diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile
index ba9b8a1523..4988c6fda6 100644
--- a/.ci/Jenkinsfile-compile
+++ b/.ci/Jenkinsfile-compile
@@ -9,10 +9,10 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2021-09-08",
-            arm64: "px4io/px4-dev-aarch64:2021-09-08",
-            base: "px4io/px4-dev-base-bionic:2021-09-08",
-            nuttx: "px4io/px4-dev-nuttx-focal:2021-09-08",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
+            arm64: "px4io/px4-dev-aarch64:2022-08-12",
+            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
+            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
           ]
 
           def armhf_builds = [
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5888641c0c..741e8e574a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -118,7 +118,21 @@ execute_process(
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)
-message(STATUS "PX4 version: ${PX4_GIT_TAG}")
+
+# git describe to X.Y.Z version
+string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})
+
+# major version
+list(GET VERSION_LIST 0 PX4_VERSION_MAJOR)
+string(REPLACE "v" "" PX4_VERSION_MAJOR ${PX4_VERSION_MAJOR})
+# minor version
+list(GET VERSION_LIST 1 PX4_VERSION_MINOR)
+# patch version
+list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
+string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
+list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)
+
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
 
 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                  BRIEF_DOCS "PX4 module libs"
@@ -456,6 +470,9 @@ add_custom_command(OUTPUT ${uorb_graph_config}
 add_custom_target(uorb_graph DEPENDS ${uorb_graph_config})
 
 
+include(bloaty)
+
+
 include(doxygen)
 include(metadata)
 include(package)
diff --git a/cmake/bloaty.cmake b/cmake/bloaty.cmake
index b20537adb1..149ab18bfd 100644
--- a/cmake/bloaty.cmake
+++ b/cmake/bloaty.cmake
@@ -32,7 +32,7 @@
 ############################################################################
 
 find_program(BLOATY_PROGRAM bloaty)
-if (BLOATY_PROGRAM)
+if(BLOATY_PROGRAM)
 
 	set(BLOATY_OPTS --demangle=full --domain=vm -s vm -n 200 -w)
 
@@ -78,13 +78,15 @@ if (BLOATY_PROGRAM)
 		USES_TERMINAL
 		)
 
-	# bloaty compare with last master build
-	add_custom_target(bloaty_compare_master
-		COMMAND wget --continue --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf -O master.elf
-		COMMAND ${BLOATY_PROGRAM} -d symbols ${BLOATY_OPTS} $<TARGET_FILE:px4> -- master.elf
-		DEPENDS px4
-		WORKING_DIRECTORY ${PX4_BINARY_DIR}
-		VERBATIM
-		USES_TERMINAL
-		)
+	if(${PX4_PLATFORM} MATCHES "nuttx")
+		# bloaty compare with last master build
+		add_custom_target(bloaty_compare_master
+			COMMAND wget --continue --no-verbose https://s3.amazonaws.com/px4-travis/Firmware/master/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.elf -O master.elf
+			COMMAND ${BLOATY_PROGRAM} -d symbols ${BLOATY_OPTS} $<TARGET_FILE:px4> -- master.elf
+			DEPENDS px4
+			WORKING_DIRECTORY ${PX4_BINARY_DIR}
+			VERBATIM
+			USES_TERMINAL
+			)
+	endif()
 endif()
diff --git a/cmake/package.cmake b/cmake/package.cmake
index 69d3ab7a06..ecc168a92c 100644
--- a/cmake/package.cmake
+++ b/cmake/package.cmake
@@ -34,30 +34,67 @@
 # packaging
 
 set(CPACK_PACKAGE_NAME ${PROJECT_NAME}-${PX4_CONFIG})
-set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
-set(CPACK_PACKAGE_CONTACT ${package-contact})
-set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS OFF) # TODO: review packaging for linux boards
-set(CPACK_DEBIAN_PACKAGE_SECTION "devel")
-set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
-set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "The PX4 Pro autopilot.")
+
+set(CPACK_PACKAGE_VENDOR "px4")
+
+set(CPACK_PACKAGE_VERSION_MAJOR ${PX4_VERSION_MAJOR})
+set(CPACK_PACKAGE_VERSION_MINOR ${PX4_VERSION_MINOR})
+set(CPACK_PACKAGE_VERSION_PATCH ${PX4_VERSION_PATCH})
+#set(CPACK_PACKAGE_VERSION ${PX4_GIT_TAG})
+
 set(CPACK_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}")
-set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_GIT_TAG}")
+set(CPACK_SOURCE_PACKAGE_FILE_NAME "${PROJECT_NAME}-${PX4_CONFIG}-${PX4_GIT_TAG}-src")
+
+set(CPACK_PACKAGE_CONTACT "daniel@agar.ca")
+
+set(CPACK_RESOURCE_FILE_LICENSE "${PX4_SOURCE_DIR}/LICENSE")
+set(CPACK_RESOURCE_FILE_README "${PX4_SOURCE_DIR}/README.md")
+
+set(CPACK_COMPONENTS_GROUPING ALL_COMPONENTS_IN_ONE)#ONE_PER_GROUP)
+# without this you won't be able to pack only specified component
+set(CPACK_DEB_COMPONENT_INSTALL YES)
+
+#set(CPACK_STRIP_FILES YES)
+
 set(CPACK_SOURCE_GENERATOR "ZIP;TBZ2")
 set(CPACK_PACKAGING_INSTALL_PREFIX "")
 set(CPACK_SET_DESTDIR "OFF")
 
-if ("${CMAKE_SYSTEM}" MATCHES "Linux")
+if("${CMAKE_SYSTEM}" MATCHES "Linux")
 	set(CPACK_GENERATOR "TBZ2")
+
 	find_program(DPKG_PROGRAM dpkg)
-	if (EXISTS ${DPKG_PROGRAM})
-		list (APPEND CPACK_GENERATOR "DEB")
+	if(EXISTS ${DPKG_PROGRAM})
+		list(APPEND CPACK_GENERATOR "DEB")
+
+		set(CPACK_SET_DESTDIR true)
+		set(CPACK_PACKAGING_INSTALL_PREFIX "/tmp")
+
+		execute_process(COMMAND ${DPKG_PROGRAM} --print-architecture OUTPUT_VARIABLE DEB_ARCHITECTURE OUTPUT_STRIP_TRAILING_WHITESPACE)
+		message("Architecture:  " ${DEB_ARCHITECTURE})
+		set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_FILE_NAME}_${DEB_ARCHITECTURE}")
+
+		set(CPACK_INSTALL_PREFIX @DEB_INSTALL_PREFIX@)
+		message ("==> CPACK_INSTALL_PREFIX = " ${CPACK_INSTALL_PREFIX})
+
+		################################################################################
+
+		set(CPACK_DEBIAN_PACKAGE_MAINTAINER "Daniel Agar <${CPACK_PACKAGE_CONTACT}>")
+		set(CPACK_DEBIAN_PACKAGE_VERSION ${CPACK_PACKAGE_VERSION})
+		set(CPACK_DEBIAN_FILE_NAME DEB-DEFAULT)
+
+		set(CPACK_DEBIAN_PACKAGE_DESCRIPTION "PX4 autopilot")
+		set(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
+		set(CPACK_DEBIAN_PACKAGE_SECTION "misc")
+		set(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
+
+		# autogenerate dependency information
+		set(CPACK_DEBIAN_PACKAGE_SHLIBDEPS ON)
+		set(CPACK_DEBIAN_COMPRESSION_TYPE xz)
+
 	endif()
 else()
 	set(CPACK_GENERATOR "ZIP")
 endif()
 
 include(CPack)
-
-if(${PX4_PLATFORM} MATCHES "nuttx")
-	include(bloaty)
-endif()
diff --git a/platforms/posix/CMakeLists.txt b/platforms/posix/CMakeLists.txt
index 5aaa82c32c..9561080ed3 100644
--- a/platforms/posix/CMakeLists.txt
+++ b/platforms/posix/CMakeLists.txt
@@ -182,31 +182,11 @@ elseif("${PX4_BOARD}" MATCHES "sitl")
 			${PROJECT_NAME}/build/px4_sitl_default
 		)
 
-	# sitl_gazebo-classic built plugins
+	# gazebo dirs
 	install(
 		DIRECTORY
-			${PX4_BINARY_DIR}/build_gazebo-classic
-		DESTINATION
-			${PROJECT_NAME}/build/px4_sitl_default
-		FILES_MATCHING
-			PATTERN "CMakeFiles" EXCLUDE
-			PATTERN "*.so"
-		)
-
-	# sitl_gazebo-classic dirs
-	install(
-		DIRECTORY
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/models
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/worlds
-		DESTINATION
-			${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
-		)
-
-	# sitl_gazebo-classic files
-	install(
-		FILES
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/CMakeLists.txt
-			${PROJECT_SOURCE_DIR}/Tools/simulation/gazebo-classic/sitl_gazebo-classic/package.xml
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gz/models
+			${PROJECT_SOURCE_DIR}/Tools/simulation/gz/worlds
 		DESTINATION
 			${PROJECT_NAME}/Tools/simulation/gazebo-classic/sitl_gazebo-classic
 		)