diff --git a/.github/ISSUE_TEMPLATE/bug_report.md b/.github/ISSUE_TEMPLATE/bug_report.md
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+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: bug
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**To Reproduce**
+Steps to reproduce the behavior:
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+ - OS: [e.g. Ubuntu Noble]
+ - Version [e.g. Jazzy]
+- Anything that may be unusual about your environment
+
+**Additional context**
+Add any other context about the problem here, especially include any modifications to ros2_control that relate to this issue.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
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+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: enhancement
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
diff --git a/.github/ISSUE_TEMPLATE/good-first-issue.md b/.github/ISSUE_TEMPLATE/good-first-issue.md
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+---
+name: Good first issue
+about: Create an issue to welcome a new contributor into the community.
+title: ''
+labels: ["good first issue"]
+assignees: ''
+
+---
+
+## Background
+
+Overview of your issue here.
+
+## Instructions
+Hi, this is a `good-first-issue` issue. This means we've worked to make it more legible to people who either **haven't contributed to our codebase before, or even folks who haven't contributed to open source before**.
+
+We're interested in helping you take the first step, and can answer questions and help you out along the way. Note that we're especially interested in contributions from underrepresented groups!
+
+We know that creating a pull request is the biggest barrier for new contributors. This issue is for you 💝
+
+If you have contributed before, **consider leaving this PR for someone new**, and looking through our general [bug](https://github.com/ros-controls/ros2_control/labels/bug) issues. Thanks!
+
+### 🤔 What you will need to know.
+
+Nothing. This issue is meant to welcome you to Open Source :) We are happy to walk you through the process.
+
+### 📋 Step by Step
+
+- [ ] 🙋 **Claim this issue**: Comment below. If someone else has claimed it, ask if they've opened a pull request already and if they're stuck -- maybe you can help them solve a problem or move it along!
+
+- [ ] 🗄️ **Create a local workspace** for making your changes and testing [following these instructions](https://docs.ros.org/en/rolling/Tutorials/Workspace/Creating-A-Workspace.html), for Step 3 use "Download Source Code" section with [these instructions](https://control.ros.org/master/doc/getting_started/getting_started.html#building-from-source).
+
+- [ ] 🍴 **Fork the repository** using the handy button at the top of the repository page and **clone** it into `~/ws_ros2_control/src/ros-controls/ros2_control`, [here is a guide that you can follow](https://guides.github.com/activities/forking/) (You will have to remove or empty the existing `ros2_control` folder before cloning your own fork)
+
+- [ ] **Checkout a new branch** using `git checkout -b <branch_name>`
+
+- [ ] 🤖 **Apply `pre-commit`** auto formatting, by running `pip3 install pre-commit` and running `pre-commit install` in the ros2_control repo.
+
+- [ ] 💾 **Commit and Push** your changes
+
+- [ ] 🔀 **Start a Pull Request** to request to merge your code into `master`. There are two ways that you can start a pull request:
+1. If you are not familiar with GitHub or how to create a pull request, [here is a guide you can follow](https://guides.github.com/activities/hello-world/) on how GitHub works.
+
+- [ ] 🏁 **Done** Ask in comments for a review :)
+
+### Is someone else already working on this?
+
+🔗- We encourage contributors to link to the original issue in their pull request so all users can easily see if someone's already started on it.
+
+👥- **If someone seems stuck, offer them some help!**
+
+### 🤔❓ Questions?
+
+Don’t hesitate to ask questions or to get help if you feel like you are getting stuck. For example leave a comment below!
+Furthermore, you find helpful resources here:
+* [ROS 2 Control Contribution Guide](https://control.ros.org/master/doc/contributing/contributing.html)
+* [ROS 2 Tutorials](https://docs.ros.org/en/rolling/Tutorials.html)
+* [Robotics Stack Exchange](https://robotics.stackexchange.com)
+
+**Good luck with your first issue!**