diff --git a/.github/workflows/cleanup_container_tags.yml b/.github/workflows/cleanup_container_tags.yml
index 68a30b88e..7a0c15282 100644
--- a/.github/workflows/cleanup_container_tags.yml
+++ b/.github/workflows/cleanup_container_tags.yml
@@ -3,13 +3,27 @@ name: Cleanup container tags
 on: delete
 
 jobs:
+  organization_containers:
+    name: Get all containers in the organization
+    runs-on: ubuntu-latest
+    outputs:
+      packages: ${{ steps.organization_containers.outputs.packages }}
+    steps:
+      - name: Organization containers
+        id: organization_containers
+        uses: tue-robotics/tue-env/ci/organization-packages@master
+        with:
+          package-type: container
+          token: ${{ secrets.READ_PACKAGES_TOKEN }}
+
   delete_container_tag:
     name: Delete container tag
     runs-on: ubuntu-latest
+    needs: organization_containers
     strategy:
       fail-fast: false
       matrix:
-        package_name: ["tue-env-ros-noetic", "tue-env-ros-galactic", "tue-env-ros-humble"]
+        package_name: ${{ fromJson(needs.organization_containers.outputs.packages) }}
     steps:
       - name: Generate tag
         id: generate-tag
diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index 968f11687..4badcf0fc 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -6,13 +6,27 @@ on:
   workflow_dispatch:
 
 jobs:
+  organization_containers:
+    name: Get all containers in the organization
+    runs-on: ubuntu-latest
+    outputs:
+      packages: ${{ steps.organization_containers.outputs.packages }}
+    steps:
+      - name: Organization containers
+        id: organization_containers
+        uses: tue-robotics/tue-env/ci/organization-packages@master
+        with:
+          package-type: container
+          token: ${{ secrets.READ_PACKAGES_TOKEN }}
+
   delete_untagged_containers:
     name: Delete untagged containers
     runs-on: ubuntu-latest
+    needs: organization_containers
     strategy:
       fail-fast: false
       matrix:
-        package_name: ["tue-env-ros-noetic", "tue-env-ros-galactic", "tue-env-ros-humble"]
+        package_name: ${{ fromJson(needs.organization_containers.outputs.packages) }}
     steps:
       - uses: actions/delete-package-versions@v4
         with:
diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 4cb0b4b99..f1ecdd46f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -37,13 +37,15 @@ jobs:
           - ros-distro: noetic
             ros-version: 1
             platform: "amd64"
-          - ros-distro: galactic
+            base-image: "ubuntu:20.04"
+          - ros-distro: humble
             ros-version: 2
             platform: "amd64"
-          - ros-distro: humble
+          - ros-distro: rolling
             ros-version: 2
             platform: "amd64"
             base-image: "ubuntu:22.04"
+            flavor: u22
     outputs:
       key: ${{ steps.artifacts.outputs.key }}
       tag: ${{ steps.script.outputs.tag }}
diff --git a/VERSION b/VERSION
index f8f4f03b3..feaae22ba 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-1.12.1
+1.13.0
diff --git a/ci/build-docker-image.sh b/ci/build-docker-image.sh
index 699d64454..afe39c71c 100755
--- a/ci/build-docker-image.sh
+++ b/ci/build-docker-image.sh
@@ -102,7 +102,7 @@ echo -e "\e[35;1mCI_TARGETS_REPO       = ${CI_TARGETS_REPO}\e[0m"
 [[ -z "$CI_DOCKER_LOGIN" ]] && CI_DOCKER_LOGIN="false"
 echo -e "\e[35;1mCI_DOCKER_LOGIN       = ${CI_DOCKER_LOGIN}\e[0m"
 
-[[ -z "$CI_DOCKER_BASE_IMAGE" ]] && CI_DOCKER_BASE_IMAGE="ubuntu:20.04"
+[[ -z "$CI_DOCKER_BASE_IMAGE" ]] && CI_DOCKER_BASE_IMAGE="ubuntu:22.04"
 echo -e "\e[35;1mCI_DOCKER_BASE_IMAGE  = ${CI_DOCKER_BASE_IMAGE}\e[0m"
 
 echo -e "\e[35;1mCI_DOCKER_REGISTRY    = ${CI_DOCKER_REGISTRY}\e[0m"
diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
new file mode 100644
index 000000000..0e93ce865
--- /dev/null
+++ b/ci/organization-packages.sh
@@ -0,0 +1,45 @@
+#! /usr/bin/env bash
+
+for i in "$@"
+do
+    case $i in
+        -o=* | --organization=* )
+            ORGANIZATION="${i#*=}"
+            ;;
+        -t=* | --type=* )
+            PACKAGE_TYPE="${i#*=}"
+            ;;
+        --token=* )
+            TOKEN="${i#*=}"
+            ;;
+        * )
+            # unknown option
+            if [[ -n "${i}" ]]  # Ignore empty arguments
+            then
+                echo -e "\e[35m\e[1mUnknown input argument '${i}'. Check CI .yml file\e[0m"
+                exit 1
+            fi
+            ;;
+    esac
+    shift
+done
+
+echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
+echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
+echo -e "\e[35m\e[1mTOKEN length = ${#TOKEN}\e[0m"
+
+echo "::group::curl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
+echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
+output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" "https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
+echo -e "${output}" | jq -C
+echo "::endgroup::"
+
+echo -e "\e[1mjq -r '.[].name'\e[0m"
+packages=$(jq -r '.[].name' <<< "${output}")
+echo -e "\e[35m\e[1mpackages:\e[0m"
+for pkg in ${packages}
+do
+    echo -e "\e[35m\e[1m  ${pkg}\e[0m"
+    packages_list="${packages_list:+$packages_list, }'${pkg}'"
+done
+packages_list="[${packages_list}]"
diff --git a/ci/organization-packages/action.yaml b/ci/organization-packages/action.yaml
new file mode 100644
index 000000000..889c35aad
--- /dev/null
+++ b/ci/organization-packages/action.yaml
@@ -0,0 +1,32 @@
+name: 'Organization packages'
+description: 'Get the names of the packages in an organization'
+inputs:
+  package-type:
+    description: 'Type of the packages'
+    required: true
+    type: string
+    default: 'container'
+  organization:
+    description: 'Name of the organization'
+    required: true
+    type: string
+    default: ${{ github.repository_owner }}
+  token:
+    description: 'GitHub token'
+    required: true
+    type: string
+    default: ${{ github.token }}
+outputs:
+  packages:
+    description: 'Package names'
+    value: ${{ steps.packages.outputs.packages }}
+runs:
+  using: "composite"
+  steps:
+    - name: Organization packages
+      id: packages
+      run: |
+        source ${{ github.action_path }}/../organization-packages.sh --organization=${{ inputs.organization }} --type=${{ inputs.package-type }} --token=${{ inputs.token }}
+        echo -e "\e[35m\e[1mpackages=${packages_list} >> \${GITHUB_OUTPUT}\e[0m"
+        echo "packages=${packages_list}" >> ${GITHUB_OUTPUT}
+      shell: bash --noprofile --norc -o pipefail {0}
diff --git a/dockerfiles/tue-env.Dockerfile b/dockerfiles/tue-env.Dockerfile
index 5d761c1cc..5f123aa27 100644
--- a/dockerfiles/tue-env.Dockerfile
+++ b/dockerfiles/tue-env.Dockerfile
@@ -3,8 +3,8 @@
 #       Dockerfile to build working Ubuntu image with tue-env
 # ----------------------------------------------------------------
 
-# Set default base image to Ubuntu 20.04
-ARG BASE_IMAGE=ubuntu:20.04
+# Set default base image to Ubuntu 22.04
+ARG BASE_IMAGE=ubuntu:22.04
 FROM $BASE_IMAGE as base
 
 # ----------------------------------------------------------------
diff --git a/installer/bootstrap.bash b/installer/bootstrap.bash
index e364be820..6d7d902e2 100755
--- a/installer/bootstrap.bash
+++ b/installer/bootstrap.bash
@@ -49,6 +49,9 @@ case $DISTRIB_RELEASE in
             elif [[ "${ros_distro}" == "galactic" ]]
             then
                 TUE_ROS_DISTRO=galactic
+            elif [[ "${ros_distro}" == "rolling" ]]
+            then
+                TUE_ROS_DISTRO=rolling
             elif [[ -n "${ros_distro}" ]]
             then
                 echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
@@ -72,8 +75,27 @@ case $DISTRIB_RELEASE in
         fi
         ;;
     "22.04")
-        TUE_ROS_DISTRO=humble
+        if [[ -n "${ros_version}" ]] && [[ "${ros_version}" -ne 2 ]]
+        then
+             echo "[tue-env](bootstrap) Error! Only ROS version 2 is supported with ubuntu 22.04 and newer"
+             exit 1
+        fi
         TUE_ROS_VERSION=2
+
+        if [[ "${ros_distro}" == "humble" ]]
+        then
+            TUE_ROS_DISTRO=humble
+        elif [[ "${ros_distro}" == "rolling" ]]
+        then
+            TUE_ROS_DISTRO=rolling
+        elif [[ -n "${ros_distro}" ]]
+        then
+            echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
+            exit 1
+        else
+            TUE_ROS_DISTRO=humble
+            echo "[tue-env](bootstrap) Using default ROS_DISTRO '${TUE_ROS_DISTRO}' with ROS_VERSION '${TUE_ROS_VERSION}'"
+        fi
         ;;
     *)
         echo "[tue-env](bootstrap) Ubuntu $DISTRIB_RELEASE is unsupported. Please use one of Ubuntu 20.04 or 22.04."
diff --git a/setup/generate_setup_file.py b/setup/generate_setup_file.py
index d66c04f04..98172410a 100755
--- a/setup/generate_setup_file.py
+++ b/setup/generate_setup_file.py
@@ -1,6 +1,6 @@
 #! /usr/bin/env python3
 
-from typing import IO, List
+from typing import List
 
 import os
 import sys
@@ -59,7 +59,8 @@ def _generate_setup_file_rec(self, target: str) -> List[str]:
 
         target_setup_file = os.path.join(self._tue_env_targets_dir, target, "setup")
         if os.path.isfile(target_setup_file):
-            lines.append(f"source {target_setup_file}\n")
+            rel_target_setup_file = os.path.relpath(target_setup_file, self._tue_env_dir)
+            lines.append(f"source ${{TUE_ENV_DIR}}/{rel_target_setup_file}\n")
 
         return lines