diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index b04959ac3..f416ffbf2 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
diff --git a/LICENSE b/LICENSE
index 6b0b1270f..d64569567 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 8bd8e6510..4a5dd37f1 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 ce9d8006e..cf67b6188 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 02741b073..2abb20684 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 542aad2bb..f3dfaaa10 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 01cd50555..367e611c4 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 c4eb89ddd..6dc32eee2 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 932b34f80..37559a6c2 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.edit/.classpath b/plugins/de.fraunhofer.ipa.ros.edit/.classpath
index 5651b4f6b..2acd37198 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 cf12e755a..7cbe36f26 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 9d14690cb..20e484977 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 468f6d634..abf6bcb30 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 907fef17b..3a79233b1 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 3a7422acd..6bbb68d8e 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 76b40f705..332c708f4 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 e66dd3c51..ea179c6da 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 57f885f9e..e7b638168 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>
@@ -155,6 +155,7 @@
                 <artifactId>target-platform-configuration</artifactId>
                 <version>${tycho-version}</version>
                 <configuration>
+                    <executionEnvironment>JavaSE-21</executionEnvironment>
                     <environments>
                         <environment>
                             <os>macosx</os>
@@ -184,7 +185,8 @@
                 </configuration>
             </plugin>
             <plugin>
-                <!-- Can be removed after first generator execution https://bugs.eclipse.org/bugs/show_bug.cgi?id=480097 -->
+                <!-- Can be removed after first generator execution
+                https://bugs.eclipse.org/bugs/show_bug.cgi?id=480097 -->
                 <groupId>org.eclipse.tycho</groupId>
                 <artifactId>tycho-compiler-plugin</artifactId>
                 <version>${tycho-version}</version>
diff --git a/plugins/de.fraunhofer.ipa.ros.plugin/.classpath b/plugins/de.fraunhofer.ipa.ros.plugin/.classpath
index a0e7c5923..a6ded2025 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 0c68a61dc..3a79233b1 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 12b698a47..b0b9e248f 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.sirius/.project b/plugins/de.fraunhofer.ipa.ros.sirius/.project
index 1cb0d20a5..39407163a 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 6b6368b37..52467430c 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 34c320476..9899deae4 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 b66fddb9e..6aa613129 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.
     */
diff --git a/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath b/plugins/de.fraunhofer.ipa.ros.xtext.ide/.classpath
index fa10618af..5b286e697 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 907fef17b..3a79233b1 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 8eae8c716..3786a50d4 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 9c632ea32..51775885b 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 a0d5c5ca7..1cb491b9b 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 c3bacc462..31aabf3cd 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 77165af7d..ab190300f 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 21b9538c6..27a465454 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 97a2864e4..a36f57bdf 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 577e9d7d0..c0633bafe 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 c06ea1c40..0794cde58 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 77076e1b7..bba976af3 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 8e28885c9..96468b970 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 7e1ce1449..68a262523 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 907fef17b..3a79233b1 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 906f214c2..63e321c31 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 714aec21c..440128743 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 668034826..449d38d62 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 4b4a35dae..66b2cceba 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 fa00b5389..a069831d6 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 a60e053a4..c1439b950 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 b9ef088aa..7194f7863 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 87ddd0a28..695e1dcda 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 8ae43b347..3a8b25a7c 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 b66fc4b01..42e54afb0 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 da718939f..837de75bf 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 feb156a77..60052b424 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 e777d9c55..06ba0a46e 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 cf12e755a..7cbe36f26 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 01e1cfd5c..fee463237 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 e9f767bc7..887f9e472 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 d545ae4df..833ff9dc5 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 4f9b4542b..7a183fc10 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 062ef4023..ef2ae3d35 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 60df63933..2683c00e4 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 94f2639f6..90cb38b53 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 656d612df..9a6ae63e1 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 2a12499bc..047d4eec4 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 d33670762..e3f0fb267 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 ad4775c3d..531d012e0 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 f9c095d33..5bec7d909 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 e412a79ce..8566d0905 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 0659e2840..017bfa405 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 6f76a13f6..e621a9855 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 6acb16b3e..82d4c57e2 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 175f7d365..f80d23f52 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 701e43150..e463aedc2 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 fb3482516..6a47e97a9 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 0bfaed078..6fa32e4c5 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 9391c04e2..a5c5c7272 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 119e3f1a3..e93bce318 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 1a3b35e64..812d3b205 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 b80caf862..22c405837 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 601098490..b1d8d24c3 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 e2149c1ee..ab6a680dd 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 503c2f89c..a6ded2025 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 c3d02649d..1e0cb16bb 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 4fb00f995..aad7148bd 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 ee75e491a..19264495b 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 d780f64c2..be17b81eb 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 d1dc4f19b..6a3a07740 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 c9fa19a84..d48338510 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 331f1b02e..d7b68d2cb 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 1f19fee0d..8658d907c 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 cb3ff7574..bc3574250 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 47d338443..6774380cb 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 576085167..a2fa26353 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 170437dcd..2298a0b2c 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 df5146b71..e31c944bc 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 a221c2c21..454cbc2dc 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 907fef17b..3a79233b1 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 40d937c33..fd38c8566 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 6c7dc4507..261853699 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 aaeaff96c..02dabb849 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 7596e182e..c799f1ca0 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 19ae2f342..d71771177 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 647cf5fda..c2fbdb3b4 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 199676be4..a866ec714 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 d7edf3666..808f4a6c4 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 7066f53b5..3dd61b3f8 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 22382b252..9e91814b5 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 db551d4c8..f580bb4c1 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 56f8e51d6..7a8aaca4d 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 331815939..e8196e58f 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 bcdc8d380..481eea349 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 e03fd21ce..46529aeef 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 bce069246..603a9f727 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 08307866b..a1f97fca7 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 cf0a688d5..986308e25 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 d8a87a0b9..7c2f477e8 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 c67bf5544..db10f2f3e 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 f46fefd7f..fe5f48f58 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 680f5437a..c69a13395 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 694fff5be..08e08f742 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 4a1442ec9..785b0909f 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 fa10618af..5b286e697 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 907fef17b..3a79233b1 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 a6bf43523..d9c961fc7 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 7a0b348f3..75732856d 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 b525b7cc6..8c392a09a 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 c179f91fe..b5a5f69f7 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 75571293a..5cf3cac8e 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 54089f85d..10639473c 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 fe5589d35..14c3e9141 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 da7624ecb..f7500ef75 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 63b68f4dc..c63f27e2d 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 5275413f1..f5bc7a6d0 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 d75bb6438..800435212 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 59178ddff..de693e033 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 0aaf27ecc..4dd1811a0 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 468f6d634..abf6bcb30 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 907fef17b..3a79233b1 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 7a7a1fdb5..6f4f5b59a 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 e3d3926d3..4a811af96 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 a0e7c5923..a6ded2025 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 d41383c70..23fa13b17 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 3412ed3eb..31fca3480 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 1933d40f3..9f6d88dd4 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 907fef17b..3a79233b1 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 8adeb232a..b5b9dcec1 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 cdcf802c1..c532d3a4c 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 342a57d60..541c4bc9d 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 94ed0ce55..76290a470 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 8abaf8f63..1548b14dc 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 c26f129f7..ed2de3d35 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 e777d9c55..06ba0a46e 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 907fef17b..3a79233b1 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 c4b094792..101d388ae 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 ade34460a..67b5e439c 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 c48d4b8c7..866a66949 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 4c3eb759c..2beca2e7b 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 ebb85950d..e5cd99218 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 1933d40f3..9f6d88dd4 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 907fef17b..3a79233b1 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 4153f8685..e735d8a98 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 426bd2243..50ce822ee 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 3cd0ad92c..d5f59bad9 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 9b914f392..26344e96f 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 c0f934ef2..dd586d383 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 8c74316a2..db7a0c5bb 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 421c87e8e..0cc25a5ad 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 73b9e54e1..3ccfa2283 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 3cba64456..2aa63f5ed 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 0690b7177..b8a3f6de7 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 89eff1ff6..12fabfce1 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 ee2bd1ac4..7b56e4a18 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 6f4ac8f94..511ade233 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 274883fb3..c66932446 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 49d1fefaf..c925e3921 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 43fff5b00..cc29e96f2 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 d5b8f4133..880246103 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 e2a4157a1..870f4772d 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 fbfca0401..f2ee2c22c 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 363333f3c..7fb8c5fa2 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 c217a1853..7545741bf 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 d41383c70..23fa13b17 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 f4ff18591..ef2fbec9b 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 197b3fcac..60e3569fa 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 b7485a0e9..44daa44c9 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