diff --git a/built_packages b/built_packages
index c0ed03dee..fef713d3e 100755
--- a/built_packages
+++ b/built_packages
@@ -1,37 +1,36 @@
 
-https://github.com/ament/ament_cmake.git fdbf4574d7ccc67c29d63f906ddbd88017eb9ecc
-https://github.com/ament/ament_index.git 186831ac95e05632936b1399f8eda34d9f2199f4
-https://github.com/ament/ament_lint.git f5d1cad324be721f87fa87a416aa70701e75dcca
-https://github.com/ament/ament_package.git 01592eb7c227ec12304635e530984d29055463d7
-https://github.com/ament/googletest.git 826d84bcc66eec650242bf360a565597e6aaad56
-https://github.com/ament/uncrustify_vendor.git 10ae38627f40c87583088fb5d0ec3551c26c8e59
+https://github.com/ament/ament_cmake.git ad972e113c9c561bf32280b3baefe484ef684589
+https://github.com/ament/ament_index.git 0ed743ad9e3b583d975ffcde0b57de8a0b1204ae
+https://github.com/ament/ament_lint.git 1dc1dd14af5edf52bb9c18e5453eff4d2ddc0ad6
+https://github.com/ament/ament_package.git 35b15ae4d8c5e1dbb6ab622ff95d046aa3ca1b28
+https://github.com/ament/googletest.git 449327bfc17e58db5ce53955b8e250427909a1c8
+https://github.com/ament/uncrustify_vendor.git 84edaca76d32c3ed20ce7097ed91784029530306
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
-https://github.com/micro-ROS/micro_ros_msgs.git 4f1dbf42db9e35b22525e3d408730a450eeb4eea
-https://github.com/micro-ROS/micro_ros_utilities 55dab3a8503b6ed57ba5db283d6479d5458c0bb2
-https://github.com/micro-ROS/rcl d0f8838f6f0261714b767795df7c1dbcf3eb61e5
-https://github.com/micro-ROS/rcutils b408a061eeee6ff660bdd7e04ecfd0e424e813a1
-https://github.com/micro-ROS/rmw-microxrcedds.git eca20d44b161ed3bae15d5e82d5098e93300cad5
-https://github.com/micro-ROS/rosidl_typesupport.git 096a43939bea288918d5b82fb8e4427769f1e7b5
-https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git cbd7719e07d5ca94077784accf95eac9ad535b56
+https://github.com/micro-ROS/micro_ros_msgs.git 4594d9db17db735b1e655141fb4afb4cdcfc5789
+https://github.com/micro-ROS/micro_ros_utilities aa799eea0a63edfc1665cdcb1e9053827b69c730
+https://github.com/micro-ROS/rcl eacfc8543ff11ea3f9bf5e30246c6793c5e352d2
+https://github.com/micro-ROS/rcutils 9b5bd96bf22c1934c82692c17ea8bbef1bd4d980
+https://github.com/micro-ROS/rmw-microxrcedds.git 554445fe739e4c5bcb27753ffbe21e03bb2c3c1f
+https://github.com/micro-ROS/rosidl_typesupport.git 23f15cd3897f81f7e4938c303a7abbe7d06801ec
+https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 6243b9f89e40ba4742c757951d7195f3d7745819
 https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e87386cf60
-https://github.com/ros2/ament_cmake_ros.git 2fc2c6baada47130ff3c2fbc5265a9ec782d3332
-https://github.com/ros2/common_interfaces.git 010889cc49dc035305adac4308a8f79483515c24
-https://github.com/ros2/example_interfaces.git dec9e55175f95f0feecc46213df3a26c8543313f
-https://github.com/ros2/libyaml_vendor.git f4ccfc67e7ba2ec4e77170d105c1da0133fa3971
-https://github.com/ros2/rcl.git ff22e575262b65b87c8645dac297e03b06ab7e8b
-https://github.com/ros2/rcl_interfaces.git 011c87593e1f8790f5f98b83c753043ccc560e17
-https://github.com/ros2/rcl_logging.git ecb3ab62168e873ef78201c8fda65b622b9f2707
-https://github.com/ros2/rclc 169b246f738a1b5604423f6187d27dc770781871
-https://github.com/ros2/rcpputils.git 162d345c2856b4644a31fbbaacfee9f3f5684f98
-https://github.com/ros2/rmw.git 22f59f8931944999864ef3b0d7aa75ab7258f028
-https://github.com/ros2/rmw_implementation.git 6f8bc6bca69d948e8d7c31dabd5416b3e20d4090
-https://github.com/ros2/ros2_tracing.git 7e8d42e3816dc9f7dc268109a2bb9cc66cc4d4ee
-https://github.com/ros2/rosidl.git 4ba0effa201030ae8f45597b29d4ca685b2d50a1
-https://github.com/ros2/rosidl_core.git 2c26ead5c1cc0b6f5f363367ab9873d559ff4a2a
-https://github.com/ros2/rosidl_dds.git 395a946f1cde1999ddb78cb31717d0991421a317
-https://github.com/ros2/rosidl_defaults.git 7f6d49928a53f5a854b04aa6daec4d5bc970d0fc
-https://github.com/ros2/rosidl_dynamic_typesupport.git 96d1cb662b1b69409d80383ed20a41cc92267aa1
-https://github.com/ros2/test_interface_files.git 295542e2b2106d8e1274adb5b0c9f9e7d1571be6
-https://github.com/ros2/unique_identifier_msgs.git a609a6409a018bf8a87686c846ece09221044af2
-https://github.com/uncrustify/uncrustify.git b8c95286f70ef8e0e83bd055a3a7aabb614a0781
+https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa4246596a5
+https://github.com/ros2/common_interfaces.git 784c48971ed8e95d27f86df26d4e893adddf433d
+https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f
+https://github.com/ros2/libyaml_vendor.git dbba913fdbdcfb5388c335619ca66eb4d891e59e
+https://github.com/ros2/rcl.git 00c29cd6e72caae36e1e749a8c02558ee709a275
+https://github.com/ros2/rcl_interfaces.git 003987ecb81a32802ab27dd6d325b8c6b8b813cc
+https://github.com/ros2/rcl_logging.git 128d88e6e4ad6df97405564afbdffa2ebc167814
+https://github.com/ros2/rclc 995cda8c68456c7477ed103d9419a161fd068960
+https://github.com/ros2/rcpputils.git 747b92f911cc3b338b6a73ad880e95c6be17075d
+https://github.com/ros2/rmw.git c90c29700291eb975688326a31f8915803cf277d
+https://github.com/ros2/rmw_implementation.git 1dee258b57112326fd0e1f9a36f12731e0aaa25f
+https://github.com/ros2/ros2_tracing.git d7ce54b35c4442a5ddaf7e45ca3c1caee0d9e8f2
+https://github.com/ros2/rosidl.git 15785db2423a4dd665ae8eb208e001368e2952c9
+https://github.com/ros2/rosidl_core.git 84fa73d3974fe31fbe397e41e4449a31c2fb6ce4
+https://github.com/ros2/rosidl_dds.git 8d6fdb365792c81861cf1d49da2d265e91dca86d
+https://github.com/ros2/rosidl_defaults.git 65d0e79a6f477e22b7213590bc8d2465e16cedbf
+https://github.com/ros2/rosidl_dynamic_typesupport.git cb8c54d12c678daa70410bb0626ed8626f561e45
+https://github.com/ros2/test_interface_files.git c5941d36e977b75c8949c9d30883248246a84693
+https://github.com/ros2/unique_identifier_msgs.git ced22ce6e0d197357b27157f35107f5b7173b272
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index 09c9b52fc..ae6f46e9b 100755
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diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index 9bec165c7..63837d96e 100755
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diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index f69bc6156..b5be9d5f6 100755
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diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index f80bf505b..e85eb04e8 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index dfa60d90f..521244db6 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index cfb6de3a2..220860b90 100755
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diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index acbc6e3fa..ef16e56fa 100755
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diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index 89ba4316b..639a0ff09 100755
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diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index 95d609984..bbe33ad75 100755
Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 00825f2ef..4e28392a0 100755
Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 00825f2ef..4e28392a0 100755
Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/rcl_action/version.h b/src/rcl_action/version.h
index 440f57d81..cfce35759 100755
--- a/src/rcl_action/version.h
+++ b/src/rcl_action/version.h
@@ -21,15 +21,15 @@
 
 /// \def RCL_ACTION_VERSION_MINOR
 /// Defines RCL_ACTION minor version number
-#define RCL_ACTION_VERSION_MINOR (3)
+#define RCL_ACTION_VERSION_MINOR (2)
 
 /// \def RCL_ACTION_VERSION_PATCH
 /// Defines RCL_ACTION version patch number
-#define RCL_ACTION_VERSION_PATCH (0)
+#define RCL_ACTION_VERSION_PATCH (3)
 
 /// \def RCL_ACTION_VERSION_STR
 /// Defines RCL_ACTION version string
-#define RCL_ACTION_VERSION_STR "9.3.0"
+#define RCL_ACTION_VERSION_STR "9.2.3"
 
 /// \def RCL_ACTION_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_ACTION is greater than or equal to
diff --git a/src/rcl_lifecycle/version.h b/src/rcl_lifecycle/version.h
index cb675dfbe..d331bbd5b 100755
--- a/src/rcl_lifecycle/version.h
+++ b/src/rcl_lifecycle/version.h
@@ -21,15 +21,15 @@
 
 /// \def RCL_LIFECYCLE_VERSION_MINOR
 /// Defines RCL_LIFECYCLE minor version number
-#define RCL_LIFECYCLE_VERSION_MINOR (3)
+#define RCL_LIFECYCLE_VERSION_MINOR (2)
 
 /// \def RCL_LIFECYCLE_VERSION_PATCH
 /// Defines RCL_LIFECYCLE version patch number
-#define RCL_LIFECYCLE_VERSION_PATCH (0)
+#define RCL_LIFECYCLE_VERSION_PATCH (3)
 
 /// \def RCL_LIFECYCLE_VERSION_STR
 /// Defines RCL_LIFECYCLE version string
-#define RCL_LIFECYCLE_VERSION_STR "9.3.0"
+#define RCL_LIFECYCLE_VERSION_STR "9.2.3"
 
 /// \def RCL_LIFECYCLE_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_LIFECYCLE is greater than or equal to
diff --git a/src/rclc/executor.h b/src/rclc/executor.h
index 39cb94e5d..74f969104 100755
--- a/src/rclc/executor.h
+++ b/src/rclc/executor.h
@@ -40,22 +40,33 @@ extern "C"
     processed in a user-defined order.
 */
 
-/* defines the semantics of data communication
-   RCLCPP_EXECUTOR - same semantics as in the rclcpp Executor ROS2(Eloquent)
-   LET             - logical execution time
+/** Defines the semantics when data is taken from DDS
+ *  SEMANTICS_RCLCPP_EXECUTOR        - same semantics as in rclcpp Executor. Data of a subscription
+ *                                     is taken from DDS just before the corresponding callback
+ *                                     is called by the Executor.
+ *  SEMANTICS_LOGICAL_EXECUTION_TIME - logical execution time semantics. At one sampling point t
+ *                                     new data of all ready subscriptions are taken from DDS.
+ *                                     During (sequential) processing of these callbacks the
+ *                                     data is used as per sampling point t. If new data arrived
+ *                                     between the sampling point t and the time point at which
+ *                                     the callback is called, it would not be considered in this
+ *                                     `rclc_executor_spin_some` iteration.
 */
 typedef enum
 {
-  RCLCPP_EXECUTOR,
-  LET
+  RCLC_SEMANTICS_RCLCPP_EXECUTOR,
+  RCLC_SEMANTICS_LOGICAL_EXECUTION_TIME
 } rclc_executor_semantics_t;
 
+/**
+ * Different types of Executors.
+*/
 typedef enum
 {
-  NONE,
-  SINGLE_THREADED,
-  MULTI_THREADED,
-  NON_POSIX,
+  RCLC_EXECUTOR_NOT_INITIALIZED,
+  RCLC_EXECUTOR_SINGLE_THREADED,
+  RCLC_EXECUTOR_MULTI_THREADED,
+  RCLC_EXECUTOR_NON_POSIX,
 } rclc_executor_type_t;
 
 /// Type definition for trigger function. With the parameters:
diff --git a/src/rclc/timer.h b/src/rclc/timer.h
index 60441529a..6e8f5aeec 100755
--- a/src/rclc/timer.h
+++ b/src/rclc/timer.h
@@ -40,11 +40,26 @@ extern "C"
  * \param[in] support the rclc_support_t object
  * \param[in] timeout_ns the time out in nanoseconds of the timer
  * \param[in] callback the callback of the timer
+ * \param[in] autostart the state of the timer at initialization
  * \return `RCL_RET_OK` if successful
  * \return `RCL_ERROR` (or other error code) if an error occurred
  */
 RCLC_PUBLIC
 rcl_ret_t
+rclc_timer_init_default2(
+  rcl_timer_t * timer,
+  rclc_support_t * support,
+  const uint64_t timeout_ns,
+  const rcl_timer_callback_t callback,
+  bool autostart);
+
+/**
+ * \deprecated `rclc_timer_init_default` implementation was removed.
+ *   Refer to `rclc_timer_init_default2`.
+ */
+RCL_PUBLIC
+RCUTILS_DEPRECATED_WITH_MSG("Call rclc_timer_init_default2 instead")
+rcl_ret_t
 rclc_timer_init_default(
   rcl_timer_t * timer,
   rclc_support_t * support,
diff --git a/src/rcutils/security_directory.h b/src/rcutils/security_directory.h
deleted file mode 100755
index 9d2c68067..000000000
--- a/src/rcutils/security_directory.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// 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.
-
-#ifndef RCUTILS__SECURITY_DIRECTORY_H_
-#define RCUTILS__SECURITY_DIRECTORY_H_
-
-#ifdef __cplusplus
-extern "C"
-{
-#endif
-
-#include "rcutils/allocator.h"
-#include "rcutils/visibility_control.h"
-
-#ifndef ROS_SECURITY_NODE_DIRECTORY_VAR_NAME
-  #define ROS_SECURITY_NODE_DIRECTORY_VAR_NAME "ROS_SECURITY_NODE_DIRECTORY"
-#endif
-
-#ifndef ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME
-  #define ROS_SECURITY_ROOT_DIRECTORY_VAR_NAME "ROS_SECURITY_ROOT_DIRECTORY"
-#endif
-
-#ifndef ROS_SECURITY_LOOKUP_TYPE_VAR_NAME
-  #define ROS_SECURITY_LOOKUP_TYPE_VAR_NAME "ROS_SECURITY_LOOKUP_TYPE"
-#endif
-
-/// Return the secure root directory associated with a node given its validated name and namespace.
-/**
- * E.g. for a node named "c" in namespace "/a/b", the secure root path will be
- * "a/b/c", where the delimiter "/" is native for target file system (e.g. "\\" for _WIN32).
- * If no exact match is found for the node name, a best match would be used instead
- * (by performing longest-prefix matching).
- *
- * However, this expansion can be overridden by setting the secure node directory environment
- * variable, allowing users to explicitly specify the exact secure root directory to be utilized.
- * Such an override is useful for where the FQN of a node is non-deterministic before runtime,
- * or when testing and using additional tools that may not otherwise be easily provisioned.
- *
- * \param[in] node_name validated node name (a single token)
- * \param[in] node_namespace validated, absolute namespace (starting with "/")
- * \param[in] allocator the allocator to use for allocation
- * \returns machine specific (absolute) node secure root path or NULL on failure
- *          returned pointer must be deallocated by the caller of this function
- */
-RCUTILS_PUBLIC
-char * rcutils_get_secure_root(
-  const char * node_name,
-  const char * node_namespace,
-  const rcutils_allocator_t * allocator
-);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif  // RCUTILS__SECURITY_DIRECTORY_H_
diff --git a/src/rmw/rmw.h b/src/rmw/rmw.h
index 2f9248e0e..373bf1a6b 100755
--- a/src/rmw/rmw.h
+++ b/src/rmw/rmw.h
@@ -14,7 +14,7 @@
 
 /** \mainpage rmw: ROS Middleware Abstraction Interface
  *
- * `rmw` defines an interface of middleware primitives that are used by the higher level ROS APIs.
+ * `rmw` defines an interface of middleware primitives that are used by the higher level ROS API's.
  * It consists of these main components:
  *
  * - Initialization and Shutdown:
diff --git a/src/rosidl_runtime_c/action_type_support_struct.h b/src/rosidl_runtime_c/action_type_support_struct.h
index 007e098b0..62b45b036 100755
--- a/src/rosidl_runtime_c/action_type_support_struct.h
+++ b/src/rosidl_runtime_c/action_type_support_struct.h
@@ -38,7 +38,7 @@ typedef const rosidl_runtime_c__type_description__TypeSource__Sequence *
 (* rosidl_action_get_type_description_sources_function)(const rosidl_action_type_support_t *);
 
 /// Contains rosidl action type support data.
-/**
+/*
  * Actions are built based on services(goal, result and cancel) and message (feedback and status).
  */
 struct rosidl_action_type_support_t
@@ -57,7 +57,7 @@ struct rosidl_action_type_support_t
 };
 
 /// Get the action type support given a provided action and package.
-/**
+/*
  * \param PkgName name of the package that contains the action
  * \param Name action name
  * \return a rosidl_action_type_support_t struct if found, otherwise NULL.
diff --git a/src/rosidl_runtime_c/message_type_support_struct.h b/src/rosidl_runtime_c/message_type_support_struct.h
index 6b95a97ef..071cac27d 100755
--- a/src/rosidl_runtime_c/message_type_support_struct.h
+++ b/src/rosidl_runtime_c/message_type_support_struct.h
@@ -89,7 +89,7 @@ const rosidl_message_type_support_t * get_message_typesupport_handle_function(
   const rosidl_message_type_support_t * handle, const char * identifier);
 
 /// Get the message type support given a provided action and package.
-/**
+/*
  * \param PkgName Name of the package that contains the message
  * \param MsgSubfolder name of the subfolder (for example: msg)
  * \param MsgName message name
diff --git a/src/rosidl_runtime_c/sequence_bound.h b/src/rosidl_runtime_c/sequence_bound.h
index 256337ef3..bce6ab5d7 100755
--- a/src/rosidl_runtime_c/sequence_bound.h
+++ b/src/rosidl_runtime_c/sequence_bound.h
@@ -65,7 +65,7 @@ const rosidl_runtime_c__Sequence__bound * get_sequence_bound_handle_function(
   const rosidl_runtime_c__Sequence__bound * handle, const char * identifier);
 
 /// Get the sequence bounds given a provided action and package.
-/**
+/*
  * \param PkgName Name of the package that contains the message
  * \param MsgSubfolder name of the subfolder (foe example: msg)
  * \param MsgName message name
diff --git a/src/rosidl_runtime_c/service_type_support_struct.h b/src/rosidl_runtime_c/service_type_support_struct.h
index 3088568be..c6009ecd3 100755
--- a/src/rosidl_runtime_c/service_type_support_struct.h
+++ b/src/rosidl_runtime_c/service_type_support_struct.h
@@ -137,7 +137,7 @@ const rosidl_service_type_support_t * get_service_typesupport_handle_function(
   const rosidl_service_type_support_t * handle, const char * identifier);
 
 /// Get the service type support given a provided action and package.
-/**
+/*
  * \param PkgName Name of the package that contains the service
  * \param SrvSubfolder name of the subfolder (for example: srv)
  * \param SrvName service name
diff --git a/src/rosidl_runtime_c/string_functions.h b/src/rosidl_runtime_c/string_functions.h
index 6f233944e..ef553df33 100755
--- a/src/rosidl_runtime_c/string_functions.h
+++ b/src/rosidl_runtime_c/string_functions.h
@@ -26,7 +26,7 @@ extern "C"
 #endif
 
 /// Initialize a rosidl_runtime_c__String structure.
-/**
+/*
  * The contents of rosidl_runtime_c__String are initialized to a single null character ('\0').
  * The string initially has size 0 and capacity 1.
  * Size represents the size of the contents of the string, while capacity represents the overall
@@ -46,7 +46,7 @@ bool
 rosidl_runtime_c__String__init(rosidl_runtime_c__String * str);
 
 /// Deallocate the memory of the rosidl_runtime_c__String structure.
-/**
+/*
 * Calling the function with an already deallocated sequence is a no-op.
 *
 * \param[inout] str a pointer to a rosidl_runtime_c__String structure to be finalized
@@ -86,7 +86,7 @@ rosidl_runtime_c__String__are_equal(
   const rosidl_runtime_c__String * lhs, const rosidl_runtime_c__String * rhs);
 
 /// Assign the c string pointer of n characters to the rosidl_runtime_c__String structure.
-/**
+/*
  * \param[inout] str a pointer to a string structure
  * \param[in] value c string pointer to be assigned
  * \param[in] n size of the value string
@@ -100,7 +100,8 @@ rosidl_runtime_c__String__assignn(
   rosidl_runtime_c__String * str, const char * value, size_t n);
 
 /// Assign the c string pointer to the rosidl_runtime_c__String structure.
-/**
+/*
+ *
  * This function is identical to rosidl_runtime_c__String__assignn() except the length of the
  * c string does not have to be given and therefore the c string must be null terminated.
  *
@@ -117,22 +118,8 @@ bool
 rosidl_runtime_c__String__assign(
   rosidl_runtime_c__String * str, const char * value);
 
-/// Resize the char pointer.
-/**
- * This function resize the input value pointer.
- *
- * \param[inout] str a pointer to a rosidl_runtime_c__String structure
- * \param[in] n the new size of the internal buffer
- * \return true if successful, false if the passed string pointer is null
- *   or if the size is higher than SIZE_MAX or if the memory reallocation failed.
- */
-ROSIDL_GENERATOR_C_PUBLIC
-bool
-rosidl_runtime_c__String__resize(
-  rosidl_runtime_c__String * str, size_t n);
-
 /// Initialize a rosidl_runtime_c__String__Sequence__init structure.
-/**
+/*
  * The rosidl_runtime_c__String__Sequence is initialized with the size passed to the function.
  * The rosidl_runtime_c__String__Sequence structure should be deallocated using the given function
  * rosidl_runtime_c__String__Sequence__fini() when it is no longer needed.
@@ -150,7 +137,7 @@ rosidl_runtime_c__String__Sequence__init(
   rosidl_runtime_c__String__Sequence * sequence, size_t size);
 
 /// Deallocate the memory of the string sequence structure.
-/**
+/*
  * Calling the function with an already deallocated sequence is a no-op.
  *
  * \param[inout] sequence a pointer to a string sequence to be finalized
@@ -192,7 +179,7 @@ rosidl_runtime_c__String__Sequence__copy(
   rosidl_runtime_c__String__Sequence * output);
 
 /// Create a rosidl_runtime_c__String__Sequence structure with a specific size.
-/**
+/*
  * The string sequence initially has size and capacity equal to the size argument passed to the
  * function.
  * The rosidl_runtime_c__String__Sequence structure should be deallocated using the given function
@@ -206,7 +193,7 @@ rosidl_runtime_c__String__Sequence *
 rosidl_runtime_c__String__Sequence__create(size_t size);
 
 /// Destroy a rosidl_runtime_c__String__Sequence structure.
-/**
+/*
  * Calling the function with an already deallocated sequence is a no-op.
  *
  * \param[inout] sequence a pointer to a string sequence to be finalized
diff --git a/src/rosidl_runtime_c/u16string_functions.h b/src/rosidl_runtime_c/u16string_functions.h
index 90a886ba1..c89afabfc 100755
--- a/src/rosidl_runtime_c/u16string_functions.h
+++ b/src/rosidl_runtime_c/u16string_functions.h
@@ -26,8 +26,7 @@ extern "C"
 #endif
 
 /// Initialize a rosidl_runtime_c__U16String structure.
-/**
- * The contents of rosidl_runtime_c__U16String are initialized to a single null character.
+/* The contents of rosidl_runtime_c__U16String are initialized to a single null character.
  * The string initially has size 0 and capacity 1.
  * Size represents the size of the contents of the string, while capacity represents the overall
  * storage of the string (counting the null terminator).
@@ -46,7 +45,7 @@ bool
 rosidl_runtime_c__U16String__init(rosidl_runtime_c__U16String * str);
 
 /// Deallocate the memory of the rosidl_runtime_c__U16String structure.
-/**
+/*
 * Calling the function with an already deallocated sequence is a no-op.
 *
 * \param[inout] str a pointer to a U16 string structure to be finalized
@@ -87,7 +86,7 @@ rosidl_runtime_c__U16String__copy(
   rosidl_runtime_c__U16String * output);
 
 /// Assign the uint16_t value of n characters to the rosidl_runtime_c__U16String structure.
-/**
+/*
  * This function returns `false` if memory cannot be allocated,
  * if the input uint16_t pointer is null or if the size is higher than SIZE_MAX.
  * In both cases no error message is set.
@@ -105,18 +104,17 @@ rosidl_runtime_c__U16String__assignn(
   rosidl_runtime_c__U16String * str, const uint16_t * value, size_t n);
 
 /// Assign the c string pointer value of n characters to the rosidl_runtime_c__U16String structure.
-/**
+/*
  * This function is identical to rosidl_runtime_c__U16String__assignn() except the type of the
- * value is a c string pointer.
+ * value is c string pointer
  *
  * \see rosidl_runtime_c__U16String__assignn()
  *
  * \param[inout] str a pointer to a U16 string structure
- * \param[in] value c string pointer to be assigned
- * \param[in] n size of the value string as the number of 8 bit chars
+ * \param[in] value points to a sequence of 16 bit chars
+ * \param[in] n size of the value string
  * \return true if successful, false if the passed string pointer is null
- *   or if the passed value pointer is null
- *   or if the size is not even or is higher than SIZE_MAX
+ *   or if the passed value pointer is null or if the size is higher than SIZE_MAX
  *   or if the memory reallocation failed.
  */
 ROSIDL_GENERATOR_C_PUBLIC
@@ -125,7 +123,7 @@ rosidl_runtime_c__U16String__assignn_from_char(
   rosidl_runtime_c__U16String * str, const char * value, size_t n);
 
 /// Assign the uint16_t pointer to the rosidl_runtime_c__U16String structure.
-/**
+/*
  * This function is identical to rosidl_runtime_c__U16String__assignn() except the length of the
  * uint16_t does not have to be given.
  * rosidl_runtime_c__U16String__len() is being used to determine the length of the passed string.
@@ -144,7 +142,7 @@ rosidl_runtime_c__U16String__assign(
   rosidl_runtime_c__U16String * str, const uint16_t * value);
 
 /// Get the length of the uint16_t pointer.
-/**
+/*
  * This function returns the length of the input value pointer.
  *
  * \param[in] value points to a sequence of 16 bit chars for which the first null char is
@@ -156,7 +154,7 @@ size_t
 rosidl_runtime_c__U16String__len(const uint16_t * value);
 
 /// Resize the uint16_t pointer.
-/**
+/*
  * This function resize the input value pointer.
  *
  * \param[in] n the new size of the internal buffer
@@ -169,7 +167,7 @@ rosidl_runtime_c__U16String__resize(
   rosidl_runtime_c__U16String * str, size_t n);
 
 /// Initialize a U16 string sequence structure.
-/**
+/*
  * The rosidl_runtime_c__U16String__Sequence is initialized to the size passed to the function.
  * The U16 string sequence structure should be deallocated using the given
  * function rosidl_runtime_c__U16String__Sequence__fini() when it is no longer needed.
@@ -177,7 +175,7 @@ rosidl_runtime_c__U16String__resize(
  * memory.
  *
  * \param[inout] sequence a pointer to a U16 string sequence structure
- * \param[in] size represents the size of the U16 string sequence
+ * \param[in] size represents the size of the U16 string
  * \return true if successful, false if the passed string pointer is null
  *   or the memory allocation failed
  */
@@ -187,7 +185,7 @@ rosidl_runtime_c__U16String__Sequence__init(
   rosidl_runtime_c__U16String__Sequence * sequence, size_t size);
 
 /// Deallocate the memory of the string sequence structure.
-/**
+/*
  * Calling the function with an already deallocated sequence is a no-op.
  *
  * \param[inout] sequence a pointer to a U16 string to be finalized
@@ -229,13 +227,13 @@ rosidl_runtime_c__U16String__Sequence__copy(
   rosidl_runtime_c__U16String__Sequence * output);
 
 /// Create a U16 string sequence structure with a specific size.
-/**
+/*
  * The U16 string sequence initially has size and capacity equal to the size
  * argument.
  * The U16 string sequence structure should be deallocated using the given
  * function rosidl_runtime_c__U16String__Sequence__destroy() when it is no longer needed.
  *
- * \param[in] size of the desired U16 string sequence
+ * \param[in] size of the desired U16 string
  * \return a U16 string sequence if initialization was successfully, otherwise NULL.
  */
 ROSIDL_GENERATOR_C_PUBLIC
@@ -243,7 +241,7 @@ rosidl_runtime_c__U16String__Sequence *
 rosidl_runtime_c__U16String__Sequence__create(size_t size);
 
 /// Destroy a U16 string sequence structure.
-/**
+/*
  * Calling the function with an already deallocated sequence is a no-op.
  *
  * \param[inout] sequence a pointer to a U16 string sequence to be finalized