diff --git a/capabilities/CMakeLists.txt b/capabilities/CMakeLists.txt
index e3d4d0c86..3aa7a88c5 100644
--- a/capabilities/CMakeLists.txt
+++ b/capabilities/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_capabilities)
 
 find_package(ament_cmake REQUIRED)
diff --git a/core/CMakeLists.txt b/core/CMakeLists.txt
index 48cfd1b9d..15eaba553 100644
--- a/core/CMakeLists.txt
+++ b/core/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_core)
 
 find_package(ament_cmake REQUIRED)
diff --git a/core/include/moveit/task_constructor/stage.h b/core/include/moveit/task_constructor/stage.h
index dfeb4c1df..af4ec063c 100644
--- a/core/include/moveit/task_constructor/stage.h
+++ b/core/include/moveit/task_constructor/stage.h
@@ -283,7 +283,7 @@ class PropagatingEitherWayPrivate;
 /** Base class for stages that can propagate InterfaceStates
  *
  *  They read an InterfaceState on one side (start or end) and
- *  push a new InterfaceState to the opposite site.
+ *  push a new InterfaceState to the opposite side.
  *  By default, the class auto-derives its actual propagation direction from the context.
  *  In order to enforce forward, backward, or bothway propagation, one can use restrictDirection().
  */
diff --git a/core/python/bindings/src/core.cpp b/core/python/bindings/src/core.cpp
index 5825d0679..f770131d1 100644
--- a/core/python/bindings/src/core.cpp
+++ b/core/python/bindings/src/core.cpp
@@ -95,6 +95,8 @@ void export_core(pybind11::module& m) {
 		}
 	});
 
+	py::classh<Introspection>(m, "Introspection", "Introspection class");
+
 	py::classh<SolutionBase>(m, "Solution", "Abstract base class for solutions of a stage")
 	    .def_property("cost", &SolutionBase::cost, &SolutionBase::setCost, "float: Cost associated with the solution")
 	    .def_property("comment", &SolutionBase::comment, &SolutionBase::setComment,
@@ -109,12 +111,12 @@ void export_core(pybind11::module& m) {
 	        ":visualization_msgs:`Marker`: Markers to visualize important aspects of the trajectory (read-only)")
 	    .def(
 	        "toMsg",
-	        [](const SolutionBase& self) {
+	        [](const SolutionBase& self, moveit::task_constructor::Introspection* introspection) {
 		        moveit_task_constructor_msgs::msg::Solution msg;
-		        self.toMsg(msg);
+		        self.toMsg(msg, introspection);
 		        return msg;
 	        },
-	        "Convert to the ROS message ``Solution``");
+	        "Convert to the ROS message ``Solution``", py::arg("introspection") = nullptr);
 
 	py::classh<SubTrajectory, SolutionBase>(m, "SubTrajectory",
 	                                        "Solution trajectory connecting two InterfaceStates of a stage")
@@ -462,6 +464,8 @@ void export_core(pybind11::module& m) {
 	    .def(
 	        "setCostTerm", [](Task& self, const LambdaCostTerm::SubTrajectoryShortSignature& f) { self.setCostTerm(f); },
 	        "Specify a function to calculate trajectory costs")
+	    .def("introspection", &Task::introspection, py::return_value_policy::reference_internal,
+	         "Access introspection object")
 	    .def("reset", &Task::reset, "Reset task (and all its stages)")
 	    .def("init", py::overload_cast<>(&Task::init), "Initialize the task (and all its stages)")
 	    .def("plan", &Task::plan, "max_solutions"_a = 0, R"(
diff --git a/core/python/bindings/src/core.h b/core/python/bindings/src/core.h
index 9fa71a6e9..9c7f4e3de 100644
--- a/core/python/bindings/src/core.h
+++ b/core/python/bindings/src/core.h
@@ -140,3 +140,4 @@ PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Fallbacks)
 PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Merger)
 PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::WrapperBase)
 PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Task)
+PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Introspection)
diff --git a/demo/CMakeLists.txt b/demo/CMakeLists.txt
index 3125f740d..5643c5885 100644
--- a/demo/CMakeLists.txt
+++ b/demo/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_demo)
 
 set(CMAKE_CXX_STANDARD 17)
diff --git a/msgs/CMakeLists.txt b/msgs/CMakeLists.txt
index 428076e70..4b2c0d793 100644
--- a/msgs/CMakeLists.txt
+++ b/msgs/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_msgs)
 
 find_package(ament_cmake REQUIRED)
diff --git a/rviz_marker_tools/CMakeLists.txt b/rviz_marker_tools/CMakeLists.txt
index 3311b9dec..df61cd595 100644
--- a/rviz_marker_tools/CMakeLists.txt
+++ b/rviz_marker_tools/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(rviz_marker_tools)
 
 find_package(ament_cmake REQUIRED)
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
index 82de00f24..a220b3a62 100644
--- a/visualization/CMakeLists.txt
+++ b/visualization/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.16)
 project(moveit_task_constructor_visualization)
 
 find_package(ament_cmake REQUIRED)