From 0e810a9edf79f1d77353b4b386c13e5687218547 Mon Sep 17 00:00:00 2001
From: Ruichao <ruichao.wu@ipa.fraunhofer.de>
Date: Thu, 2 Oct 2025 16:26:10 +0200
Subject: [PATCH 1/4] Update build workflow to use JDK 21

---
 .github/workflows/build.yml | 41 ++++++++++++++++++-------------------
 1 file changed, 20 insertions(+), 21 deletions(-)

diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index b04959ac..f416ffbf 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -1,29 +1,28 @@
 name: RosTooling CI
 
-on: [push,pull_request]
+on: [push, pull_request]
 
 jobs:
   build:
     runs-on: ubuntu-latest
 
     steps:
-    - name: Checkout
-      uses: actions/checkout@v2
-      with:
-        path: RosTooling
-    - name: Install jdk 19
-      run: sudo apt install -y openjdk-19-jre
-    - name: Set up Java
-      uses: actions/setup-java@v2
-      with:
-        distribution: 'adopt'
-        java-version: '19'
-    - name: Debug
-      run: |
-        uname -a
-        mvn --version
-        java --version
-    - name: Build and test with Maven
-      run: |
-        pushd RosTooling
-        mvn clean verify -f plugins/de.fraunhofer.ipa.ros.parent/pom.xml
+      - name: Checkout
+        uses: actions/checkout@v2
+        with:
+          path: RosTooling
+      - name: Set up Java
+        uses: actions/setup-java@v4
+        with:
+          distribution: "temurin"
+          java-version: "21"
+          cache: "maven"
+      - name: Debug
+        run: |
+          uname -a
+          mvn --version
+          java --version
+      - name: Build and test with Maven
+        run: |
+          pushd RosTooling
+          mvn clean verify -f plugins/de.fraunhofer.ipa.ros.parent/pom.xml

From 4d52b3033f6a25c5eaac2ce7c33e69dbaa363053 Mon Sep 17 00:00:00 2001
From: Ruichao <ruichao.wu@ipa.fraunhofer.de>
Date: Thu, 2 Oct 2025 17:31:16 +0200
Subject: [PATCH 2/4] Update project to use Java SE 21 and Xtext 2.39.0

- Updated the generated files to reflect the new Xtext version (2.39.0).
- Changed Java SE version from 19 to 21 in .classpath and .settings/org.eclipse.jdt.core.prefs.
- Updated MANIFEST.MF to require Java SE 21.
- Adjusted the expected size of the injectors map in XtextActivator.
- Modified pom.xml to use the variable for MWE2 version.
- Cleaned up whitespace and formatting in various generator files for consistency.
- Added a new utility method to remove leading slashes in GeneratorHelpers.
---
 plugins/de.fraunhofer.ipa.ros.edit/.classpath |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../de.fraunhofer.ipa.ros.editor/.classpath   |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../ros/presentation/RosArtifactWizard.java   |  86 +++----
 plugins/de.fraunhofer.ipa.ros.feature/pom.xml |  14 +-
 plugins/de.fraunhofer.ipa.ros.parent/pom.xml  |  21 +-
 .../de.fraunhofer.ipa.ros.plugin/.classpath   |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   9 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../ipa/ros/ide/AbstractBasicsIdeModule.java  |   2 +-
 .../ipa/ros/ide/AbstractRosIdeModule.java     |   2 +-
 .../ide/contentassist/antlr/BasicsParser.java |   2 +-
 .../PartialBasicsContentAssistParser.java     |   2 +-
 .../antlr/PartialRosContentAssistParser.java  |   2 +-
 .../ide/contentassist/antlr/RosParser.java    |   2 +-
 .../antlr/internal/InternalBasicsParser.g     |   2 +-
 .../antlr/internal/InternalRosParser.g        |   2 +-
 .../antlr/lexer/InternalBasicsLexer.g         |   2 +-
 .../antlr/lexer/InternalRosLexer.g            |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   4 +-
 .../ipa/ros/tests/BasicsInjectorProvider.java |   6 +-
 .../ipa/ros/tests/RosInjectorProvider.java    |   6 +-
 .../de.fraunhofer.ipa.ros.xtext.ui/.classpath |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 .../ipa/ros/ui/AbstractBasicsUiModule.java    |   2 +-
 .../ipa/ros/ui/AbstractRosUiModule.java       |   2 +-
 .../ui/BasicsExecutableExtensionFactory.java  |   2 +-
 .../ros/ui/RosExecutableExtensionFactory.java |   2 +-
 .../AbstractBasicsProposalProvider.java       |   2 +-
 .../AbstractRosProposalProvider.java          |   2 +-
 .../RosValidatorConfigurationBlock.java       |   2 +-
 .../ros/xtext/ui/internal/XtextActivator.java |   6 +-
 .../de.fraunhofer.ipa.ros.xtext/.classpath    |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 plugins/de.fraunhofer.ipa.ros.xtext/pom.xml   |   2 +-
 .../ipa/ros/AbstractBasicsRuntimeModule.java  |   2 +-
 .../ipa/ros/AbstractRosRuntimeModule.java     |   2 +-
 .../ros/BasicsStandaloneSetupGenerated.java   |   2 +-
 .../ipa/ros/RosStandaloneSetupGenerated.java  |   2 +-
 .../antlr/BasicsAntlrTokenFileProvider.java   |   2 +-
 .../ipa/ros/parser/antlr/BasicsParser.java    |   2 +-
 .../antlr/RosAntlrTokenFileProvider.java      |   2 +-
 .../ipa/ros/parser/antlr/RosParser.java       |   2 +-
 .../antlr/internal/InternalBasicsParser.g     |   2 +-
 .../parser/antlr/internal/InternalRosParser.g |   2 +-
 .../parser/antlr/lexer/InternalBasicsLexer.g  |   2 +-
 .../ros/parser/antlr/lexer/InternalRosLexer.g |   2 +-
 .../scoping/AbstractBasicsScopeProvider.java  |   2 +-
 .../ros/scoping/AbstractRosScopeProvider.java |   2 +-
 .../serializer/BasicsSemanticSequencer.java   |   2 +-
 .../serializer/BasicsSyntacticSequencer.java  |   2 +-
 .../ros/serializer/RosSemanticSequencer.java  |   2 +-
 .../ros/serializer/RosSyntacticSequencer.java |   2 +-
 .../ipa/ros/services/BasicsGrammarAccess.java |   2 +-
 .../ipa/ros/services/RosGrammarAccess.java    |   2 +-
 .../validation/AbstractBasicsValidator.java   |   2 +-
 .../ros/validation/AbstractRosValidator.java  |   2 +-
 .../RosConfigurableIssueCodesProvider.java    |   2 +-
 .../src/de/fraunhofer/ipa/ros/Basics.xtext    |   2 +-
 plugins/de.fraunhofer.ipa.ros/.classpath      |   8 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../ipa/ros1/ide/AbstractRos1IdeModule.java   |   2 +-
 .../antlr/PartialRos1ContentAssistParser.java |   2 +-
 .../ide/contentassist/antlr/Ros1Parser.java   |   2 +-
 .../antlr/internal/InternalRos1Parser.g       |   2 +-
 .../antlr/lexer/InternalRos1Lexer.g           |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 .../ipa/ros1/ui/AbstractRos1UiModule.java     |   2 +-
 .../ui/Ros1ExecutableExtensionFactory.java    |   2 +-
 .../AbstractRos1ProposalProvider.java         |   2 +-
 .../xtext/ui/internal/XtextActivator.java     |   6 +-
 .../de.fraunhofer.ipa.ros1.xtext/.classpath   |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 plugins/de.fraunhofer.ipa.ros1.xtext/pom.xml  |   2 +-
 .../ipa/ros1/AbstractRos1RuntimeModule.java   |   2 +-
 .../ros1/Ros1StandaloneSetupGenerated.java    |   2 +-
 .../antlr/Ros1AntlrTokenFileProvider.java     |   2 +-
 .../ipa/ros1/parser/antlr/Ros1Parser.java     |   2 +-
 .../antlr/internal/InternalRos1Parser.g       |   2 +-
 .../parser/antlr/lexer/InternalRos1Lexer.g    |   2 +-
 .../scoping/AbstractRos1ScopeProvider.java    |   2 +-
 .../serializer/Ros1SemanticSequencer.java     |   2 +-
 .../serializer/Ros1SyntacticSequencer.java    |   2 +-
 .../ipa/ros1/services/Ros1GrammarAccess.java  |   2 +-
 .../validation/AbstractRos1Validator.java     |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../ipa/ros2/ide/AbstractRos2IdeModule.java   |   2 +-
 .../antlr/PartialRos2ContentAssistParser.java |   2 +-
 .../ide/contentassist/antlr/Ros2Parser.java   |   2 +-
 .../antlr/internal/InternalRos2Parser.g       |   2 +-
 .../antlr/lexer/InternalRos2Lexer.g           |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 .../ipa/ros2/ui/AbstractRos2UiModule.java     |   2 +-
 .../ui/Ros2ExecutableExtensionFactory.java    |   2 +-
 .../AbstractRos2ProposalProvider.java         |   2 +-
 .../xtext/ui/internal/XtextActivator.java     |   6 +-
 .../de.fraunhofer.ipa.ros2.xtext/.classpath   |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 plugins/de.fraunhofer.ipa.ros2.xtext/pom.xml  |   2 +-
 .../ipa/ros2/AbstractRos2RuntimeModule.java   |   2 +-
 .../ros2/Ros2StandaloneSetupGenerated.java    |   2 +-
 .../antlr/Ros2AntlrTokenFileProvider.java     |   2 +-
 .../ipa/ros2/parser/antlr/Ros2Parser.java     |   2 +-
 .../antlr/internal/InternalRos2Parser.g       |   2 +-
 .../parser/antlr/lexer/InternalRos2Lexer.g    |   2 +-
 .../scoping/AbstractRos2ScopeProvider.java    |   2 +-
 .../serializer/Ros2SemanticSequencer.java     |   2 +-
 .../serializer/Ros2SyntacticSequencer.java    |   2 +-
 .../ipa/ros2/services/Ros2GrammarAccess.java  |   2 +-
 .../validation/AbstractRos2Validator.java     |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../provider/SubSystemItemProvider.java       | 174 ++++++-------
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../ide/AbstractRosSystemIdeModule.java       |   2 +-
 .../PartialRosSystemContentAssistParser.java  |   2 +-
 .../contentassist/antlr/RosSystemParser.java  |   2 +-
 .../antlr/internal/InternalRosSystemParser.g  |   2 +-
 .../antlr/lexer/InternalRosSystemLexer.g      |   2 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   8 +-
 .../ui/AbstractRosSystemUiModule.java         |   2 +-
 .../RosSystemExecutableExtensionFactory.java  |   2 +-
 .../AbstractRosSystemProposalProvider.java    |   2 +-
 .../xtext/ui/internal/XtextActivator.java     |   6 +-
 .../.classpath                                |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   6 +-
 .../de.fraunhofer.ipa.rossystem.xtext/pom.xml |   2 +-
 .../AbstractRosSystemRuntimeModule.java       |   2 +-
 .../RosSystemStandaloneSetupGenerated.java    |   2 +-
 .../RosSystemAntlrTokenFileProvider.java      |   2 +-
 .../parser/antlr/RosSystemParser.java         |   2 +-
 .../antlr/internal/InternalRosSystemParser.g  |   2 +-
 .../antlr/lexer/InternalRosSystemLexer.g      |   2 +-
 .../AbstractRosSystemScopeProvider.java       |   2 +-
 .../RosSystemSemanticSequencer.java           |   2 +-
 .../RosSystemSyntacticSequencer.java          |   2 +-
 .../services/RosSystemGrammarAccess.java      |   2 +-
 .../AbstractRosSystemValidator.java           |   2 +-
 .../BridgesLaunchFileCompiler_ROS2.xtend      |   4 +-
 .../generator/CMakeListsCompiler.xtend        |  12 +-
 .../generator/GeneratorHelpers.xtend          |  29 ++-
 .../generator/PackageXmlCompiler.xtend        |  18 +-
 .../generator/PlantUMLCompiler.xtend          |  17 +-
 .../Ros1BridgesYamlFileCompiler.xtend         |   4 +-
 .../rossystem/generator/SetupPyCompiler.xtend |  12 +-
 .../de.fraunhofer.ipa.rossystem/.classpath    |   2 +-
 .../.settings/org.eclipse.jdt.core.prefs      |   6 +-
 .../META-INF/MANIFEST.MF                      |   2 +-
 .../src/system/SubSystem.java                 |  40 +--
 .../src/system/impl/SubSystemImpl.java        | 236 +++++++++---------
 181 files changed, 578 insertions(+), 574 deletions(-)

diff --git a/plugins/de.fraunhofer.ipa.ros.edit/.classpath b/plugins/de.fraunhofer.ipa.ros.edit/.classpath
index 5651b4f6..2acd3719 100644
--- a/plugins/de.fraunhofer.ipa.ros.edit/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.edit/.classpath
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
     <classpathentry kind="src" path="src"/>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19">
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21">
         <attributes>
             <attribute name="maven.pomderived" value="true"/>
         </attributes>
diff --git a/plugins/de.fraunhofer.ipa.ros.edit/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.edit/.settings/org.eclipse.jdt.core.prefs
index cf12e755..7cbe36f2 100644
--- a/plugins/de.fraunhofer.ipa.ros.edit/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.edit/.settings/org.eclipse.jdt.core.prefs
@@ -1,11 +1,11 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.edit/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.edit/META-INF/MANIFEST.MF
index 9d14690c..20e48497 100644
--- a/plugins/de.fraunhofer.ipa.ros.edit/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.edit/META-INF/MANIFEST.MF
@@ -8,7 +8,7 @@ Bundle-ClassPath: .
 Bundle-Activator: ros.provider.RosEditPlugin$Implementation
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: primitives.provider,
  ros.provider
 Require-Bundle: org.eclipse.core.runtime,
diff --git a/plugins/de.fraunhofer.ipa.ros.editor/.classpath b/plugins/de.fraunhofer.ipa.ros.editor/.classpath
index 468f6d63..abf6bcb3 100644
--- a/plugins/de.fraunhofer.ipa.ros.editor/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.editor/.classpath
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
     <classpathentry kind="src" path="src"/>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/plugins/de.fraunhofer.ipa.ros.editor/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.editor/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros.editor/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.editor/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.editor/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.editor/META-INF/MANIFEST.MF
index 3a7422ac..6bbb68d8 100644
--- a/plugins/de.fraunhofer.ipa.ros.editor/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.editor/META-INF/MANIFEST.MF
@@ -8,7 +8,7 @@ Bundle-ClassPath: .
 Bundle-Activator: ros.presentation.RosEditorPlugin$Implementation
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: primitives.presentation,
  ros.presentation
 Require-Bundle: org.eclipse.core.runtime,
diff --git a/plugins/de.fraunhofer.ipa.ros.editor/src/ros/presentation/RosArtifactWizard.java b/plugins/de.fraunhofer.ipa.ros.editor/src/ros/presentation/RosArtifactWizard.java
index 76b40f70..332c708f 100644
--- a/plugins/de.fraunhofer.ipa.ros.editor/src/ros/presentation/RosArtifactWizard.java
+++ b/plugins/de.fraunhofer.ipa.ros.editor/src/ros/presentation/RosArtifactWizard.java
@@ -115,49 +115,49 @@ private void doFinish( String ProjectName, IProgressMonitor monitor)
             if (!project.isOpen()) {
                 project.open(IResource.BACKGROUND_REFRESH, monitor);
             }
-	        //IProject project = ModelingProjectManager.INSTANCE.createNewModelingProject(ProjectName, null, true, monitor);
-	        IProjectDescription description = project.getDescription();
-	        String[] natures = description.getNatureIds();
-	        String[] newNatures = new String[natures.length + 1];
-	        System.arraycopy(natures, 0, newNatures, 0, natures.length);
-	        newNatures[natures.length] = "org.eclipse.xtext.ui.shared.xtextNature";
-	
-	        //clone, import and add reference to Communication Objects
-	        try {
-	            ImportCommObjectsHandler.CloneAndImport();
-	        } catch (InvocationTargetException e) {
-	            // TODO Auto-generated catch block
-	            //e.printStackTrace();
-	        } catch (InterruptedException e) {
-	            // TODO Auto-generated catch block
-	            //e.printStackTrace();
-	        }
-	        IProject ObjectsProject = ResourcesPlugin.getWorkspace().getRoot().getProject("de.fraunhofer.ipa.ros.communication.objects");
-	        description.setReferencedProjects(new IProject[] {ObjectsProject});
-	        description.setNatureIds(newNatures);
-	        project.setDescription(description, monitor);
-	
-	        IFolder dir = project.getFolder("rosnodes");
-	        dir.create(true, true, null);
-	        IFile file = project.getFile("rosnodes/"+ProjectName+".ros2");
-	        //System.out.println(file.getFullPath());
-	        project.open(IResource.BACKGROUND_REFRESH, monitor);
-	
-	        ResourceSet resourceSet = new ResourceSetImpl();
-	        Resource resource = resourceSet.createResource(URI.createPlatformResourceURI(file.getFullPath().toOSString(),true));
-	        EObject PackageRootObject = RosFactory.eINSTANCE.createAmentPackage();
-	        //EObject PackageSetRootObject = RosFactory.eINSTANCE.createPackageSet();
-	
-	        if (PackageRootObject != null) {
-	            resource.getContents().add(PackageRootObject);
-	        }
-	        //PackageSet packageSet_model = (PackageSetImpl) resource.getContents().get(0);
-	        AmentPackageImpl pkg = (AmentPackageImpl) resource.getContents().get(0);
-	        //Artifact artifact = new ArtifactImpl();
-	        //artifact.setName(project.getName());
-	        pkg.setName(project.getName());
-	        //pkg.getArtifact().add(artifact);
-	        //packageSet_model.getPackage().add(pkg);
+            //IProject project = ModelingProjectManager.INSTANCE.createNewModelingProject(ProjectName, null, true, monitor);
+            IProjectDescription description = project.getDescription();
+            String[] natures = description.getNatureIds();
+            String[] newNatures = new String[natures.length + 1];
+            System.arraycopy(natures, 0, newNatures, 0, natures.length);
+            newNatures[natures.length] = "org.eclipse.xtext.ui.shared.xtextNature";
+
+            //clone, import and add reference to Communication Objects
+            try {
+                ImportCommObjectsHandler.CloneAndImport();
+            } catch (InvocationTargetException e) {
+                // TODO Auto-generated catch block
+                //e.printStackTrace();
+            } catch (InterruptedException e) {
+                // TODO Auto-generated catch block
+                //e.printStackTrace();
+            }
+            IProject ObjectsProject = ResourcesPlugin.getWorkspace().getRoot().getProject("de.fraunhofer.ipa.ros.communication.objects");
+            description.setReferencedProjects(new IProject[] {ObjectsProject});
+            description.setNatureIds(newNatures);
+            project.setDescription(description, monitor);
+
+            IFolder dir = project.getFolder("rosnodes");
+            dir.create(true, true, null);
+            IFile file = project.getFile("rosnodes/"+ProjectName+".ros2");
+            //System.out.println(file.getFullPath());
+            project.open(IResource.BACKGROUND_REFRESH, monitor);
+
+            ResourceSet resourceSet = new ResourceSetImpl();
+            Resource resource = resourceSet.createResource(URI.createPlatformResourceURI(file.getFullPath().toOSString(),true));
+            EObject PackageRootObject = RosFactory.eINSTANCE.createAmentPackage();
+            //EObject PackageSetRootObject = RosFactory.eINSTANCE.createPackageSet();
+
+            if (PackageRootObject != null) {
+                resource.getContents().add(PackageRootObject);
+            }
+            //PackageSet packageSet_model = (PackageSetImpl) resource.getContents().get(0);
+            AmentPackageImpl pkg = (AmentPackageImpl) resource.getContents().get(0);
+            //Artifact artifact = new ArtifactImpl();
+            //artifact.setName(project.getName());
+            pkg.setName(project.getName());
+            //pkg.getArtifact().add(artifact);
+            //packageSet_model.getPackage().add(pkg);
             resource.save(null);
         } catch (IOException e) {
             // TODO Auto-generated catch block
diff --git a/plugins/de.fraunhofer.ipa.ros.feature/pom.xml b/plugins/de.fraunhofer.ipa.ros.feature/pom.xml
index e66dd3c5..ea179c6d 100644
--- a/plugins/de.fraunhofer.ipa.ros.feature/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros.feature/pom.xml
@@ -9,16 +9,16 @@
     </parent>
     <artifactId>de.fraunhofer.ipa.ros.feature</artifactId>
     <packaging>eclipse-feature</packaging>
-    
-    
+
+
   <properties>
-        <xtextVersion>2.30.0</xtextVersion>
+        <xtextVersion>2.39.0</xtextVersion>
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
-        <maven.compiler.source>11</maven.compiler.source>
-        <maven.compiler.target>11</maven.compiler.target>
+        <maven.compiler.source>21</maven.compiler.source>
+        <maven.compiler.target>21</maven.compiler.target>
         <!-- Tycho settings -->
-        <tycho-version>3.0.5</tycho-version>
+        <tycho-version>4.0.12</tycho-version>
         <tycho.disableP2Mirrors>true</tycho.disableP2Mirrors>
-        <mwe2Version>2.14.0</mwe2Version>
+        <mwe2Version>2.22.0</mwe2Version>
     </properties>
 </project>
diff --git a/plugins/de.fraunhofer.ipa.ros.parent/pom.xml b/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
index 57f885f9..2d5639a3 100644
--- a/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
@@ -1,6 +1,6 @@
 <project xmlns="http://maven.apache.org/POM/4.0.0"
-    xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
-    xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
     <modelVersion>4.0.0</modelVersion>
     <groupId>de.fraunhofer.ipa.ros</groupId>
     <version>3.0.0-SNAPSHOT</version>
@@ -8,14 +8,14 @@
     <packaging>pom</packaging>
 
     <properties>
-        <xtextVersion>2.30.0</xtextVersion>
+        <xtextVersion>2.39.0</xtextVersion>
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
-        <maven.compiler.source>11</maven.compiler.source>
-        <maven.compiler.target>11</maven.compiler.target>
+        <maven.compiler.source>21</maven.compiler.source>
+        <maven.compiler.target>21</maven.compiler.target>
         <!-- Tycho settings -->
-        <tycho-version>3.0.5</tycho-version>
+        <tycho-version>4.0.12</tycho-version>
         <tycho.disableP2Mirrors>true</tycho.disableP2Mirrors>
-        <mwe2Version>2.14.0</mwe2Version>
+        <mwe2Version>2.22.0</mwe2Version>
     </properties>
     <modules>
         <module>../de.fraunhofer.ipa.ros</module>
@@ -55,7 +55,7 @@
         <repository>
             <id>eclipse</id>
             <layout>p2</layout>
-            <url>https://download.eclipse.org/releases/2022-12/</url>
+            <url>https://download.eclipse.org/releases/2025-06/</url>
         </repository>
         <repository>
             <id>Xtext Update Site</id>
@@ -184,7 +184,8 @@
                 </configuration>
             </plugin>
             <plugin>
-                <!-- Can be removed after first generator execution https://bugs.eclipse.org/bugs/show_bug.cgi?id=480097 -->
+                <!-- Can be removed after first generator execution
+                https://bugs.eclipse.org/bugs/show_bug.cgi?id=480097 -->
                 <groupId>org.eclipse.tycho</groupId>
                 <artifactId>tycho-compiler-plugin</artifactId>
                 <version>${tycho-version}</version>
@@ -195,4 +196,4 @@
             </plugin>
         </plugins>
     </build>
-</project>
+</project>
\ No newline at end of file
diff --git a/plugins/de.fraunhofer.ipa.ros.plugin/.classpath b/plugins/de.fraunhofer.ipa.ros.plugin/.classpath
index a0e7c592..a6ded202 100644
--- a/plugins/de.fraunhofer.ipa.ros.plugin/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.plugin/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="output" path="bin"/>
diff --git a/plugins/de.fraunhofer.ipa.ros.plugin/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.plugin/.settings/org.eclipse.jdt.core.prefs
index 0c68a61d..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros.plugin/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.plugin/.settings/org.eclipse.jdt.core.prefs
@@ -1,7 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=1.8
-org.eclipse.jdt.core.compiler.compliance=1.8
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
+org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
-org.eclipse.jdt.core.compiler.source=1.8
+org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
+org.eclipse.jdt.core.compiler.release=enabled
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.plugin/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.plugin/META-INF/MANIFEST.MF
index 12b698a4..b0b9e248 100644
--- a/plugins/de.fraunhofer.ipa.ros.plugin/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.plugin/META-INF/MANIFEST.MF
@@ -10,6 +10,6 @@ Require-Bundle: org.eclipse.ui,
  de.fraunhofer.ipa.ros.editor
 Automatic-Module-Name: de.fraunhofer.ipa.ros.plugin
 Bundle-ActivationPolicy: lazy
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros.plugin
 Import-Package: org.eclipse.debug.ui
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath b/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.xtext.ide/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.xtext.ide/META-INF/MANIFEST.MF
index 8eae8c71..3786a50d 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/META-INF/MANIFEST.MF
@@ -10,7 +10,7 @@ Require-Bundle: de.fraunhofer.ipa.ros.xtext,
  org.eclipse.xtext.ide,
  org.eclipse.xtext.xbase.ide,
  org.antlr.runtime;bundle-version="4.7.2"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros.ide.contentassist.antlr.internal,
  de.fraunhofer.ipa.ros.ide.contentassist.antlr,
  de.fraunhofer.ipa.ros.ide.contentassist.antlr.lexer
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractBasicsIdeModule.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractBasicsIdeModule.java
index 9c632ea3..51775885 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractBasicsIdeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractBasicsIdeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractRosIdeModule.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractRosIdeModule.java
index a0d5c5ca..1cb491b9 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractRosIdeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/AbstractRosIdeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java
index c3bacc46..31aabf3c 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/BasicsParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialBasicsContentAssistParser.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialBasicsContentAssistParser.java
index 77165af7..ab190300 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialBasicsContentAssistParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialBasicsContentAssistParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialRosContentAssistParser.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialRosContentAssistParser.java
index 21b9538c..27a46545 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialRosContentAssistParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/PartialRosContentAssistParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java
index 97a2864e..a36f57bd 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/RosParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g
index 577e9d7d..c0633baf 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalBasicsParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalBasicsParser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalRosParser.g b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalRosParser.g
index c06ea1c4..0794cde5 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalRosParser.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/internal/InternalRosParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRosParser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalBasicsLexer.g b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalBasicsLexer.g
index 77076e1b..bba976af 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalBasicsLexer.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalBasicsLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalBasicsLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalRosLexer.g b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalRosLexer.g
index 8e28885c..96468b97 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalRosLexer.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ide/src-gen/de/fraunhofer/ipa/ros/ide/contentassist/antlr/lexer/InternalRosLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRosLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/.classpath b/plugins/de.fraunhofer.ipa.ros.xtext.tests/.classpath
index 7e1ce144..68a26252 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.tests/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.tests/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src/">
         <attributes>
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.xtext.tests/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.tests/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.tests/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.xtext.tests/META-INF/MANIFEST.MF
index 906f214c..63e321c3 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.tests/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.tests/META-INF/MANIFEST.MF
@@ -10,7 +10,7 @@ Require-Bundle: de.fraunhofer.ipa.ros.xtext,
  de.fraunhofer.ipa.ros,
  org.eclipse.xtext.testing,
  org.eclipse.xtext.xbase.testing,
- org.eclipse.xtext.xbase.lib;bundle-version="2.14.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
  org.junit,
  org.hamcrest.core,
  org.opentest4j,
@@ -35,5 +35,5 @@ Import-Package: org.apache.log4j,
  org.junit.platform.engine;version="[1.0.0,2.0.0)",
  org.junit.platform.runner;version="[1.0.0,2.0.0)",
  org.junit.platform.suite.api;version="[1.0.0,2.0.0)"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros.tests;x-internal=true
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/BasicsInjectorProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/BasicsInjectorProvider.java
index 714aec21..44012874 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/BasicsInjectorProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/BasicsInjectorProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.tests;
 
@@ -43,10 +43,12 @@ public Injector createInjector() {
 	protected BasicsRuntimeModule createRuntimeModule() {
 		// make it work also with Maven/Tycho and OSGI
 		// see https://bugs.eclipse.org/bugs/show_bug.cgi?id=493672
+		// allows for bindClassLoaderToInstance to get the class loader of the bundle
+		// containing the instance of the injector provider (possibly inherited)
 		return new BasicsRuntimeModule() {
 			@Override
 			public ClassLoader bindClassLoaderToInstance() {
-				return BasicsInjectorProvider.class
+				return BasicsInjectorProvider.this.getClass()
 						.getClassLoader();
 			}
 		};
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/RosInjectorProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/RosInjectorProvider.java
index 66803482..449d38d6 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/RosInjectorProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.tests/src-gen/de/fraunhofer/ipa/ros/tests/RosInjectorProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.tests;
 
@@ -43,10 +43,12 @@ public Injector createInjector() {
 	protected RosRuntimeModule createRuntimeModule() {
 		// make it work also with Maven/Tycho and OSGI
 		// see https://bugs.eclipse.org/bugs/show_bug.cgi?id=493672
+		// allows for bindClassLoaderToInstance to get the class loader of the bundle
+		// containing the instance of the injector provider (possibly inherited)
 		return new RosRuntimeModule() {
 			@Override
 			public ClassLoader bindClassLoaderToInstance() {
-				return RosInjectorProvider.class
+				return RosInjectorProvider.this.getClass()
 						.getClassLoader();
 			}
 		};
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/.classpath b/plugins/de.fraunhofer.ipa.ros.xtext.ui/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.xtext.ui/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.xtext.ui/META-INF/MANIFEST.MF
index 4b4a35da..66b2cceb 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/META-INF/MANIFEST.MF
@@ -16,10 +16,10 @@ Require-Bundle: de.fraunhofer.ipa.ros.xtext,
  org.eclipse.ui,
  org.eclipse.compare,
  org.eclipse.xtext.builder,
- org.eclipse.xtend.lib;bundle-version="2.14.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.14.0"
+ org.eclipse.xtend.lib;bundle-version="2.39.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0"
 Import-Package: org.apache.log4j
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros.ui.contentassist,
  de.fraunhofer.ipa.ros.ui.quickfix,
  de.fraunhofer.ipa.ros.xtext.ui.internal
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractBasicsUiModule.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractBasicsUiModule.java
index fa00b538..a069831d 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractBasicsUiModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractBasicsUiModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractRosUiModule.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractRosUiModule.java
index a60e053a..c1439b95 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractRosUiModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/AbstractRosUiModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/BasicsExecutableExtensionFactory.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/BasicsExecutableExtensionFactory.java
index b9ef088a..7194f786 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/BasicsExecutableExtensionFactory.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/BasicsExecutableExtensionFactory.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/RosExecutableExtensionFactory.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/RosExecutableExtensionFactory.java
index 87ddd0a2..695e1dcd 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/RosExecutableExtensionFactory.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/RosExecutableExtensionFactory.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractBasicsProposalProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractBasicsProposalProvider.java
index 8ae43b34..3a8b25a7 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractBasicsProposalProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractBasicsProposalProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui.contentassist;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractRosProposalProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractRosProposalProvider.java
index b66fc4b0..42e54afb 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractRosProposalProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/ui/contentassist/AbstractRosProposalProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.ui.contentassist;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/validation/RosValidatorConfigurationBlock.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/validation/RosValidatorConfigurationBlock.java
index da718939..837de75b 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/validation/RosValidatorConfigurationBlock.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/validation/RosValidatorConfigurationBlock.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/xtext/ui/internal/XtextActivator.java b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/xtext/ui/internal/XtextActivator.java
index feb156a7..60052b42 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/xtext/ui/internal/XtextActivator.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext.ui/src-gen/de/fraunhofer/ipa/ros/xtext/ui/internal/XtextActivator.java
@@ -1,9 +1,8 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.xtext.ui.internal;
 
-import com.google.common.collect.Maps;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
 import de.fraunhofer.ipa.ros.BasicsRuntimeModule;
@@ -11,6 +10,7 @@
 import de.fraunhofer.ipa.ros.ui.BasicsUiModule;
 import de.fraunhofer.ipa.ros.ui.RosUiModule;
 import java.util.Collections;
+import java.util.HashMap;
 import java.util.Map;
 import org.apache.log4j.Logger;
 import org.eclipse.ui.plugin.AbstractUIPlugin;
@@ -32,7 +32,7 @@ public class XtextActivator extends AbstractUIPlugin {
 	
 	private static XtextActivator INSTANCE;
 	
-	private Map<String, Injector> injectors = Collections.synchronizedMap(Maps.<String, Injector> newHashMapWithExpectedSize(1));
+	private Map<String, Injector> injectors = Collections.synchronizedMap(new HashMap<>(2));
 	
 	@Override
 	public void start(BundleContext context) throws Exception {
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/.classpath b/plugins/de.fraunhofer.ipa.ros.xtext/.classpath
index e777d9c5..06ba0a46 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19">
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21">
         <attributes>
             <attribute name="maven.pomderived" value="true"/>
         </attributes>
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros.xtext/.settings/org.eclipse.jdt.core.prefs
index cf12e755..7cbe36f2 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/.settings/org.eclipse.jdt.core.prefs
@@ -1,11 +1,11 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.forbiddenReference=warning
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros.xtext/META-INF/MANIFEST.MF
index 01e1cfd5..fee46323 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/META-INF/MANIFEST.MF
@@ -10,11 +10,11 @@ Require-Bundle: de.fraunhofer.ipa.ros,
  org.eclipse.xtext,
  org.eclipse.xtext.xbase,
  org.eclipse.equinox.common;bundle-version="3.17.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.30.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
  org.eclipse.xtext.util,
  org.antlr.runtime;bundle-version="4.7.2",
- org.eclipse.xtend.lib;bundle-version="2.30.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+ org.eclipse.xtend.lib;bundle-version="2.39.0"
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros.validation,
  de.fraunhofer.ipa.ros.parser.antlr.lexer,
  de.fraunhofer.ipa.ros.formatting2,
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/pom.xml b/plugins/de.fraunhofer.ipa.ros.xtext/pom.xml
index e9f767bc..887f9e47 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/pom.xml
@@ -41,7 +41,7 @@
                     <dependency>
                         <groupId>org.eclipse.emf</groupId>
                         <artifactId>org.eclipse.emf.mwe2.launch</artifactId>
-                        <version>2.14.0</version>
+                        <version>${mwe2Version}</version>
                     </dependency>
                     <dependency>
                         <groupId>org.eclipse.xtext</groupId>
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractBasicsRuntimeModule.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractBasicsRuntimeModule.java
index d545ae4d..833ff9dc 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractBasicsRuntimeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractBasicsRuntimeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractRosRuntimeModule.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractRosRuntimeModule.java
index 4f9b4542..7a183fc1 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractRosRuntimeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/AbstractRosRuntimeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/BasicsStandaloneSetupGenerated.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/BasicsStandaloneSetupGenerated.java
index 062ef402..ef2ae3d3 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/BasicsStandaloneSetupGenerated.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/BasicsStandaloneSetupGenerated.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/RosStandaloneSetupGenerated.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/RosStandaloneSetupGenerated.java
index 60df6393..2683c00e 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/RosStandaloneSetupGenerated.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/RosStandaloneSetupGenerated.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsAntlrTokenFileProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsAntlrTokenFileProvider.java
index 94f2639f..90cb38b5 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsAntlrTokenFileProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsAntlrTokenFileProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsParser.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsParser.java
index 656d612d..9a6ae63e 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/BasicsParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosAntlrTokenFileProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosAntlrTokenFileProvider.java
index 2a12499b..047d4eec 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosAntlrTokenFileProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosAntlrTokenFileProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosParser.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosParser.java
index d3367076..e3f0fb26 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosParser.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/RosParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalBasicsParser.g b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalBasicsParser.g
index ad4775c3..531d012e 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalBasicsParser.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalBasicsParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalBasicsParser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalRosParser.g b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalRosParser.g
index f9c095d3..5bec7d90 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalRosParser.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/internal/InternalRosParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRosParser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalBasicsLexer.g b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalBasicsLexer.g
index e412a79c..8566d090 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalBasicsLexer.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalBasicsLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalBasicsLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalRosLexer.g b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalRosLexer.g
index 0659e284..017bfa40 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalRosLexer.g
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/parser/antlr/lexer/InternalRosLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRosLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractBasicsScopeProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractBasicsScopeProvider.java
index 6f76a13f..e621a985 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractBasicsScopeProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractBasicsScopeProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.scoping;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractRosScopeProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractRosScopeProvider.java
index 6acb16b3..82d4c57e 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractRosScopeProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/scoping/AbstractRosScopeProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.scoping;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSemanticSequencer.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSemanticSequencer.java
index 175f7d36..f80d23f5 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSemanticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSemanticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSyntacticSequencer.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSyntacticSequencer.java
index 701e4315..e463aedc 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSyntacticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/BasicsSyntacticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSemanticSequencer.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSemanticSequencer.java
index fb348251..6a47e97a 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSemanticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSemanticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSyntacticSequencer.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSyntacticSequencer.java
index 0bfaed07..6fa32e4c 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSyntacticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/serializer/RosSyntacticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/BasicsGrammarAccess.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/BasicsGrammarAccess.java
index 9391c04e..a5c5c727 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/BasicsGrammarAccess.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/BasicsGrammarAccess.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.services;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/RosGrammarAccess.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/RosGrammarAccess.java
index 119e3f1a..e93bce31 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/RosGrammarAccess.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/services/RosGrammarAccess.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.services;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractBasicsValidator.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractBasicsValidator.java
index 1a3b35e6..812d3b20 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractBasicsValidator.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractBasicsValidator.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractRosValidator.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractRosValidator.java
index b80caf86..22c40583 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractRosValidator.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/AbstractRosValidator.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/RosConfigurableIssueCodesProvider.java b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/RosConfigurableIssueCodesProvider.java
index 60109849..b1d8d24c 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/RosConfigurableIssueCodesProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src-gen/de/fraunhofer/ipa/ros/validation/RosConfigurableIssueCodesProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/Basics.xtext b/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/Basics.xtext
index e2149c1e..ab6a680d 100644
--- a/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/Basics.xtext
+++ b/plugins/de.fraunhofer.ipa.ros.xtext/src/de/fraunhofer/ipa/ros/Basics.xtext
@@ -142,7 +142,7 @@ ParameterBoolean returns ParameterBoolean:
 
 ParameterStruct returns ParameterStruct:
     {ParameterStruct}
-        ('[' 
+        ('['
         BEGIN
         (value+=ParameterStructMember)* ']'
         END
diff --git a/plugins/de.fraunhofer.ipa.ros/.classpath b/plugins/de.fraunhofer.ipa.ros/.classpath
index 503c2f89..a6ded202 100644
--- a/plugins/de.fraunhofer.ipa.ros/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros/.classpath
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-	<classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
-	<classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
-	<classpathentry kind="src" path="src"/>
-	<classpathentry kind="output" path="bin"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
+    <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
+    <classpathentry kind="src" path="src"/>
+    <classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/plugins/de.fraunhofer.ipa.ros/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros/.settings/org.eclipse.jdt.core.prefs
index c3d02649..1e0cb16b 100644
--- a/plugins/de.fraunhofer.ipa.ros/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros/.settings/org.eclipse.jdt.core.prefs
@@ -1,9 +1,9 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
 org.eclipse.jdt.core.compiler.codegen.methodParameters=do not generate
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
 org.eclipse.jdt.core.compiler.codegen.unusedLocal=preserve
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.debug.lineNumber=generate
 org.eclipse.jdt.core.compiler.debug.localVariable=generate
 org.eclipse.jdt.core.compiler.debug.sourceFile=generate
@@ -12,4 +12,4 @@ org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
\ No newline at end of file
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros/META-INF/MANIFEST.MF
index 4fb00f99..aad7148b 100644
--- a/plugins/de.fraunhofer.ipa.ros/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros/META-INF/MANIFEST.MF
@@ -7,7 +7,7 @@ Bundle-Version: 3.0.0.qualifier
 Bundle-ClassPath: .
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: primitives,
  primitives.impl,
  primitives.util,
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.classpath b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/META-INF/MANIFEST.MF
index ee75e491..19264495 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/META-INF/MANIFEST.MF
@@ -13,7 +13,7 @@ Require-Bundle: de.fraunhofer.ipa.ros1.xtext,
  org.antlr.runtime;bundle-version="4.7.2",
  de.fraunhofer.ipa.ros.xtext,
  de.fraunhofer.ipa.ros.xtext.ui
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros1.ide.contentassist.antlr.internal,
  de.fraunhofer.ipa.ros1.ide.contentassist.antlr.lexer,
  de.fraunhofer.ipa.ros1.ide.contentassist.antlr
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/AbstractRos1IdeModule.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/AbstractRos1IdeModule.java
index d780f64c..be17b81e 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/AbstractRos1IdeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/AbstractRos1IdeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ide;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/PartialRos1ContentAssistParser.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/PartialRos1ContentAssistParser.java
index d1dc4f19..6a3a0774 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/PartialRos1ContentAssistParser.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/PartialRos1ContentAssistParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/Ros1Parser.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/Ros1Parser.java
index c9fa19a8..d4833851 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/Ros1Parser.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/Ros1Parser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/internal/InternalRos1Parser.g b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/internal/InternalRos1Parser.g
index 331f1b02..d7b68d2c 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/internal/InternalRos1Parser.g
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/internal/InternalRos1Parser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRos1Parser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/lexer/InternalRos1Lexer.g b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/lexer/InternalRos1Lexer.g
index 1f19fee0..8658d907 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/lexer/InternalRos1Lexer.g
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ide/src-gen/de/fraunhofer/ipa/ros1/ide/contentassist/antlr/lexer/InternalRos1Lexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRos1Lexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.classpath b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/META-INF/MANIFEST.MF
index cb3ff757..bc357425 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/META-INF/MANIFEST.MF
@@ -19,10 +19,10 @@ Require-Bundle: de.fraunhofer.ipa.ros1.xtext,
  org.eclipse.xtext.builder,
  de.fraunhofer.ipa.ros.xtext,
  de.fraunhofer.ipa.ros.xtext.ui,
- org.eclipse.xtext.xbase.lib;bundle-version="2.14.0",
- org.eclipse.xtend.lib;bundle-version="2.14.0";resolution:=optional
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
+ org.eclipse.xtend.lib;bundle-version="2.39.0";resolution:=optional
 Import-Package: org.apache.log4j
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros1.xtext.ui.internal,
  de.fraunhofer.ipa.ros1.ui.quickfix,
  de.fraunhofer.ipa.ros1.ui.contentassist
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/AbstractRos1UiModule.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/AbstractRos1UiModule.java
index 47d33844..6774380c 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/AbstractRos1UiModule.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/AbstractRos1UiModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/Ros1ExecutableExtensionFactory.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/Ros1ExecutableExtensionFactory.java
index 57608516..a2fa2635 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/Ros1ExecutableExtensionFactory.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/Ros1ExecutableExtensionFactory.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/contentassist/AbstractRos1ProposalProvider.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/contentassist/AbstractRos1ProposalProvider.java
index 170437dc..2298a0b2 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/contentassist/AbstractRos1ProposalProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/ui/contentassist/AbstractRos1ProposalProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.ui.contentassist;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/xtext/ui/internal/XtextActivator.java b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/xtext/ui/internal/XtextActivator.java
index df5146b7..e31c944b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/xtext/ui/internal/XtextActivator.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext.ui/src-gen/de/fraunhofer/ipa/ros1/xtext/ui/internal/XtextActivator.java
@@ -1,14 +1,14 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.xtext.ui.internal;
 
-import com.google.common.collect.Maps;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
 import de.fraunhofer.ipa.ros1.Ros1RuntimeModule;
 import de.fraunhofer.ipa.ros1.ui.Ros1UiModule;
 import java.util.Collections;
+import java.util.HashMap;
 import java.util.Map;
 import org.apache.log4j.Logger;
 import org.eclipse.ui.plugin.AbstractUIPlugin;
@@ -29,7 +29,7 @@ public class XtextActivator extends AbstractUIPlugin {
 	
 	private static XtextActivator INSTANCE;
 	
-	private Map<String, Injector> injectors = Collections.synchronizedMap(Maps.<String, Injector> newHashMapWithExpectedSize(1));
+	private Map<String, Injector> injectors = Collections.synchronizedMap(new HashMap<>(2));
 	
 	@Override
 	public void start(BundleContext context) throws Exception {
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/.classpath b/plugins/de.fraunhofer.ipa.ros1.xtext/.classpath
index a221c2c2..454cbc2d 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/.classpath
@@ -3,7 +3,7 @@
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="xtend-gen"/>
     <classpathentry kind="src" path="src-gen"/>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros1.xtext/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros1.xtext/META-INF/MANIFEST.MF
index 40d937c3..fd38c856 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/META-INF/MANIFEST.MF
@@ -10,13 +10,13 @@ Require-Bundle: de.fraunhofer.ipa.ros,
  org.eclipse.xtext,
  org.eclipse.xtext.xbase,
  org.eclipse.equinox.common;bundle-version="3.17.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.30.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
  org.eclipse.xtext.util,
  org.antlr.runtime;bundle-version="4.7.2",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0",
  de.fraunhofer.ipa.ros.xtext.ui;bundle-version="2.0.0",
- org.eclipse.xtend.lib;bundle-version="2.14.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+ org.eclipse.xtend.lib;bundle-version="2.39.0"
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros1.parser.antlr,
  de.fraunhofer.ipa.ros1.formatting2,
  de.fraunhofer.ipa.ros1.parser.antlr.internal,
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/pom.xml b/plugins/de.fraunhofer.ipa.ros1.xtext/pom.xml
index 6c7dc450..26185369 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/pom.xml
@@ -41,7 +41,7 @@
                     <dependency>
                         <groupId>org.eclipse.emf</groupId>
                         <artifactId>org.eclipse.emf.mwe2.launch</artifactId>
-                        <version>2.14.0</version>
+                        <version>${mwe2Version}</version>
                     </dependency>
                     <dependency>
                         <groupId>org.eclipse.xtext</groupId>
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/AbstractRos1RuntimeModule.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/AbstractRos1RuntimeModule.java
index aaeaff96..02dabb84 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/AbstractRos1RuntimeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/AbstractRos1RuntimeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/Ros1StandaloneSetupGenerated.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/Ros1StandaloneSetupGenerated.java
index 7596e182..c799f1ca 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/Ros1StandaloneSetupGenerated.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/Ros1StandaloneSetupGenerated.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1AntlrTokenFileProvider.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1AntlrTokenFileProvider.java
index 19ae2f34..d7177117 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1AntlrTokenFileProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1AntlrTokenFileProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1Parser.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1Parser.java
index 647cf5fd..c2fbdb3b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1Parser.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/Ros1Parser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/internal/InternalRos1Parser.g b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/internal/InternalRos1Parser.g
index 199676be..a866ec71 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/internal/InternalRos1Parser.g
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/internal/InternalRos1Parser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRos1Parser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/lexer/InternalRos1Lexer.g b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/lexer/InternalRos1Lexer.g
index d7edf366..808f4a6c 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/lexer/InternalRos1Lexer.g
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/parser/antlr/lexer/InternalRos1Lexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRos1Lexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/scoping/AbstractRos1ScopeProvider.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/scoping/AbstractRos1ScopeProvider.java
index 7066f53b..3dd61b3f 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/scoping/AbstractRos1ScopeProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/scoping/AbstractRos1ScopeProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.scoping;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SemanticSequencer.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SemanticSequencer.java
index 22382b25..9e91814b 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SemanticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SemanticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SyntacticSequencer.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SyntacticSequencer.java
index db551d4c..f580bb4c 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SyntacticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/serializer/Ros1SyntacticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/services/Ros1GrammarAccess.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/services/Ros1GrammarAccess.java
index 56f8e51d..7a8aaca4 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/services/Ros1GrammarAccess.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/services/Ros1GrammarAccess.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.services;
 
diff --git a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/validation/AbstractRos1Validator.java b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/validation/AbstractRos1Validator.java
index 33181593..e8196e58 100644
--- a/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/validation/AbstractRos1Validator.java
+++ b/plugins/de.fraunhofer.ipa.ros1.xtext/src-gen/de/fraunhofer/ipa/ros1/validation/AbstractRos1Validator.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros1.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.classpath b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/META-INF/MANIFEST.MF
index bcdc8d38..481eea34 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/META-INF/MANIFEST.MF
@@ -13,7 +13,7 @@ Require-Bundle: de.fraunhofer.ipa.ros2.xtext,
  org.antlr.runtime;bundle-version="4.7.2",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0",
  de.fraunhofer.ipa.ros.xtext.ui;bundle-version="2.0.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros2.ide.contentassist.antlr.internal,
  de.fraunhofer.ipa.ros2.ide.contentassist.antlr,
  de.fraunhofer.ipa.ros2.ide.contentassist.antlr.lexer
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/AbstractRos2IdeModule.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/AbstractRos2IdeModule.java
index e03fd21c..46529aee 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/AbstractRos2IdeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/AbstractRos2IdeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ide;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/PartialRos2ContentAssistParser.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/PartialRos2ContentAssistParser.java
index bce06924..603a9f72 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/PartialRos2ContentAssistParser.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/PartialRos2ContentAssistParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/Ros2Parser.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/Ros2Parser.java
index 08307866..a1f97fca 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/Ros2Parser.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/Ros2Parser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/internal/InternalRos2Parser.g b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/internal/InternalRos2Parser.g
index cf0a688d..986308e2 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/internal/InternalRos2Parser.g
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/internal/InternalRos2Parser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRos2Parser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/lexer/InternalRos2Lexer.g b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/lexer/InternalRos2Lexer.g
index d8a87a0b..7c2f477e 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/lexer/InternalRos2Lexer.g
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ide/src-gen/de/fraunhofer/ipa/ros2/ide/contentassist/antlr/lexer/InternalRos2Lexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRos2Lexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.classpath b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/META-INF/MANIFEST.MF
index c67bf554..db10f2f3 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/META-INF/MANIFEST.MF
@@ -19,10 +19,10 @@ Require-Bundle: de.fraunhofer.ipa.ros2.xtext,
  org.eclipse.ui,
  org.eclipse.compare,
  org.eclipse.xtext.builder,
- org.eclipse.xtext.xbase.lib;bundle-version="2.14.0",
- org.eclipse.xtend.lib;bundle-version="2.14.0";resolution:=optional
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
+ org.eclipse.xtend.lib;bundle-version="2.39.0";resolution:=optional
 Import-Package: org.apache.log4j
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros2.ui.quickfix,
  de.fraunhofer.ipa.ros2.ui.contentassist,
  de.fraunhofer.ipa.ros2.xtext.ui.internal
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/AbstractRos2UiModule.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/AbstractRos2UiModule.java
index f46fefd7..fe5f48f5 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/AbstractRos2UiModule.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/AbstractRos2UiModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/Ros2ExecutableExtensionFactory.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/Ros2ExecutableExtensionFactory.java
index 680f5437..c69a1339 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/Ros2ExecutableExtensionFactory.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/Ros2ExecutableExtensionFactory.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/contentassist/AbstractRos2ProposalProvider.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/contentassist/AbstractRos2ProposalProvider.java
index 694fff5b..08e08f74 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/contentassist/AbstractRos2ProposalProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/ui/contentassist/AbstractRos2ProposalProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.ui.contentassist;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/xtext/ui/internal/XtextActivator.java b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/xtext/ui/internal/XtextActivator.java
index 4a1442ec..785b0909 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/xtext/ui/internal/XtextActivator.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext.ui/src-gen/de/fraunhofer/ipa/ros2/xtext/ui/internal/XtextActivator.java
@@ -1,14 +1,14 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.xtext.ui.internal;
 
-import com.google.common.collect.Maps;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
 import de.fraunhofer.ipa.ros2.Ros2RuntimeModule;
 import de.fraunhofer.ipa.ros2.ui.Ros2UiModule;
 import java.util.Collections;
+import java.util.HashMap;
 import java.util.Map;
 import org.apache.log4j.Logger;
 import org.eclipse.ui.plugin.AbstractUIPlugin;
@@ -29,7 +29,7 @@ public class XtextActivator extends AbstractUIPlugin {
 	
 	private static XtextActivator INSTANCE;
 	
-	private Map<String, Injector> injectors = Collections.synchronizedMap(Maps.<String, Injector> newHashMapWithExpectedSize(1));
+	private Map<String, Injector> injectors = Collections.synchronizedMap(new HashMap<>(2));
 	
 	@Override
 	public void start(BundleContext context) throws Exception {
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/.classpath b/plugins/de.fraunhofer.ipa.ros2.xtext/.classpath
index fa10618a..5b286e69 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/.classpath
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.ros2.xtext/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.ros2.xtext/META-INF/MANIFEST.MF
index a6bf4352..d9c961fc 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/META-INF/MANIFEST.MF
@@ -12,11 +12,11 @@ Require-Bundle: de.fraunhofer.ipa.ros,
  org.eclipse.equinox.common;bundle-version="3.17.0",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0",
  de.fraunhofer.ipa.ros.xtext.ui;bundle-version="2.0.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.30.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
  org.eclipse.xtext.util,
  org.antlr.runtime;bundle-version="4.7.2",
- org.eclipse.xtend.lib;bundle-version="2.14.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+ org.eclipse.xtend.lib;bundle-version="2.39.0"
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.ros2.parser.antlr,
  de.fraunhofer.ipa.ros2.parser.antlr.lexer,
  de.fraunhofer.ipa.ros2.parser.antlr.internal,
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/pom.xml b/plugins/de.fraunhofer.ipa.ros2.xtext/pom.xml
index 7a0b348f..75732856 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/pom.xml
@@ -41,7 +41,7 @@
                     <dependency>
                         <groupId>org.eclipse.emf</groupId>
                         <artifactId>org.eclipse.emf.mwe2.launch</artifactId>
-                        <version>2.14.0</version>
+                        <version>${mwe2Version}</version>
                     </dependency>
                     <dependency>
                         <groupId>org.eclipse.xtext</groupId>
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/AbstractRos2RuntimeModule.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/AbstractRos2RuntimeModule.java
index b525b7cc..8c392a09 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/AbstractRos2RuntimeModule.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/AbstractRos2RuntimeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/Ros2StandaloneSetupGenerated.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/Ros2StandaloneSetupGenerated.java
index c179f91f..b5a5f69f 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/Ros2StandaloneSetupGenerated.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/Ros2StandaloneSetupGenerated.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2AntlrTokenFileProvider.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2AntlrTokenFileProvider.java
index 75571293..5cf3cac8 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2AntlrTokenFileProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2AntlrTokenFileProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2Parser.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2Parser.java
index 54089f85..10639473 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2Parser.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/Ros2Parser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/internal/InternalRos2Parser.g b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/internal/InternalRos2Parser.g
index fe5589d3..14c3e914 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/internal/InternalRos2Parser.g
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/internal/InternalRos2Parser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRos2Parser;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/lexer/InternalRos2Lexer.g b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/lexer/InternalRos2Lexer.g
index da7624ec..f7500ef7 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/lexer/InternalRos2Lexer.g
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/parser/antlr/lexer/InternalRos2Lexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRos2Lexer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/scoping/AbstractRos2ScopeProvider.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/scoping/AbstractRos2ScopeProvider.java
index 63b68f4d..c63f27e2 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/scoping/AbstractRos2ScopeProvider.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/scoping/AbstractRos2ScopeProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.scoping;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SemanticSequencer.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SemanticSequencer.java
index 5275413f..f5bc7a6d 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SemanticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SemanticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SyntacticSequencer.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SyntacticSequencer.java
index d75bb643..80043521 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SyntacticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SyntacticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/services/Ros2GrammarAccess.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/services/Ros2GrammarAccess.java
index 59178ddf..de693e03 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/services/Ros2GrammarAccess.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/services/Ros2GrammarAccess.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.services;
 
diff --git a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/validation/AbstractRos2Validator.java b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/validation/AbstractRos2Validator.java
index 0aaf27ec..4dd1811a 100644
--- a/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/validation/AbstractRos2Validator.java
+++ b/plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/validation/AbstractRos2Validator.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.30.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.ros2.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.edit/.classpath b/plugins/de.fraunhofer.ipa.rossystem.edit/.classpath
index 468f6d63..abf6bcb3 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.edit/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem.edit/.classpath
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
     <classpathentry kind="src" path="src"/>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="output" path="bin"/>
 </classpath>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.edit/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem.edit/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.edit/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem.edit/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem.edit/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem.edit/META-INF/MANIFEST.MF
index 7a7a1fdb..6f4f5b59 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.edit/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem.edit/META-INF/MANIFEST.MF
@@ -8,7 +8,7 @@ Bundle-ClassPath: .
 Bundle-Activator: system.provider.RossystemEditPlugin$Implementation
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: system.provider
 Require-Bundle: org.eclipse.core.runtime,
  de.fraunhofer.ipa.rossystem;visibility:=reexport,
diff --git a/plugins/de.fraunhofer.ipa.rossystem.edit/src/system/provider/SubSystemItemProvider.java b/plugins/de.fraunhofer.ipa.rossystem.edit/src/system/provider/SubSystemItemProvider.java
index e3d3926d..4a811af9 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.edit/src/system/provider/SubSystemItemProvider.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.edit/src/system/provider/SubSystemItemProvider.java
@@ -21,100 +21,100 @@
  * @generated
  */
 public class SubSystemItemProvider extends ComponentItemProvider {
-	/**
-	 * This constructs an instance from a factory and a notifier.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	public SubSystemItemProvider(AdapterFactory adapterFactory) {
-		super(adapterFactory);
-	}
+    /**
+     * This constructs an instance from a factory and a notifier.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    public SubSystemItemProvider(AdapterFactory adapterFactory) {
+        super(adapterFactory);
+    }
 
-	/**
-	 * This returns the property descriptors for the adapted class.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public List<IItemPropertyDescriptor> getPropertyDescriptors(Object object) {
-		if (itemPropertyDescriptors == null) {
-			super.getPropertyDescriptors(object);
+    /**
+     * This returns the property descriptors for the adapted class.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public List<IItemPropertyDescriptor> getPropertyDescriptors(Object object) {
+        if (itemPropertyDescriptors == null) {
+            super.getPropertyDescriptors(object);
 
-			addSystemPropertyDescriptor(object);
-		}
-		return itemPropertyDescriptors;
-	}
+            addSystemPropertyDescriptor(object);
+        }
+        return itemPropertyDescriptors;
+    }
 
-	/**
-	 * This adds a property descriptor for the System feature.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	protected void addSystemPropertyDescriptor(Object object) {
-		itemPropertyDescriptors.add
-			(createItemPropertyDescriptor
-				(((ComposeableAdapterFactory)adapterFactory).getRootAdapterFactory(),
-				 getResourceLocator(),
-				 getString("_UI_SubSystem_system_feature"),
-				 getString("_UI_PropertyDescriptor_description", "_UI_SubSystem_system_feature", "_UI_SubSystem_type"),
-				 RossystemPackage.Literals.SUB_SYSTEM__SYSTEM,
-				 true,
-				 false,
-				 true,
-				 null,
-				 null,
-				 null));
-	}
+    /**
+     * This adds a property descriptor for the System feature.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    protected void addSystemPropertyDescriptor(Object object) {
+        itemPropertyDescriptors.add
+            (createItemPropertyDescriptor
+                (((ComposeableAdapterFactory)adapterFactory).getRootAdapterFactory(),
+                 getResourceLocator(),
+                 getString("_UI_SubSystem_system_feature"),
+                 getString("_UI_PropertyDescriptor_description", "_UI_SubSystem_system_feature", "_UI_SubSystem_type"),
+                 RossystemPackage.Literals.SUB_SYSTEM__SYSTEM,
+                 true,
+                 false,
+                 true,
+                 null,
+                 null,
+                 null));
+    }
 
-	/**
-	 * This returns SubSystem.gif.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public Object getImage(Object object) {
-		return overlayImage(object, getResourceLocator().getImage("full/obj16/SubSystem"));
-	}
+    /**
+     * This returns SubSystem.gif.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public Object getImage(Object object) {
+        return overlayImage(object, getResourceLocator().getImage("full/obj16/SubSystem"));
+    }
 
-	/**
-	 * This returns the label text for the adapted class.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public String getText(Object object) {
-		return getString("_UI_SubSystem_type");
-	}
+    /**
+     * This returns the label text for the adapted class.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public String getText(Object object) {
+        return getString("_UI_SubSystem_type");
+    }
 
 
-	/**
-	 * This handles model notifications by calling {@link #updateChildren} to update any cached
-	 * children and by creating a viewer notification, which it passes to {@link #fireNotifyChanged}.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public void notifyChanged(Notification notification) {
-		updateChildren(notification);
-		super.notifyChanged(notification);
-	}
+    /**
+     * This handles model notifications by calling {@link #updateChildren} to update any cached
+     * children and by creating a viewer notification, which it passes to {@link #fireNotifyChanged}.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public void notifyChanged(Notification notification) {
+        updateChildren(notification);
+        super.notifyChanged(notification);
+    }
 
-	/**
-	 * This adds {@link org.eclipse.emf.edit.command.CommandParameter}s describing the children
-	 * that can be created under this object.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	protected void collectNewChildDescriptors(Collection<Object> newChildDescriptors, Object object) {
-		super.collectNewChildDescriptors(newChildDescriptors, object);
-	}
+    /**
+     * This adds {@link org.eclipse.emf.edit.command.CommandParameter}s describing the children
+     * that can be created under this object.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    protected void collectNewChildDescriptors(Collection<Object> newChildDescriptors, Object object) {
+        super.collectNewChildDescriptors(newChildDescriptors, object);
+    }
 
 }
diff --git a/plugins/de.fraunhofer.ipa.rossystem.editor/.classpath b/plugins/de.fraunhofer.ipa.rossystem.editor/.classpath
index a0e7c592..a6ded202 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.editor/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem.editor/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="output" path="bin"/>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.editor/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem.editor/.settings/org.eclipse.jdt.core.prefs
index d41383c7..23fa13b1 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.editor/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem.editor/.settings/org.eclipse.jdt.core.prefs
@@ -1,9 +1,9 @@
 eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem.editor/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem.editor/META-INF/MANIFEST.MF
index 3412ed3e..31fca348 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.editor/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem.editor/META-INF/MANIFEST.MF
@@ -8,7 +8,7 @@ Bundle-ClassPath: .
 Bundle-Activator: system.presentation.RossystemEditorPlugin$Implementation
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: system.presentation
 Require-Bundle: org.eclipse.core.runtime,
  org.eclipse.core.resources;visibility:=reexport,
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.classpath b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.classpath
index 1933d40f..9f6d88dd 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/META-INF/MANIFEST.MF
index 8adeb232..b5b9dcec 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/META-INF/MANIFEST.MF
@@ -12,7 +12,7 @@ Require-Bundle: de.fraunhofer.ipa.rossystem.xtext,
  org.eclipse.xtext.xbase.ide,
  org.antlr.runtime;bundle-version="4.7.2",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.rossystem.ide.contentassist.antlr.lexer,
  de.fraunhofer.ipa.rossystem.ide.contentassist.antlr.internal,
  de.fraunhofer.ipa.rossystem.ide.contentassist.antlr
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/AbstractRosSystemIdeModule.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/AbstractRosSystemIdeModule.java
index cdcf802c..c532d3a4 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/AbstractRosSystemIdeModule.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/AbstractRosSystemIdeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ide;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/PartialRosSystemContentAssistParser.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/PartialRosSystemContentAssistParser.java
index 342a57d6..541c4bc9 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/PartialRosSystemContentAssistParser.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/PartialRosSystemContentAssistParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/RosSystemParser.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/RosSystemParser.java
index 94ed0ce5..76290a47 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/RosSystemParser.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/RosSystemParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ide.contentassist.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/internal/InternalRosSystemParser.g b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/internal/InternalRosSystemParser.g
index 8abaf8f6..1548b14d 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/internal/InternalRosSystemParser.g
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/internal/InternalRosSystemParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRosSystemParser;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/lexer/InternalRosSystemLexer.g b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/lexer/InternalRosSystemLexer.g
index c26f129f..ed2de3d3 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/lexer/InternalRosSystemLexer.g
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ide/src-gen/de/fraunhofer/ipa/rossystem/ide/contentassist/antlr/lexer/InternalRosSystemLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRosSystemLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.classpath b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.classpath
index e777d9c5..06ba0a46 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19">
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21">
         <attributes>
             <attribute name="maven.pomderived" value="true"/>
         </attributes>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/META-INF/MANIFEST.MF
index c4b09479..101d388a 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/META-INF/MANIFEST.MF
@@ -16,13 +16,13 @@ Require-Bundle: de.fraunhofer.ipa.rossystem.xtext,
  org.eclipse.ui.ide;bundle-version="3.20.0",
  org.eclipse.ui,
  org.eclipse.compare;bundle-version="3.8.500",
- org.eclipse.xtext.builder;bundle-version="2.30.0",
+ org.eclipse.xtext.builder;bundle-version="2.39.0",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0",
  de.fraunhofer.ipa.ros.xtext.ui;bundle-version="2.0.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.14.0",
- org.eclipse.xtend.lib;bundle-version="2.14.0";resolution:=optional
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
+ org.eclipse.xtend.lib;bundle-version="2.39.0";resolution:=optional
 Import-Package: org.apache.log4j
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.rossystem.ui.contentassist,
  de.fraunhofer.ipa.rossystem.xtext.ui.internal,
  de.fraunhofer.ipa.rossystem.ui.quickfix
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/AbstractRosSystemUiModule.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/AbstractRosSystemUiModule.java
index ade34460..67b5e439 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/AbstractRosSystemUiModule.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/AbstractRosSystemUiModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/RosSystemExecutableExtensionFactory.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/RosSystemExecutableExtensionFactory.java
index c48d4b8c..866a6694 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/RosSystemExecutableExtensionFactory.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/RosSystemExecutableExtensionFactory.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ui;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/contentassist/AbstractRosSystemProposalProvider.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/contentassist/AbstractRosSystemProposalProvider.java
index 4c3eb759..2beca2e7 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/contentassist/AbstractRosSystemProposalProvider.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/ui/contentassist/AbstractRosSystemProposalProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.ui.contentassist;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/xtext/ui/internal/XtextActivator.java b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/xtext/ui/internal/XtextActivator.java
index ebb85950..e5cd9921 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/xtext/ui/internal/XtextActivator.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext.ui/src-gen/de/fraunhofer/ipa/rossystem/xtext/ui/internal/XtextActivator.java
@@ -1,14 +1,14 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.xtext.ui.internal;
 
-import com.google.common.collect.Maps;
 import com.google.inject.Guice;
 import com.google.inject.Injector;
 import de.fraunhofer.ipa.rossystem.RosSystemRuntimeModule;
 import de.fraunhofer.ipa.rossystem.ui.RosSystemUiModule;
 import java.util.Collections;
+import java.util.HashMap;
 import java.util.Map;
 import org.apache.log4j.Logger;
 import org.eclipse.ui.plugin.AbstractUIPlugin;
@@ -29,7 +29,7 @@ public class XtextActivator extends AbstractUIPlugin {
 	
 	private static XtextActivator INSTANCE;
 	
-	private Map<String, Injector> injectors = Collections.synchronizedMap(Maps.<String, Injector> newHashMapWithExpectedSize(1));
+	private Map<String, Injector> injectors = Collections.synchronizedMap(new HashMap<>(2));
 	
 	@Override
 	public void start(BundleContext context) throws Exception {
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/.classpath b/plugins/de.fraunhofer.ipa.rossystem.xtext/.classpath
index 1933d40f..9f6d88dd 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19"/>
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21"/>
     <classpathentry kind="con" path="org.eclipse.pde.core.requiredPlugins"/>
     <classpathentry kind="src" path="src"/>
     <classpathentry kind="src" path="src-gen"/>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem.xtext/.settings/org.eclipse.jdt.core.prefs
index 907fef17..3a79233b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/.settings/org.eclipse.jdt.core.prefs
@@ -1,10 +1,10 @@
 eclipse.preferences.version=1
 org.eclipse.jdt.core.compiler.codegen.inlineJsrBytecode=enabled
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem.xtext/META-INF/MANIFEST.MF
index 4153f868..e735d8a9 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/META-INF/MANIFEST.MF
@@ -10,13 +10,13 @@ Require-Bundle: de.fraunhofer.ipa.rossystem,
  org.eclipse.xtext,
  org.eclipse.xtext.xbase,
  org.eclipse.equinox.common;bundle-version="3.5.0",
- org.eclipse.xtext.xbase.lib;bundle-version="2.30.0",
+ org.eclipse.xtext.xbase.lib;bundle-version="2.39.0",
  org.eclipse.xtext.util,
  org.antlr.runtime;bundle-version="4.7.2",
  de.fraunhofer.ipa.ros.xtext;bundle-version="2.0.0",
  de.fraunhofer.ipa.ros.xtext.ui;bundle-version="2.0.0",
- org.eclipse.xtend.lib;bundle-version="2.14.0"
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+ org.eclipse.xtend.lib;bundle-version="2.39.0"
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: de.fraunhofer.ipa.rossystem.scoping,
  de.fraunhofer.ipa.rossystem.serializer,
  de.fraunhofer.ipa.rossystem.services,
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/pom.xml b/plugins/de.fraunhofer.ipa.rossystem.xtext/pom.xml
index 426bd224..50ce822e 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/pom.xml
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/pom.xml
@@ -41,7 +41,7 @@
                     <dependency>
                         <groupId>org.eclipse.emf</groupId>
                         <artifactId>org.eclipse.emf.mwe2.launch</artifactId>
-                        <version>2.14.0</version>
+                        <version>${mwe2Version}</version>
                     </dependency>
                     <dependency>
                         <groupId>org.eclipse.xtext</groupId>
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/AbstractRosSystemRuntimeModule.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/AbstractRosSystemRuntimeModule.java
index 3cd0ad92..d5f59bad 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/AbstractRosSystemRuntimeModule.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/AbstractRosSystemRuntimeModule.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/RosSystemStandaloneSetupGenerated.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/RosSystemStandaloneSetupGenerated.java
index 9b914f39..26344e96 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/RosSystemStandaloneSetupGenerated.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/RosSystemStandaloneSetupGenerated.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemAntlrTokenFileProvider.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemAntlrTokenFileProvider.java
index c0f934ef..dd586d38 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemAntlrTokenFileProvider.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemAntlrTokenFileProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemParser.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemParser.java
index 8c74316a..db7a0c5b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemParser.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/RosSystemParser.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.parser.antlr;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/internal/InternalRosSystemParser.g b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/internal/InternalRosSystemParser.g
index 421c87e8..0cc25a5a 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/internal/InternalRosSystemParser.g
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/internal/InternalRosSystemParser.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 parser grammar InternalRosSystemParser;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/lexer/InternalRosSystemLexer.g b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/lexer/InternalRosSystemLexer.g
index 73b9e54e..3ccfa228 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/lexer/InternalRosSystemLexer.g
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/parser/antlr/lexer/InternalRosSystemLexer.g
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 lexer grammar InternalRosSystemLexer;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/scoping/AbstractRosSystemScopeProvider.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/scoping/AbstractRosSystemScopeProvider.java
index 3cba6445..2aa63f5e 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/scoping/AbstractRosSystemScopeProvider.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/scoping/AbstractRosSystemScopeProvider.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.scoping;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSemanticSequencer.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSemanticSequencer.java
index 0690b717..b8a3f6de 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSemanticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSemanticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSyntacticSequencer.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSyntacticSequencer.java
index 89eff1ff..12fabfce 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSyntacticSequencer.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/serializer/RosSystemSyntacticSequencer.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.serializer;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/services/RosSystemGrammarAccess.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/services/RosSystemGrammarAccess.java
index ee2bd1ac..7b56e4a1 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/services/RosSystemGrammarAccess.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/services/RosSystemGrammarAccess.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.services;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/validation/AbstractRosSystemValidator.java b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/validation/AbstractRosSystemValidator.java
index 6f4ac8f9..511ade23 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/validation/AbstractRosSystemValidator.java
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src-gen/de/fraunhofer/ipa/rossystem/validation/AbstractRosSystemValidator.java
@@ -1,5 +1,5 @@
 /*
- * generated by Xtext 2.33.0
+ * generated by Xtext 2.39.0
  */
 package de.fraunhofer.ipa.rossystem.validation;
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend
index 274883fb..c6693244 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/BridgesLaunchFileCompiler_ROS2.xtend
@@ -20,7 +20,7 @@ from launch.event_handlers import OnProcessExit, OnExecutionComplete
 
 def generate_launch_description():
   ld = LaunchDescription()
-  
+
   # *** ROS 1 to ROS 2 bridges ***
   «IF TopicBridgeGenerated(system) || ServiceFromBridgeGenerated(system)|| ServiceToBridgeGenerated(system) »
   «system.name»_ros1_bridge_config = os.path.join(
@@ -81,4 +81,4 @@ def generate_launch_description():
     load_bridge_params
   ])
     '''
-}
\ No newline at end of file
+}
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
index 49d1fefa..c925e392 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/CMakeListsCompiler.xtend
@@ -4,11 +4,11 @@ import com.google.inject.Inject
 import system.System
 
 class CMakeListsCompiler {
-	
-	@Inject extension GeneratorHelpers
-	
-	
-//	def compile_CMakeLists_ROS1(RosSystem system, ComponentStack stack) '''«init_pkg()»
+
+    @Inject extension GeneratorHelpers
+
+
+//  def compile_CMakeLists_ROS1(RosSystem system, ComponentStack stack) '''«init_pkg()»
 //cmake_minimum_required(VERSION 2.8.3)
 //project(«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»)
 //
@@ -22,7 +22,7 @@ class CMakeListsCompiler {
 //  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 //)'''
 
-	def compile_CMakeLists_ROS2(System system, boolean gen_yaml) '''«init_pkg()»
+    def compile_CMakeLists_ROS2(System system, boolean gen_yaml) '''«init_pkg()»
 cmake_minimum_required(VERSION 3.5)
 project(«system.name.toLowerCase»)
 
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
index 43fff5b0..cc29e96f 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/GeneratorHelpers.xtend
@@ -39,16 +39,16 @@ class GeneratorHelpers {
     RosNode node
     String[] FromFileInfo
     Boolean os_import
-    
+
     String ros1_bridge_name
     String ros1_bridge_type
     List<EObject> Ros1Ports
-        
+
 
     def void init_pkg(){
         PackageSet=false
     }
-    
+
     def boolean generate_yaml(RosNode component){
         var yaml_gen=false
         for(param:component.rosparameters){
@@ -61,7 +61,7 @@ class GeneratorHelpers {
         }
         return  yaml_gen
     }
-    
+
     def boolean YamlFileGenerated(System rossystem) {
         os_import=false
         for (component: getRos2Nodes(rossystem)){
@@ -87,7 +87,7 @@ class GeneratorHelpers {
         }}
         return nodeList
     }
-    
+
     def <Components> getRos1Nodes (System rossystem) {
         val nodeList = new ArrayList<RosNode>
         if (!rossystem.components.nullOrEmpty){
@@ -110,7 +110,7 @@ class GeneratorHelpers {
         }
         return subSystemsList
     }
-    
+
     def boolean TopicBridgeGenerated(System rossystem){
         for (connection: rossystem.connections){
             if (!getTopicBridgeInterfaces(connection as RosSystemConnection).get(0).empty){
@@ -119,21 +119,21 @@ class GeneratorHelpers {
         }
         return false
     }
-    
+
     def boolean ServiceFromBridgeGenerated(System rossystem){
         for (connection: rossystem.connections){
             if (!getServiceFromBridgeInterfaces(connection as RosSystemConnection).get(0).empty){
                 return true
-            } 
+            }
         }
         return false
     }
-    
+
     def boolean ServiceToBridgeGenerated(System rossystem){
         for (connection: rossystem.connections){
             if (!getServiceToBridgeInterfaces(connection as RosSystemConnection).get(0).empty){
                 return true
-            } 
+            }
         }
         return false
     }
@@ -159,7 +159,7 @@ class GeneratorHelpers {
         }
         return Arrays.asList(ros1_bridge_name, ros1_bridge_type);
     }
-    
+
     def List<String> getServiceFromBridgeInterfaces(RosSystemConnection connection){
         val from_connection=(connection as RosSystemConnection).from
         ros1_bridge_name=""
@@ -173,7 +173,7 @@ class GeneratorHelpers {
         }
         return Arrays.asList(ros1_bridge_name, ros1_bridge_type);
     }
-    
+
     def List<String> getServiceToBridgeInterfaces(RosSystemConnection connection){
         val to_connection=(connection as RosSystemConnection).to
         ros1_bridge_name=""
@@ -187,8 +187,8 @@ class GeneratorHelpers {
         }
         return Arrays.asList(ros1_bridge_name, ros1_bridge_type);
     }
-    
-    
+
+
     def boolean fromRos1Node(EObject bridge_interface){
         if (bridge_interface.eContainer.eContainer.eContainer.eClass.toString.contains("CatkinPackage")){
             Ros1Ports.add(bridge_interface)
@@ -409,5 +409,4 @@ class GeneratorHelpers {
 //      return node.eContainer.eContainer as PackageImpl;
 //  }
 
-
 }
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PackageXmlCompiler.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PackageXmlCompiler.xtend
index d5b8f413..88024610 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PackageXmlCompiler.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PackageXmlCompiler.xtend
@@ -4,10 +4,10 @@ import system.System
 import com.google.inject.Inject
 
 class PackageXmlCompiler{
-	
-	@Inject extension GeneratorHelpers	
-	
-//		def compile_package_xml_format2(System system) '''«init_pkg()»
+
+    @Inject extension GeneratorHelpers
+
+//      def compile_package_xml_format2(System system) '''«init_pkg()»
 //<package format="2">
 //  <name>«IF stack===null»«system.name.toLowerCase»«ELSE»«system.name.toLowerCase»_«stack.name.toLowerCase»«ENDIF»</name>
 //  <version>0.0.1</version>
@@ -30,7 +30,7 @@ class PackageXmlCompiler{
 //</package>'''
 
 
-		def compile_package_xml_format3(System system) '''«init_pkg()»
+        def compile_package_xml_format3(System system) '''«init_pkg()»
 <?xml version="1.0"?>
 <?xml-model
    href="http://download.ros.org/schema/package_format3.xsd"
@@ -44,7 +44,7 @@ class PackageXmlCompiler{
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  
+
   <exec_depend>ament_index_python</exec_depend>
   <exec_depend>launch</exec_depend>
   «FOR pkg:system.getPkgsDependencies»
@@ -57,10 +57,10 @@ class PackageXmlCompiler{
   <test_depend>python3-pytest</test_depend-->
 
   <export>
-  	<build_type>ament_python</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>
-		'''
+        '''
 
 
-		}
+        }
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend
index e2a4157a..870f4772 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/PlantUMLCompiler.xtend
@@ -8,7 +8,7 @@ import system.RosInterface
 import system.impl.RosSystemConnectionImpl
 
 class PlantUMLCompiler{
-	
+
 	@Inject extension GeneratorHelpers
 
 		def compile_plantuml(System system) '''«init_pkg()»
@@ -33,7 +33,7 @@ component «subsystem.name» {
 
     def compile_ports(RosNode component)'''
       component «(component as RosNode).name» {
-    
+
     /' PORTS DEFINED AS AVAILABLE IN THE ROSSYSTEM FILE '/
     «FOR port:(component as RosNode).rosinterfaces»
     «IF port_type(port)=="INPUT"»    portin «get_valid_name(component.name, port.name)» as "«port.name»"«
@@ -45,7 +45,7 @@ component «subsystem.name» {
         IF (port as RosInterfaceImpl).reference.toString.contains("RosServiceClientReference")» #orange«ENDIF»«
         IF (port as RosInterfaceImpl).reference.toString.contains("RosActionClientReference")» #green«ENDIF»«ENDIF»
     «ENDFOR»
-    
+
     /' PORTS FROM THE ORIGINAL NODE '/
 «««    «FOR sub:(component as RosNode).from.subscriber»    portin «get_valid_name(component.name, sub.name)» as "«sub.name»" #line:blue
 «««    «ENDFOR»
@@ -70,17 +70,14 @@ component «subsystem.name» {
          return "OUTPUT"
         }
     }
-    
+
     def get_valid_name (String componentName, String PortName){
         val identifier = (componentName+"."+PortName).replace("/","_").replace("~","_")
-        return identifier        
+        return identifier
     }
-    
+
     def get_connection_port (RosInterface port){
         val componentName=(port.eContainer as RosNode).name
-        return get_valid_name (componentName, port.name)       
+        return get_valid_name (componentName, port.name)
     }
 }
-
-		
-		
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/Ros1BridgesYamlFileCompiler.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/Ros1BridgesYamlFileCompiler.xtend
index fbfca040..f2ee2c22 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/Ros1BridgesYamlFileCompiler.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/Ros1BridgesYamlFileCompiler.xtend
@@ -5,7 +5,7 @@ import system.System
 import system.RosSystemConnection
 
 class Ros1BridgesYamlFileCompiler {
-    
+
     @Inject extension GeneratorHelpers
 
     def compile_ROS1bridges_config(System system)'''«IF TopicBridgeGenerated(system)»
@@ -22,5 +22,5 @@ bridge_«system.name»_to_services/services_2_to_1:«FOR connection:system.conne
     type: «getServiceToBridgeInterfaces(connection as RosSystemConnection).get(1)»
 «ENDIF»«ENDFOR»«ENDIF»
     '''
-    
+
 }
diff --git a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/SetupPyCompiler.xtend b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/SetupPyCompiler.xtend
index 363333f3..7fb8c5fa 100644
--- a/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/SetupPyCompiler.xtend
+++ b/plugins/de.fraunhofer.ipa.rossystem.xtext/src/de/fraunhofer/ipa/rossystem/generator/SetupPyCompiler.xtend
@@ -4,11 +4,11 @@ import system.System
 import com.google.inject.Inject
 
 class SetupPyCompiler{
-	
-	@Inject extension GeneratorHelpers
-	
-	
-		def compile_setup_py(System system, boolean gen_yaml) '''«init_pkg()»
+
+    @Inject extension GeneratorHelpers
+
+
+        def compile_setup_py(System system, boolean gen_yaml) '''«init_pkg()»
 import os
 from glob import glob
 from setuptools import setup
@@ -32,4 +32,4 @@ setup(
     install_requires=['setuptools'],
     zip_safe=True
 )'''
-		}
+        }
diff --git a/plugins/de.fraunhofer.ipa.rossystem/.classpath b/plugins/de.fraunhofer.ipa.rossystem/.classpath
index c217a185..7545741b 100644
--- a/plugins/de.fraunhofer.ipa.rossystem/.classpath
+++ b/plugins/de.fraunhofer.ipa.rossystem/.classpath
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <classpath>
-    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-19">
+    <classpathentry kind="con" path="org.eclipse.jdt.launching.JRE_CONTAINER/org.eclipse.jdt.internal.debug.ui.launcher.StandardVMType/JavaSE-21">
         <attributes>
             <attribute name="module" value="true"/>
         </attributes>
diff --git a/plugins/de.fraunhofer.ipa.rossystem/.settings/org.eclipse.jdt.core.prefs b/plugins/de.fraunhofer.ipa.rossystem/.settings/org.eclipse.jdt.core.prefs
index d41383c7..23fa13b1 100644
--- a/plugins/de.fraunhofer.ipa.rossystem/.settings/org.eclipse.jdt.core.prefs
+++ b/plugins/de.fraunhofer.ipa.rossystem/.settings/org.eclipse.jdt.core.prefs
@@ -1,9 +1,9 @@
 eclipse.preferences.version=1
-org.eclipse.jdt.core.compiler.codegen.targetPlatform=19
-org.eclipse.jdt.core.compiler.compliance=19
+org.eclipse.jdt.core.compiler.codegen.targetPlatform=21
+org.eclipse.jdt.core.compiler.compliance=21
 org.eclipse.jdt.core.compiler.problem.assertIdentifier=error
 org.eclipse.jdt.core.compiler.problem.enablePreviewFeatures=disabled
 org.eclipse.jdt.core.compiler.problem.enumIdentifier=error
 org.eclipse.jdt.core.compiler.problem.reportPreviewFeatures=warning
 org.eclipse.jdt.core.compiler.release=enabled
-org.eclipse.jdt.core.compiler.source=19
+org.eclipse.jdt.core.compiler.source=21
diff --git a/plugins/de.fraunhofer.ipa.rossystem/META-INF/MANIFEST.MF b/plugins/de.fraunhofer.ipa.rossystem/META-INF/MANIFEST.MF
index f4ff1859..ef2fbec9 100644
--- a/plugins/de.fraunhofer.ipa.rossystem/META-INF/MANIFEST.MF
+++ b/plugins/de.fraunhofer.ipa.rossystem/META-INF/MANIFEST.MF
@@ -7,7 +7,7 @@ Bundle-Version: 3.0.0.qualifier
 Bundle-ClassPath: .
 Bundle-Vendor: %providerName
 Bundle-Localization: plugin
-Bundle-RequiredExecutionEnvironment: JavaSE-19
+Bundle-RequiredExecutionEnvironment: JavaSE-21
 Export-Package: system,
  system.impl,
  system.util
diff --git a/plugins/de.fraunhofer.ipa.rossystem/src/system/SubSystem.java b/plugins/de.fraunhofer.ipa.rossystem/src/system/SubSystem.java
index 197b3fca..60e3569f 100644
--- a/plugins/de.fraunhofer.ipa.rossystem/src/system/SubSystem.java
+++ b/plugins/de.fraunhofer.ipa.rossystem/src/system/SubSystem.java
@@ -20,26 +20,26 @@
  * @generated
  */
 public interface SubSystem extends Component {
-	/**
-	 * Returns the value of the '<em><b>System</b></em>' reference.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @return the value of the '<em>System</em>' reference.
-	 * @see #setSystem(system.System)
-	 * @see system.RossystemPackage#getSubSystem_System()
-	 * @model
-	 * @generated
-	 */
-	system.System getSystem();
+    /**
+     * Returns the value of the '<em><b>System</b></em>' reference.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @return the value of the '<em>System</em>' reference.
+     * @see #setSystem(system.System)
+     * @see system.RossystemPackage#getSubSystem_System()
+     * @model
+     * @generated
+     */
+    system.System getSystem();
 
-	/**
-	 * Sets the value of the '{@link system.SubSystem#getSystem <em>System</em>}' reference.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @param value the new value of the '<em>System</em>' reference.
-	 * @see #getSystem()
-	 * @generated
-	 */
-	void setSystem(system.System value);
+    /**
+     * Sets the value of the '{@link system.SubSystem#getSystem <em>System</em>}' reference.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @param value the new value of the '<em>System</em>' reference.
+     * @see #getSystem()
+     * @generated
+     */
+    void setSystem(system.System value);
 
 } // SubSystem
diff --git a/plugins/de.fraunhofer.ipa.rossystem/src/system/impl/SubSystemImpl.java b/plugins/de.fraunhofer.ipa.rossystem/src/system/impl/SubSystemImpl.java
index b7485a0e..44daa44c 100644
--- a/plugins/de.fraunhofer.ipa.rossystem/src/system/impl/SubSystemImpl.java
+++ b/plugins/de.fraunhofer.ipa.rossystem/src/system/impl/SubSystemImpl.java
@@ -25,132 +25,132 @@
  * @generated
  */
 public class SubSystemImpl extends ComponentImpl implements SubSystem {
-	/**
-	 * The cached value of the '{@link #getSystem() <em>System</em>}' reference.
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @see #getSystem()
-	 * @generated
-	 * @ordered
-	 */
-	protected system.System system;
+    /**
+     * The cached value of the '{@link #getSystem() <em>System</em>}' reference.
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @see #getSystem()
+     * @generated
+     * @ordered
+     */
+    protected system.System system;
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	protected SubSystemImpl() {
-		super();
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    protected SubSystemImpl() {
+        super();
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	protected EClass eStaticClass() {
-		return RossystemPackage.Literals.SUB_SYSTEM;
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    protected EClass eStaticClass() {
+        return RossystemPackage.Literals.SUB_SYSTEM;
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public system.System getSystem() {
-		if (system != null && system.eIsProxy()) {
-			InternalEObject oldSystem = (InternalEObject)system;
-			system = (system.System)eResolveProxy(oldSystem);
-			if (system != oldSystem) {
-				if (eNotificationRequired())
-					eNotify(new ENotificationImpl(this, Notification.RESOLVE, RossystemPackage.SUB_SYSTEM__SYSTEM, oldSystem, system));
-			}
-		}
-		return system;
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public system.System getSystem() {
+        if (system != null && system.eIsProxy()) {
+            InternalEObject oldSystem = (InternalEObject)system;
+            system = (system.System)eResolveProxy(oldSystem);
+            if (system != oldSystem) {
+                if (eNotificationRequired())
+                    eNotify(new ENotificationImpl(this, Notification.RESOLVE, RossystemPackage.SUB_SYSTEM__SYSTEM, oldSystem, system));
+            }
+        }
+        return system;
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	public system.System basicGetSystem() {
-		return system;
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    public system.System basicGetSystem() {
+        return system;
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public void setSystem(system.System newSystem) {
-		system.System oldSystem = system;
-		system = newSystem;
-		if (eNotificationRequired())
-			eNotify(new ENotificationImpl(this, Notification.SET, RossystemPackage.SUB_SYSTEM__SYSTEM, oldSystem, system));
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public void setSystem(system.System newSystem) {
+        system.System oldSystem = system;
+        system = newSystem;
+        if (eNotificationRequired())
+            eNotify(new ENotificationImpl(this, Notification.SET, RossystemPackage.SUB_SYSTEM__SYSTEM, oldSystem, system));
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public Object eGet(int featureID, boolean resolve, boolean coreType) {
-		switch (featureID) {
-			case RossystemPackage.SUB_SYSTEM__SYSTEM:
-				if (resolve) return getSystem();
-				return basicGetSystem();
-		}
-		return super.eGet(featureID, resolve, coreType);
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public Object eGet(int featureID, boolean resolve, boolean coreType) {
+        switch (featureID) {
+            case RossystemPackage.SUB_SYSTEM__SYSTEM:
+                if (resolve) return getSystem();
+                return basicGetSystem();
+        }
+        return super.eGet(featureID, resolve, coreType);
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public void eSet(int featureID, Object newValue) {
-		switch (featureID) {
-			case RossystemPackage.SUB_SYSTEM__SYSTEM:
-				setSystem((system.System)newValue);
-				return;
-		}
-		super.eSet(featureID, newValue);
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public void eSet(int featureID, Object newValue) {
+        switch (featureID) {
+            case RossystemPackage.SUB_SYSTEM__SYSTEM:
+                setSystem((system.System)newValue);
+                return;
+        }
+        super.eSet(featureID, newValue);
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public void eUnset(int featureID) {
-		switch (featureID) {
-			case RossystemPackage.SUB_SYSTEM__SYSTEM:
-				setSystem((system.System)null);
-				return;
-		}
-		super.eUnset(featureID);
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public void eUnset(int featureID) {
+        switch (featureID) {
+            case RossystemPackage.SUB_SYSTEM__SYSTEM:
+                setSystem((system.System)null);
+                return;
+        }
+        super.eUnset(featureID);
+    }
 
-	/**
-	 * <!-- begin-user-doc -->
-	 * <!-- end-user-doc -->
-	 * @generated
-	 */
-	@Override
-	public boolean eIsSet(int featureID) {
-		switch (featureID) {
-			case RossystemPackage.SUB_SYSTEM__SYSTEM:
-				return system != null;
-		}
-		return super.eIsSet(featureID);
-	}
+    /**
+     * <!-- begin-user-doc -->
+     * <!-- end-user-doc -->
+     * @generated
+     */
+    @Override
+    public boolean eIsSet(int featureID) {
+        switch (featureID) {
+            case RossystemPackage.SUB_SYSTEM__SYSTEM:
+                return system != null;
+        }
+        return super.eIsSet(featureID);
+    }
 
 } //SubSystemImpl

From eca1970cdfa976c9e766feb8ac50de1d12e2e318 Mon Sep 17 00:00:00 2001
From: Ruichao <ruichao.wu@ipa.fraunhofer.de>
Date: Thu, 2 Oct 2025 17:32:17 +0200
Subject: [PATCH 3/4] Fix formatting issues across multiple documentation files
 and source code

---
 LICENSE                                       |  1 -
 README.md                                     |  4 +-
 docu/Example_PubSub.md                        | 10 ++--
 docu/Example_Turtlesim.md                     |  4 +-
 docu/NewCommunicationObjects.md               |  2 +-
 docu/ParametersAPI.md                         | 13 +++--
 docu/RosModelDescription.md                   | 46 ++++++++---------
 docu/RosSystemModelDescription.md             |  2 +-
 plugins/de.fraunhofer.ipa.ros.sirius/.project | 50 +++++++++----------
 .../de.fraunhofer.ipa.ros.sirius/plugin.xml   |  2 +-
 .../fraunhofer/ipa/ros/sirius/Activator.java  | 34 ++++++-------
 .../fraunhofer/ipa/ros/sirius/Services.java   |  2 +-
 12 files changed, 84 insertions(+), 86 deletions(-)

diff --git a/LICENSE b/LICENSE
index 6b0b1270..d6456956 100644
--- a/LICENSE
+++ b/LICENSE
@@ -200,4 +200,3 @@
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
-
diff --git a/README.md b/README.md
index 8bd8e651..4a5dd37f 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@
 
 [![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0) [![ros-model CI](https://github.com/ipa320/ros-model/actions/workflows/build.yml/badge.svg)](https://github.com/ipa320/ros-model/actions/workflows/build.yml)
 
-The main purpose of this effort is to combine the advantages of [ROS](http://wiki.ros.org/) and Model-Driven-Engineering techniques. This repository holds a family of metamodels defined as Ecore models and their corresponding Xtext-based DSLs (Domain Specific Language) implementation. 
+The main purpose of this effort is to combine the advantages of [ROS](http://wiki.ros.org/) and Model-Driven-Engineering techniques. This repository holds a family of metamodels defined as Ecore models and their corresponding Xtext-based DSLs (Domain Specific Language) implementation.
 The resulted models allow the description of ROS and ROS2 concepts and properties, like packages, artifacts, nodes, interfaces types, parameters... Moreover a complete system as composition of ROS components can be also modelled.
 
 The models have associated tools, the following are some examples:
@@ -58,7 +58,7 @@ Publications:
 - Combine components to form a ROS System
   - [Create manually a new RosSystem description](docu/RosSystemModelDescription.md)
   - [Visualize a system using PlantUML](docu/PlantUML.md)
-  
+
 - Examples:
   - [Simple publisher-subscriber](docu/Example_PubSub.md)
   - [Turtlesim](docu/Example_Turtlesim.md)
diff --git a/docu/Example_PubSub.md b/docu/Example_PubSub.md
index ce9d8006..cf67b618 100644
--- a/docu/Example_PubSub.md
+++ b/docu/Example_PubSub.md
@@ -1,6 +1,6 @@
 # Tutorial: How to create a simple Publisher-Subscriber example.
 
-In this tutorial we just want to show how the models can be used to define ROS nodes. 
+In this tutorial we just want to show how the models can be used to define ROS nodes.
 For this we will see how two simple nodes can be defined, one that acts as a publisher of a "Hello World!" message and another that receives it as a subscriber.
 
 This tutorial is fictitious, it is not based on any existing ROS node. The ROS example is reflected in the models of the example [pub_sub_ros2](https://github.com/ipa-nhg/ros-model-examples/tree/main/pub_sub_ros2).
@@ -24,7 +24,7 @@ publisher_package:
 
 ```
 
-Then we need the artifact, a runnable to execute the node. As every YAML format file we have to add identantion to the secon line. Then pressing the keys "Ctrl"+Space bar the menu will suggest us as an option the text "artifacts:". We select it and go to the next line. 
+Then we need the artifact, a runnable to execute the node. As every YAML format file we have to add identantion to the secon line. Then pressing the keys "Ctrl"+Space bar the menu will suggest us as an option the text "artifacts:". We select it and go to the next line.
 
 In the third line we must add a douple identation, we will create an object under artifacts. The next object will be a name for the artifact, for example "pub_artifact":
 
@@ -42,7 +42,7 @@ publisher:
     pub_artifact:
       node: pub_node
 ```
-Now that we have the node, we can define the interfaces that offers this node as inputs and output to connect to it. In our case we want to create a publisher, which the type **String** . 
+Now that we have the node, we can define the interfaces that offers this node as inputs and output to connect to it. In our case we want to create a publisher, which the type **String** .
 
 ![alt text](images/pubsub_tutorial3.gif)
 
@@ -79,7 +79,7 @@ Now that we have already the components we can compose them. For that we have to
 
 In [RosSystem description](RosSystemModelDescription.md) we explain the format of a system and the editor will support you to write the model properly.
 
-The first that must be given is a name and then a ":" is required. In the next line you must add identation and you can press the keys "Ctrl" + Space bar for help. 
+The first that must be given is a name and then a ":" is required. In the next line you must add identation and you can press the keys "Ctrl" + Space bar for help.
 Then we will define the nodes that compose the system. Here under "from" we will link our previously created nodes, the grammar for the references is **PackageName.NodeName**.
 
 ![alt text](images/pubsub_tutorial5.gif)
@@ -131,4 +131,4 @@ my_system:
     -[ HelloWorldPublisher, HelloWorldSubscriber]
 ```
 
-With this very basic example we hope you have understood how the models can be used and what kind of attributes they allow to represent.
\ No newline at end of file
+With this very basic example we hope you have understood how the models can be used and what kind of attributes they allow to represent.
diff --git a/docu/Example_Turtlesim.md b/docu/Example_Turtlesim.md
index 02741b07..2abb2068 100644
--- a/docu/Example_Turtlesim.md
+++ b/docu/Example_Turtlesim.md
@@ -62,7 +62,7 @@ Now that we have already the components we can compose them. For that we have to
 
 In [RosSystem description](RosSystemModelDescription.md) we explain the format of a system and the editor will support you to write the model properly.
 
-The first that must be given is a name and then a ":" is required. In the next line you must add identation and you can press the keys "Ctrl" + Space bar for help. 
+The first that must be given is a name and then a ":" is required. In the next line you must add identation and you can press the keys "Ctrl" + Space bar for help.
 Firstly, we will add the 2 nodes that compose our system.
 
 ![alt text](images/turtlesim_tutorial1.gif)
@@ -123,7 +123,7 @@ source /opt/ros/ROSDISTRO/setup.bash
 ros2 launch PATH_TO_LAUNCH_PY_FILE
 ```
 
-Using the terminal of the keyboard node you can use the arrows to send new commands to the turtle. 
+Using the terminal of the keyboard node you can use the arrows to send new commands to the turtle.
 
 ![alt text](images/turtlesim_tutorial4.gif)
 
diff --git a/docu/NewCommunicationObjects.md b/docu/NewCommunicationObjects.md
index 542aad2b..f3dfaaa1 100644
--- a/docu/NewCommunicationObjects.md
+++ b/docu/NewCommunicationObjects.md
@@ -199,7 +199,7 @@ my_msgs:
   msgs:
    hello:
     message
-     String data 
+     String data
   srvs:
    hello
      request
diff --git a/docu/ParametersAPI.md b/docu/ParametersAPI.md
index 01cd5055..367e611c 100644
--- a/docu/ParametersAPI.md
+++ b/docu/ParametersAPI.md
@@ -3,15 +3,15 @@
 The types of parameters supported by the ROS tooling are the following:
 
 * Boolean (true or false)
-* Integer 
+* Integer
 * Double
 * String
 * Base64
-* List 
+* List
 * Array
 * Struct
 
-and their description is allowed at ROS and ROSSystem model level. 
+and their description is allowed at ROS and ROSSystem model level.
 
 For the complete definition of parameters the user has to open the ROS model editor, where the language format is the following:
 ```
@@ -25,9 +25,9 @@ For example (for a .ros2 file):
 
 ```
 test_parameters:
-  artifacts: 
+  artifacts:
     test_parameters:
-      node: params_example 
+      node: params_example
       parameters:
         string_test:
           type: String
@@ -78,8 +78,7 @@ test:
           value: ["hello", "hola", "hallo"]
         - test_st: "test_parameters::struct_test"
           value: [
-            hello: 1 
+            hello: 1
             what: "test"]
 ```
 The model definition of parameters is also consider for the autogeneration of launch files and the component interfaces. Complementarily, and because of the complexity of the format, the .ros, the .componentinterface and the .rossystem language validators contain rules to check that the value given to the parameter has the correct type and also help messages that together with the auto-complete function (Ctrl+Space) facilitate to the user the creation of parameters.
-
diff --git a/docu/RosModelDescription.md b/docu/RosModelDescription.md
index c4eb89dd..6dc32eee 100644
--- a/docu/RosModelDescription.md
+++ b/docu/RosModelDescription.md
@@ -14,22 +14,22 @@ my_awesome_pkg: #Name of the package
   **artifacts:**
     awesome: # Name of the artifact (as it is named in the CMakeLists)
       **node:** awesome_node # Name of the node
-      **publishers:** # (Optional) List of publishers 
+      **publishers:** # (Optional) List of publishers
         awesome_pub:
           **type:** "std_msgs/msg/Bool"
-      **subscribers:** # (Optional) List of subscribers 
+      **subscribers:** # (Optional) List of subscribers
         awesome_sub:
           **type:** "std_msgs/msg/Bool"
-      **serviceclients:** # (Optional) List of service clients 
+      **serviceclients:** # (Optional) List of service clients
         awesome_client:
           **type:** "std_srvs/srv/Empty"
-      **serviceservers:** # (Optional) List of service servers 
+      **serviceservers:** # (Optional) List of service servers
         awesome_server:
           **type:** "std_srvs/srv/Empty"
-      **actionclients:** # (Optional) List of action clients 
+      **actionclients:** # (Optional) List of action clients
         awesome_action:
           **type:** "control_msgs/action/JointTrajectory"
-      **actionservers:** # (Optional) List of action servers 
+      **actionservers:** # (Optional) List of action servers
         awesome_action:
           **type:** "control_msgs/action/JointTrajectory"
       **parameters:** # (Optional) List of parameters
@@ -39,7 +39,7 @@ my_awesome_pkg: #Name of the package
 ```
 
 
-The format is based the YAML file format. All the words marked in the template with '**' are keywords that compose the model, they can't be modified. 
+The format is based the YAML file format. All the words marked in the template with '**' are keywords that compose the model, they can't be modified.
 
 
 See the following model exmaple for the known teleop ROS package:
@@ -54,7 +54,7 @@ teleop:
           type: "geometry_msgs/msg/Twist"
       subscribers:
         joy:
-          type:"sensor_msgs/msg/Joy" 
+          type:"sensor_msgs/msg/Joy"
 ```
 
 ## ROS 2
@@ -69,67 +69,67 @@ my_awesome_pkg:
       **publishers:**
         awesome_pub:
           **type:** "std_msgs/msg/Bool"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** default_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
       **subscribers:**
         awesome_sub:
           **type:** "std_msgs/msg/Bool"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** transient_local
             **history:** keep_last
             **profile:** sensor_qos
-            **reliability:** reliable 
+            **reliability:** reliable
       **serviceclients:**
         awesome_client:
           **type:** "std_srvs/srv/Empty"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** services_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
       **serviceservers:**
         awesome_server:
           **type:** "std_srvs/srv/Empty"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** services_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
       **actionclients:**
         awesome_action:
           **type:** "control_msgs/action/JointTrajectory"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** default_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
       **actionservers:**
         awesome_action:
           **type:** "control_msgs/action/JointTrajectory"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** default_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
       **parameters:**
         awesome_param:
           **type:** String
           **default:** "Hello"
-          **qos:** 
+          **qos:**
             **depth:** 10
             **durability:** volatile
             **history:** keep_all
             **profile:** parameter_qos
-            **reliability:** best_effort 
+            **reliability:** best_effort
 ```
 
 The only remarkable difference with the ROS 1 model is that the quality of service can be defined for all the different interfaces. The quality of service atrributes are optional and they allow the following options:
@@ -141,7 +141,7 @@ The only remarkable difference with the ROS 1 model is that the quality of servi
 - reliability: best_effort / reliable
 
 The type of supported parameters are:
-- Boolean 
+- Boolean
 - Double
 - String
 - Integer
diff --git a/docu/RosSystemModelDescription.md b/docu/RosSystemModelDescription.md
index 932b34f8..37559a6c 100644
--- a/docu/RosSystemModelDescription.md
+++ b/docu/RosSystemModelDescription.md
@@ -39,7 +39,7 @@ Below we analyze each part that makes up the system and how it is formed:
   - from: reference to the instantiated node description. It is given by the name of the package that contains it and the name of the original node.
   - interfaces: list of all the interfaces of the node. Here it is not mandatory to list of the interfaces (again) as they are already on the .ros2 file. Only the renamed interfaces must be added, as well as, interfaces that will form a connection with other components. A referenced interface is given by: **NewName: Type -> ref_artifact_name::ref_interface_name** where `ref_artifact_name` and `ref_artifact_name` come from the ros2 file. And the Type can be pub, sub, sc, ss, ac, or as.
   - parameters: it is used to pass a value to a parameter. Every parameter shall have a name (my_param) in the example, and the reference to an existing parameter, given by 'artifact_name::param_name' frpm a .ros2 file. Then under value, a new value can be given to the parameter.
-  
+
 - (Optional) Connections: describe the connections between the nodes. They are given by `[name_of_the_output, name_of_the_input]` the outputs and inputs musst be previously created, they musst have the same communication pattern (topic, service or action) and the same type of communication object (for example std_msgs/String). Otherwise, the validator will give an error.
 
 The Editor of the models contains validators and the auto-complete function, which can be called with the combination of the keys `Ctrl` and space bar.
diff --git a/plugins/de.fraunhofer.ipa.ros.sirius/.project b/plugins/de.fraunhofer.ipa.ros.sirius/.project
index 1cb0d20a..39407163 100644
--- a/plugins/de.fraunhofer.ipa.ros.sirius/.project
+++ b/plugins/de.fraunhofer.ipa.ros.sirius/.project
@@ -1,28 +1,28 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>de.fraunhofer.ipa.ros.sirius</name>
-	<comment></comment>
-	<projects>
-	</projects>
-	<buildSpec>
-		<buildCommand>
-			<name>org.eclipse.jdt.core.javabuilder</name>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.pde.ManifestBuilder</name>
-			<arguments>
-			</arguments>
-		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.pde.SchemaBuilder</name>
-			<arguments>
-			</arguments>
-		</buildCommand>
-	</buildSpec>
-	<natures>
-		<nature>org.eclipse.pde.PluginNature</nature>
-		<nature>org.eclipse.jdt.core.javanature</nature>
-	</natures>
+    <name>de.fraunhofer.ipa.ros.sirius</name>
+    <comment></comment>
+    <projects>
+    </projects>
+    <buildSpec>
+        <buildCommand>
+            <name>org.eclipse.jdt.core.javabuilder</name>
+            <arguments>
+            </arguments>
+        </buildCommand>
+        <buildCommand>
+            <name>org.eclipse.pde.ManifestBuilder</name>
+            <arguments>
+            </arguments>
+        </buildCommand>
+        <buildCommand>
+            <name>org.eclipse.pde.SchemaBuilder</name>
+            <arguments>
+            </arguments>
+        </buildCommand>
+    </buildSpec>
+    <natures>
+        <nature>org.eclipse.pde.PluginNature</nature>
+        <nature>org.eclipse.jdt.core.javanature</nature>
+    </natures>
 </projectDescription>
diff --git a/plugins/de.fraunhofer.ipa.ros.sirius/plugin.xml b/plugins/de.fraunhofer.ipa.ros.sirius/plugin.xml
index 6b6368b3..52467430 100644
--- a/plugins/de.fraunhofer.ipa.ros.sirius/plugin.xml
+++ b/plugins/de.fraunhofer.ipa.ros.sirius/plugin.xml
@@ -8,5 +8,5 @@
     </component>
   </extension>
 
-  
+
 </plugin>
diff --git a/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Activator.java b/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Activator.java
index 34c32047..9899deae 100644
--- a/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Activator.java
+++ b/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Activator.java
@@ -18,7 +18,7 @@ public class Activator extends AbstractUIPlugin {
     // The shared instance
     private static Activator plugin;
 
-    private static Set<Viewpoint> viewpoints; 
+    private static Set<Viewpoint> viewpoints;
 
     /**
      * The constructor
@@ -28,39 +28,39 @@ public Activator() {
 
     /*
      * (non-Javadoc)
-     * 
+     *
      * @see org.eclipse.ui.plugin.AbstractUIPlugin#start(org.osgi.framework.BundleContext)
      */
     public void start(BundleContext context) throws Exception {
       super.start(context);
-	  plugin = this;
-	  viewpoints = new HashSet<Viewpoint>();
-	  viewpoints.addAll(ViewpointRegistry.getInstance().registerFromPlugin(PLUGIN_ID + "/description/ros.odesign")); 
+      plugin = this;
+      viewpoints = new HashSet<Viewpoint>();
+      viewpoints.addAll(ViewpointRegistry.getInstance().registerFromPlugin(PLUGIN_ID + "/description/ros.odesign"));
     }
 
     /*
      * (non-Javadoc)
-     * 
+     *
      * @see org.eclipse.ui.plugin.AbstractUIPlugin#stop(org.osgi.framework.BundleContext)
      */
     public void stop(BundleContext context) throws Exception {
-	plugin = null;
-	if (viewpoints != null) {
-	    for (final Viewpoint viewpoint: viewpoints) {
-		ViewpointRegistry.getInstance().disposeFromPlugin(viewpoint);
-	    }
-	    viewpoints.clear();
-	    viewpoints = null; 
-	}
-	super.stop(context);
+    plugin = null;
+    if (viewpoints != null) {
+        for (final Viewpoint viewpoint: viewpoints) {
+        ViewpointRegistry.getInstance().disposeFromPlugin(viewpoint);
+        }
+        viewpoints.clear();
+        viewpoints = null;
+    }
+    super.stop(context);
     }
 
     /**
      * Returns the shared instance
-     * 
+     *
      * @return the shared instance
      */
     public static Activator getDefault() {
-	return plugin;
+    return plugin;
     }
 }
diff --git a/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Services.java b/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Services.java
index b66fddb9..6aa61312 100644
--- a/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Services.java
+++ b/plugins/de.fraunhofer.ipa.ros.sirius/src/de/fraunhofer/ipa/ros/sirius/Services.java
@@ -6,7 +6,7 @@
  * The services class used by VSM.
  */
 public class Services {
-    
+
     /**
     * See http://help.eclipse.org/neon/index.jsp?topic=%2Forg.eclipse.sirius.doc%2Fdoc%2Findex.html&cp=24 for documentation on how to write service methods.
     */

From df64f9c75c24279b44ad34616d0ee3b68ac8672c Mon Sep 17 00:00:00 2001
From: Ruichao <ruichao.wu@ipa.fraunhofer.de>
Date: Mon, 6 Oct 2025 10:01:40 +0200
Subject: [PATCH 4/4] Add execution environment for Java SE 21 in Tycho plugin
 configuration

---
 plugins/de.fraunhofer.ipa.ros.parent/pom.xml | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/plugins/de.fraunhofer.ipa.ros.parent/pom.xml b/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
index 2d5639a3..e7b63816 100644
--- a/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
+++ b/plugins/de.fraunhofer.ipa.ros.parent/pom.xml
@@ -155,6 +155,7 @@
                 <artifactId>target-platform-configuration</artifactId>
                 <version>${tycho-version}</version>
                 <configuration>
+                    <executionEnvironment>JavaSE-21</executionEnvironment>
                     <environments>
                         <environment>
                             <os>macosx</os>
@@ -196,4 +197,4 @@
             </plugin>
         </plugins>
     </build>
-</project>
\ No newline at end of file
+</project>