diff --git a/available_ros2_types b/available_ros2_types
index 18e096661..5e257abb7 100644
--- a/available_ros2_types
+++ b/available_ros2_types
@@ -98,6 +98,7 @@ geometry_msgs/Wrench.msg
 geometry_msgs/WrenchStamped.msg
 kaiaai_msgs/KaiaaiTelemetry.msg
 kaiaai_msgs/KaiaaiTelemetry2.msg
+kaiaai_msgs/WifiState.msg
 lifecycle_msgs/ChangeState.srv
 lifecycle_msgs/GetAvailableStates.srv
 lifecycle_msgs/GetAvailableTransitions.srv
diff --git a/built_packages b/built_packages
index 7c4253710..9f7d4db8d 100644
--- a/built_packages
+++ b/built_packages
@@ -7,7 +7,7 @@ https://github.com/ament/googletest.git 1c2fdcd80b08fcfe6b70fa2a369ae6bab9d5f78e
 https://github.com/ament/uncrustify_vendor.git 94ed3f68d1d2e44e04398c4538509f5e78114dae
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
-https://github.com/kaiaai/kaiaai_msgs b52348d2523f99ac02a54db513ac735cc473a7c0
+https://github.com/kaiaai/kaiaai_msgs 2929154eaf359353cd3ffa7873967efa6ad68744
 https://github.com/micro-ROS/micro_ros_msgs.git 8562b604ca4ce5b29c849bfd4be0c49dcc2b6906
 https://github.com/micro-ROS/micro_ros_utilities 74f7a6b08690079ecbb0262db563aa96f667277d
 https://github.com/micro-ROS/rcl b087cfecebb57d44f09d5b9377231cc5caa59b51
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index babc95b37..a94dfd4e3 100644
Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index f3ea01549..43dd3fe26 100644
Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index 46696b8a6..d06f1054d 100644
Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index 727ebe627..09e4ba9da 100644
Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 1eea463b5..a07b18783 100644
Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 9461d67d3..5f09b115d 100644
Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index ca3ee34f1..ada27a51d 100644
Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ
diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index be07cdb44..60ed1e1cb 100644
Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ
diff --git a/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h b/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
index 8ef8f6931..184f42c53 100644
--- a/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
+++ b/src/kaiaai_msgs/msg/detail/kaiaai_telemetry2__struct.h
@@ -40,7 +40,7 @@ typedef struct kaiaai_msgs__msg__KaiaaiTelemetry2
   float odom_vel_yaw;
   rosidl_runtime_c__float__Sequence joint_pos;
   rosidl_runtime_c__float__Sequence joint_vel;
-  int8_t wifi_rssi;
+  int8_t wifi_rssi_dbm;
   uint16_t battery_mv;
   rosidl_runtime_c__uint16__Sequence distance_mm;
   rosidl_runtime_c__boolean__Sequence bumper;
diff --git a/src/kaiaai_msgs/msg/detail/wifi_state__functions.h b/src/kaiaai_msgs/msg/detail/wifi_state__functions.h
new file mode 100644
index 000000000..49fc0e55d
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/wifi_state__functions.h
@@ -0,0 +1,207 @@
+// generated from rosidl_generator_c/resource/idl__functions.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__FUNCTIONS_H_
+#define KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__FUNCTIONS_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stdlib.h>
+
+#include "rosidl_runtime_c/action_type_support_struct.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_runtime_c/service_type_support_struct.h"
+#include "rosidl_runtime_c/type_description/type_description__struct.h"
+#include "rosidl_runtime_c/type_description/type_source__struct.h"
+#include "rosidl_runtime_c/type_hash.h"
+#include "rosidl_runtime_c/visibility_control.h"
+#include "kaiaai_msgs/msg/rosidl_generator_c__visibility_control.h"
+
+#include "kaiaai_msgs/msg/detail/wifi_state__struct.h"
+
+/// Initialize msg/WifiState message.
+/**
+ * If the init function is called twice for the same message without
+ * calling fini inbetween previously allocated memory will be leaked.
+ * \param[in,out] msg The previously allocated message pointer.
+ * Fields without a default value will not be initialized by this function.
+ * You might want to call memset(msg, 0, sizeof(
+ * kaiaai_msgs__msg__WifiState
+ * )) before or use
+ * kaiaai_msgs__msg__WifiState__create()
+ * to allocate and initialize the message.
+ * \return true if initialization was successful, otherwise false
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__init(kaiaai_msgs__msg__WifiState * msg);
+
+/// Finalize msg/WifiState message.
+/**
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__WifiState__fini(kaiaai_msgs__msg__WifiState * msg);
+
+/// Create msg/WifiState message.
+/**
+ * It allocates the memory for the message, sets the memory to zero, and
+ * calls
+ * kaiaai_msgs__msg__WifiState__init().
+ * \return The pointer to the initialized message if successful,
+ * otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+kaiaai_msgs__msg__WifiState *
+kaiaai_msgs__msg__WifiState__create();
+
+/// Destroy msg/WifiState message.
+/**
+ * It calls
+ * kaiaai_msgs__msg__WifiState__fini()
+ * and frees the memory of the message.
+ * \param[in,out] msg The allocated message pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__WifiState__destroy(kaiaai_msgs__msg__WifiState * msg);
+
+/// Check for msg/WifiState message equality.
+/**
+ * \param[in] lhs The message on the left hand size of the equality operator.
+ * \param[in] rhs The message on the right hand size of the equality operator.
+ * \return true if messages are equal, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__are_equal(const kaiaai_msgs__msg__WifiState * lhs, const kaiaai_msgs__msg__WifiState * rhs);
+
+/// Copy a msg/WifiState message.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source message pointer.
+ * \param[out] output The target message pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer is null
+ *   or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__copy(
+  const kaiaai_msgs__msg__WifiState * input,
+  kaiaai_msgs__msg__WifiState * output);
+
+/// Retrieve pointer to the hash of the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_type_hash_t *
+kaiaai_msgs__msg__WifiState__get_type_hash(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeDescription *
+kaiaai_msgs__msg__WifiState__get_type_description(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the single raw source text that defined this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeSource *
+kaiaai_msgs__msg__WifiState__get_individual_type_description_source(
+  const rosidl_message_type_support_t * type_support);
+
+/// Retrieve pointer to the recursive raw sources that defined the description of this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_runtime_c__type_description__TypeSource__Sequence *
+kaiaai_msgs__msg__WifiState__get_type_description_sources(
+  const rosidl_message_type_support_t * type_support);
+
+/// Initialize array of msg/WifiState messages.
+/**
+ * It allocates the memory for the number of elements and calls
+ * kaiaai_msgs__msg__WifiState__init()
+ * for each element of the array.
+ * \param[in,out] array The allocated array pointer.
+ * \param[in] size The size / capacity of the array.
+ * \return true if initialization was successful, otherwise false
+ * If the array pointer is valid and the size is zero it is guaranteed
+ # to return true.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__Sequence__init(kaiaai_msgs__msg__WifiState__Sequence * array, size_t size);
+
+/// Finalize array of msg/WifiState messages.
+/**
+ * It calls
+ * kaiaai_msgs__msg__WifiState__fini()
+ * for each element of the array and frees the memory for the number of
+ * elements.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__WifiState__Sequence__fini(kaiaai_msgs__msg__WifiState__Sequence * array);
+
+/// Create array of msg/WifiState messages.
+/**
+ * It allocates the memory for the array and calls
+ * kaiaai_msgs__msg__WifiState__Sequence__init().
+ * \param[in] size The size / capacity of the array.
+ * \return The pointer to the initialized array if successful, otherwise NULL
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+kaiaai_msgs__msg__WifiState__Sequence *
+kaiaai_msgs__msg__WifiState__Sequence__create(size_t size);
+
+/// Destroy array of msg/WifiState messages.
+/**
+ * It calls
+ * kaiaai_msgs__msg__WifiState__Sequence__fini()
+ * on the array,
+ * and frees the memory of the array.
+ * \param[in,out] array The initialized array pointer.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+void
+kaiaai_msgs__msg__WifiState__Sequence__destroy(kaiaai_msgs__msg__WifiState__Sequence * array);
+
+/// Check for msg/WifiState message array equality.
+/**
+ * \param[in] lhs The message array on the left hand size of the equality operator.
+ * \param[in] rhs The message array on the right hand size of the equality operator.
+ * \return true if message arrays are equal in size and content, otherwise false.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__Sequence__are_equal(const kaiaai_msgs__msg__WifiState__Sequence * lhs, const kaiaai_msgs__msg__WifiState__Sequence * rhs);
+
+/// Copy an array of msg/WifiState messages.
+/**
+ * This functions performs a deep copy, as opposed to the shallow copy that
+ * plain assignment yields.
+ *
+ * \param[in] input The source array pointer.
+ * \param[out] output The target array pointer, which must
+ *   have been initialized before calling this function.
+ * \return true if successful, or false if either pointer
+ *   is null or memory allocation fails.
+ */
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+bool
+kaiaai_msgs__msg__WifiState__Sequence__copy(
+  const kaiaai_msgs__msg__WifiState__Sequence * input,
+  kaiaai_msgs__msg__WifiState__Sequence * output);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__FUNCTIONS_H_
diff --git a/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_introspection_c.h b/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_introspection_c.h
new file mode 100644
index 000000000..48d24b224
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_introspection_c.h
@@ -0,0 +1,26 @@
+// generated from rosidl_typesupport_introspection_c/resource/idl__rosidl_typesupport_introspection_c.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+#define KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "kaiaai_msgs/msg/rosidl_typesupport_introspection_c__visibility_control.h"
+
+ROSIDL_TYPESUPPORT_INTROSPECTION_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_introspection_c, kaiaai_msgs, msg, WifiState)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__ROSIDL_TYPESUPPORT_INTROSPECTION_C_H_
diff --git a/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_microxrcedds_c.h b/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_microxrcedds_c.h
new file mode 100644
index 000000000..b0a953ef1
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/wifi_state__rosidl_typesupport_microxrcedds_c.h
@@ -0,0 +1,39 @@
+// generated from rosidl_typesupport_microxrcedds_c/resource/idl__rosidl_typesupport_c.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+#ifndef KAIAAI_MSGS__MSG__WIFI_STATE__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
+#define KAIAAI_MSGS__MSG__WIFI_STATE__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
+
+
+#include <stddef.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include "rosidl_runtime_c/message_type_support_struct.h"
+#include "rosidl_typesupport_interface/macros.h"
+#include "kaiaai_msgs/msg/rosidl_typesupport_microxrcedds_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+size_t get_serialized_size_kaiaai_msgs__msg__WifiState(
+  const void * untyped_ros_message,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+size_t max_serialized_size_kaiaai_msgs__msg__WifiState(
+  bool * full_bounded,
+  size_t current_alignment);
+
+ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+  ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(rosidl_typesupport_microxrcedds_c, kaiaai_msgs, msg, WifiState)();
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif  // KAIAAI_MSGS__MSG__WIFI_STATE__ROSIDL_TYPESUPPORT_MICROXRCEDDS_C_H_
diff --git a/src/kaiaai_msgs/msg/detail/wifi_state__struct.h b/src/kaiaai_msgs/msg/detail/wifi_state__struct.h
new file mode 100644
index 000000000..b868de6d4
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/wifi_state__struct.h
@@ -0,0 +1,44 @@
+// generated from rosidl_generator_c/resource/idl__struct.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__STRUCT_H_
+#define KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__STRUCT_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdint.h>
+
+// Constants defined in the message
+
+// Include directives for member types
+// Member 'stamp'
+#include "builtin_interfaces/msg/detail/time__struct.h"
+
+/// Struct defined in msg/WifiState in the package kaiaai_msgs.
+typedef struct kaiaai_msgs__msg__WifiState
+{
+  builtin_interfaces__msg__Time stamp;
+  float rssi_dbm;
+} kaiaai_msgs__msg__WifiState;
+
+// Struct for a sequence of kaiaai_msgs__msg__WifiState.
+typedef struct kaiaai_msgs__msg__WifiState__Sequence
+{
+  kaiaai_msgs__msg__WifiState * data;
+  /// The number of valid items in data
+  size_t size;
+  /// The number of allocated items in data
+  size_t capacity;
+} kaiaai_msgs__msg__WifiState__Sequence;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__STRUCT_H_
diff --git a/src/kaiaai_msgs/msg/detail/wifi_state__type_support.h b/src/kaiaai_msgs/msg/detail/wifi_state__type_support.h
new file mode 100644
index 000000000..ced8a6375
--- /dev/null
+++ b/src/kaiaai_msgs/msg/detail/wifi_state__type_support.h
@@ -0,0 +1,33 @@
+// generated from rosidl_generator_c/resource/idl__type_support.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__TYPE_SUPPORT_H_
+#define KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__TYPE_SUPPORT_H_
+
+#include "rosidl_typesupport_interface/macros.h"
+
+#include "kaiaai_msgs/msg/rosidl_generator_c__visibility_control.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#include "rosidl_runtime_c/message_type_support_struct.h"
+
+// Forward declare the get type support functions for this type.
+ROSIDL_GENERATOR_C_PUBLIC_kaiaai_msgs
+const rosidl_message_type_support_t *
+ROSIDL_TYPESUPPORT_INTERFACE__MESSAGE_SYMBOL_NAME(
+  rosidl_typesupport_c,
+  kaiaai_msgs,
+  msg,
+  WifiState
+)();
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // KAIAAI_MSGS__MSG__DETAIL__WIFI_STATE__TYPE_SUPPORT_H_
diff --git a/src/kaiaai_msgs/msg/wifi_state.h b/src/kaiaai_msgs/msg/wifi_state.h
new file mode 100644
index 000000000..20a700ef2
--- /dev/null
+++ b/src/kaiaai_msgs/msg/wifi_state.h
@@ -0,0 +1,12 @@
+// generated from rosidl_generator_c/resource/idl.h.em
+// with input from kaiaai_msgs:msg/WifiState.idl
+// generated code does not contain a copyright notice
+
+#ifndef KAIAAI_MSGS__MSG__WIFI_STATE_H_
+#define KAIAAI_MSGS__MSG__WIFI_STATE_H_
+
+#include "kaiaai_msgs/msg/detail/wifi_state__struct.h"
+#include "kaiaai_msgs/msg/detail/wifi_state__functions.h"
+#include "kaiaai_msgs/msg/detail/wifi_state__type_support.h"
+
+#endif  // KAIAAI_MSGS__MSG__WIFI_STATE_H_
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index bfaf077d7..ffde98bea 100644
Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 9e69f73da..c00f24012 100644
Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 9e69f73da..c00f24012 100644
Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ