diff --git a/smacc2_client_library/moveit2z_client/CHANGELOG.rst b/smacc2_client_library/moveit2z_client/CHANGELOG.rst
index a6b0e1685..1a0268511 100644
--- a/smacc2_client_library/moveit2z_client/CHANGELOG.rst
+++ b/smacc2_client_library/moveit2z_client/CHANGELOG.rst
@@ -2,19 +2,6 @@
 Changelog for package moveit2z_client
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-2.3.16 (2023-07-16)
--------------------
-* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble
-* Brettpac branch (`#518 <https://github.com/robosoft-ai/SMACC2/issues/518>`_)
-  * Attempt to fix weird issue with ros buildfarm
-  * More on this buildfarm issue
-  ---------
-  Co-authored-by: brettpac <brettpac@pop-os.localdomain>
-* Contributors: brettpac, pabloinigoblasco
-
-2.3.6 (2023-03-12)
-------------------
-
 1.22.1 (2022-11-09)
 -------------------
 * pre-release
diff --git a/smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_tf_listener.hpp b/smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_tf_listener.hpp
index acc37488d..224248a66 100644
--- a/smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_tf_listener.hpp
+++ b/smacc2_client_library/moveit2z_client/include/moveit2z_client/components/cp_tf_listener.hpp
@@ -29,7 +29,7 @@
 #include <mutex>
 #include <thread>
 
-namespace cl_moveit2z
+namespace cl_move_base_z
 {
 struct TfPoseTrack
 {
@@ -96,4 +96,4 @@ class CpTFListener : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdata
   std::mutex m_mutex_;
   std::list<std::shared_ptr<TfPoseTrack>> poseTracks_;
 };
-}  // namespace cl_moveit2z
+}  // namespace cl_move_base_z
diff --git a/smacc2_client_library/moveit2z_client/package.xml b/smacc2_client_library/moveit2z_client/package.xml
index 3e6aac6fd..1c567f956 100644
--- a/smacc2_client_library/moveit2z_client/package.xml
+++ b/smacc2_client_library/moveit2z_client/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>moveit2z_client</name>
-  <version>2.3.18</version>
+  <version>2.3.1</version>
 
   <description>The moveit2z_client package</description>
   <maintainer email="pablo@ibrobotics.com">Pablo Iñigo Blasco</maintainer>
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/CHANGELOG.rst b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/CHANGELOG.rst
deleted file mode 100644
index c1f87820e..000000000
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/CHANGELOG.rst
+++ /dev/null
@@ -1,60 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panda_arm_1_moveit_config
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-2.3.16 (2023-07-16)
--------------------
-* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble
-* Brettpac branch (`#518 <https://github.com/robosoft-ai/SMACC2/issues/518>`_)
-  * Attempt to fix weird issue with ros buildfarm
-  * More on this buildfarm issue
-  ---------
-  Co-authored-by: brettpac <brettpac@pop-os.localdomain>
-* Contributors: brettpac, pabloinigoblasco
-
-2.3.6 (2023-03-12)
-------------------
-* minor
-* Contributors: pabloinigoblasco
-
-* fix
-* removing mongo dependency (`#402 <https://github.com/robosoft-ai/SMACC2/issues/402>`_)
-  * removing mongo dependency
-  * fix
-  * fix
-* Contributors: Pablo Iñigo Blasco, pabloinigoblasco
-
-2.3.3 (2023-03-02 22:58)
-------------------------
-
-2.3.2 (2023-03-02 22:22)
-------------------------
-* Feature/format fix humble (`#383 <https://github.com/robosoft-ai/SMACC2/issues/383>`_)
-  * several changes for panda demo
-  * panda configs
-  * updating and refactoring code
-  * fixing format check
-  * fixing format
-  * missing
-  * fixing format
-  * format fix
-  * humble moveit environment
-  * fixes
-  * missing
-  * minor
-  * missing
-  * missing
-  * fix
-  * fixing
-  * fixing format fix
-  * fix
-* Contributors: Pablo Iñigo Blasco
-
-2.3.1 (2022-11-28)
-------------------
-
-1.22.1 (2022-11-09 20:22)
--------------------------
-
-1.22.0 (2022-11-09 19:53)
--------------------------
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/package.xml b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/package.xml
index 1bcba91de..9bed09854 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/package.xml
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_1_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>panda_arm_1_moveit_config</name>
-  <version>2.3.18</version>
+  <version>2.0.4</version>
   <description>
     <p>
       MoveIt Resources for testing: Franka Emika Panda
@@ -36,6 +36,9 @@
   <!-- TODO(#40): Package not available in ROS 2, find equivalent when migrating launch files
   <exec_depend>topic_tools</exec_depend>
   -->
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment.
+       Commented the dependency until this works. -->
+  <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
 
   <export>
       <build_type>ament_cmake</build_type>
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/CHANGELOG.rst b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/CHANGELOG.rst
deleted file mode 100644
index b8d942c19..000000000
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/CHANGELOG.rst
+++ /dev/null
@@ -1,60 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package panda_arm_2_moveit_config
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-2.3.16 (2023-07-16)
--------------------
-* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble
-* Brettpac branch (`#518 <https://github.com/robosoft-ai/SMACC2/issues/518>`_)
-  * Attempt to fix weird issue with ros buildfarm
-  * More on this buildfarm issue
-  ---------
-  Co-authored-by: brettpac <brettpac@pop-os.localdomain>
-* Contributors: brettpac, pabloinigoblasco
-
-2.3.6 (2023-03-12)
-------------------
-* minor
-* Contributors: pabloinigoblasco
-
-* fix
-* removing mongo dependency (`#402 <https://github.com/robosoft-ai/SMACC2/issues/402>`_)
-  * removing mongo dependency
-  * fix
-  * fix
-* Contributors: Pablo Iñigo Blasco, pabloinigoblasco
-
-2.3.3 (2023-03-02 22:58)
-------------------------
-
-2.3.2 (2023-03-02 22:22)
-------------------------
-* Feature/format fix humble (`#383 <https://github.com/robosoft-ai/SMACC2/issues/383>`_)
-  * several changes for panda demo
-  * panda configs
-  * updating and refactoring code
-  * fixing format check
-  * fixing format
-  * missing
-  * fixing format
-  * format fix
-  * humble moveit environment
-  * fixes
-  * missing
-  * minor
-  * missing
-  * missing
-  * fix
-  * fixing
-  * fixing format fix
-  * fix
-* Contributors: Pablo Iñigo Blasco
-
-2.3.1 (2022-11-28)
-------------------
-
-1.22.1 (2022-11-09 20:22)
--------------------------
-
-1.22.0 (2022-11-09 19:53)
--------------------------
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/package.xml b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/package.xml
index de38a8fae..a33c2fe9d 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/package.xml
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/panda_arm_2_moveit_config/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>panda_arm_2_moveit_config</name>
-  <version>2.3.18</version>
+  <version>2.0.4</version>
   <description>
     <p>
       MoveIt Resources for testing: Franka Emika Panda
@@ -39,6 +39,7 @@
   -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment.
        Commented the dependency until this works. -->
+  <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
 
   <export>
       <build_type>ament_cmake</build_type>
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/CHANGELOG.rst b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/CHANGELOG.rst
deleted file mode 100644
index 36d970494..000000000
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/CHANGELOG.rst
+++ /dev/null
@@ -1,61 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package sm_multi_panda_sim
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-2.3.16 (2023-07-16)
--------------------
-* Merge branch 'humble' of https://github.com/robosoft-ai/SMACC2 into humble
-* Brettpac branch (`#518 <https://github.com/robosoft-ai/SMACC2/issues/518>`_)
-  * Attempt to fix weird issue with ros buildfarm
-  * More on this buildfarm issue
-  ---------
-  Co-authored-by: brettpac <brettpac@pop-os.localdomain>
-* Contributors: brettpac, pabloinigoblasco
-
-2.3.6 (2023-03-12)
-------------------
-* minor
-* Contributors: pabloinigoblasco
-
-* fix
-* version
-* removing mongo dependency (`#402 <https://github.com/robosoft-ai/SMACC2/issues/402>`_)
-  * removing mongo dependency
-  * fix
-  * fix
-* Contributors: Pablo Iñigo Blasco, pabloinigoblasco
-
-2.3.3 (2023-03-02 22:58)
-------------------------
-
-2.3.2 (2023-03-02 22:22)
-------------------------
-* Feature/format fix humble (`#383 <https://github.com/robosoft-ai/SMACC2/issues/383>`_)
-  * several changes for panda demo
-  * panda configs
-  * updating and refactoring code
-  * fixing format check
-  * fixing format
-  * missing
-  * fixing format
-  * format fix
-  * humble moveit environment
-  * fixes
-  * missing
-  * minor
-  * missing
-  * missing
-  * fix
-  * fixing
-  * fixing format fix
-  * fix
-* Contributors: Pablo Iñigo Blasco
-
-2.3.1 (2022-11-28)
-------------------
-
-1.22.1 (2022-11-09 20:22)
--------------------------
-
-1.22.0 (2022-11-09 19:53)
--------------------------
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp
index e670abac9..aa163b419 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_move_synchronized_link_goals.hpp
@@ -34,7 +34,7 @@ namespace cl_moveit2z
 class CbMoveSynchronizedLinkGoals : public smacc2::SmaccAsyncClientBehavior
 {
 public:
-  CbMoveSynchronizedLinkGoals(const std::vector<geometry_msgs::msg::PoseStamped>& /*poses*/, const std::vector<std::string>& /*names*/)
+  CbMoveSynchronizedLinkGoals(const std::vector<geometry_msgs::msg::PoseStamped>& poses, const std::vector<std::string>& names)
   {
 
   }
@@ -66,7 +66,7 @@ class CbMoveSynchronizedLinkGoals : public smacc2::SmaccAsyncClientBehavior
     }
 
 private:
-  void onMessageReceived(const sensor_msgs::msg::JointState & /*msg*/)
+  void onMessageReceived(const sensor_msgs::msg::JointState & msg)
   {
       postSuccessEvent();
       mutex.unlock();
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_wait_joint_states.hpp b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_wait_joint_states.hpp
index 213c640b1..05064af89 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_wait_joint_states.hpp
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/include/sm_multi_panda_sim/clients/move_group/client_behaviors/cb_wait_joint_states.hpp
@@ -70,7 +70,7 @@ class CbWaitJointState : public smacc2::SmaccAsyncClientBehavior
     }
 
 private:
-  void onMessageReceived(const sensor_msgs::msg::JointState & /*msg*/)
+  void onMessageReceived(const sensor_msgs::msg::JointState & msg)
   {
       RCLCPP_INFO(getLogger(), "CbWaitJointState::onMessageReceived, posting event");
       postSuccessEvent();
diff --git a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/package.xml b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/package.xml
index ab93bddc7..18918a545 100644
--- a/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/package.xml
+++ b/smacc2_sm_reference_library/sm_multi_panda_sim/sm_multi_panda_sim/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>sm_multi_panda_sim</name>
-  <version>2.3.18</version>
+  <version>0.0.0</version>
   <description>The sm_multi_panda_sim package</description>
   <maintainer email="smacc2@smacc2.cool">SMACC2 is cool</maintainer>
   <license>Apache-2.0</license>
@@ -16,6 +16,7 @@
   <depend>smacc2</depend>
   <depend>moveit2z_client</depend>
   <depend>controller_manager</depend>
+  <depend>warehouse_ros_mongo</depend>
   <depend>moveit_configs_utils</depend>
   <exec_depend>moveit_resources_panda_description</exec_depend>