_depend>rostest</test_depend>
-
-  <export>
-      <hardware_interface plugin="${prefix}/franka_combinable_hw_plugin.xml"/>
-  </export>
 </package>
diff --git a/franka_visualization/CMakeLists.txt b/franka_visualization/CMakeLists.txt
index d8c55a32c..9d830b4e5 100644
--- a/franka_visualization/CMakeLists.txt
+++ b/franka_visualization/CMakeLists.txt
@@ -1,9 +1,6 @@
 cmake_minimum_required(VERSION 3.4)
 project(franka_visualization)
 
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
 find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   roscpp