diff --git a/built_packages b/built_packages
index 19f31b6d..4833b789 100755
--- a/built_packages
+++ b/built_packages
@@ -1,8 +1,8 @@
 
 https://github.com/ament/ament_cmake.git 17d4da4f62233eea92c29a897b1a9ba4cc919979
-https://github.com/ament/ament_index.git f3b6ddc6698cff22b8724136188df5d9912ced78
-https://github.com/ament/ament_lint.git 20a32b7835c779f1bef96ef3dfd66dfbef2ce1cc
-https://github.com/ament/ament_package.git 797ecde6090689ebe0d84b6620f7bf4c972a8232
+https://github.com/ament/ament_index.git 13b1378907f80485c8fe481d16f5b34a89de9ae8
+https://github.com/ament/ament_lint.git 6353c1b4ef0c5f3bdd0008f95f4a269ebd696609
+https://github.com/ament/ament_package.git 7bc761265d7c665334708682e5a8f3e91cb9f039
 https://github.com/ament/googletest.git bee0ad5f9bc5796fe1cb34484cb0adc13ec7c032
 https://github.com/ament/uncrustify_vendor.git a2a8e43c8bdd70f1005443f89f2e2c531cb493ab
 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04
@@ -15,22 +15,22 @@ https://github.com/micro-ROS/rmw-microxrcedds.git b6e02669d42fd5aeddc1e5b71bac65
 https://github.com/micro-ROS/rosidl_typesupport.git 16c7df67d3b5aa5615332ef702a5da156d6b95cc
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git dd85753ac26ba136ddf35867c5484cbe90b68714
 https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e87386cf60
-https://github.com/ros2/ament_cmake_ros.git 3009543775aa483595ef488d9dbefa28d181b520
-https://github.com/ros2/common_interfaces.git a2ef867438e6d4eed074d6e3668ae45187e7de86
+https://github.com/ros2/ament_cmake_ros.git 232937e03dd816d042dc75dc872827342cb3d931
+https://github.com/ros2/common_interfaces.git e8256c0f37927bd5f0b5ac42a3282e7543a9d034
 https://github.com/ros2/example_interfaces.git e4f46c5762e433a72b2496bb23b0375ecfc06d1e
 https://github.com/ros2/libyaml_vendor.git c69b99721471d47f88042b44e510cfefafb385b9
-https://github.com/ros2/rcl.git b4e6e140bc2209ce01d8d47a77393e8549133020
-https://github.com/ros2/rcl_interfaces.git 57418190b34436b3ae6339a169b50defaaebe903
+https://github.com/ros2/rcl.git 4af269ffd487bb24c99aae6246296f3b9376f13c
+https://github.com/ros2/rcl_interfaces.git 1bd7d0b36c79e9e6db6980301f3732fff51ddc50
 https://github.com/ros2/rcl_logging.git 2632df5bd77e2414169b5e2d61e6322cb363119b
 https://github.com/ros2/rclc 74acd42f850d8b2ebc647ae1c326d871fdddf1b3
 https://github.com/ros2/rcpputils.git 37a8801c18632d7d725ff1659248e8b12a7f2089
 https://github.com/ros2/rmw.git e6addf2411b8ee8a2ac43d691533b8c05ae8f1b6
-https://github.com/ros2/rmw_implementation.git 4dd5d571a5bfa1a67183acf271dfa442932c7572
-https://github.com/ros2/ros2_tracing.git 526967c1a0ad3208fe6c28e0cf16f2b045ed5241
-https://github.com/ros2/rosidl.git 4e30600ea550b8ba72d016570c60eba0df5d094a
+https://github.com/ros2/rmw_implementation.git f2989ebe617679effe9c0e032415821435532c65
+https://github.com/ros2/ros2_tracing.git d373a61c90a3ad3a4a833e46679bb736d4952746
+https://github.com/ros2/rosidl.git eedfa01db9c8039432a6ce58bb89427006a2ea0b
 https://github.com/ros2/rosidl_core.git c3fd5020611374d6ab2f7e9a540ecf86f3c1615e
 https://github.com/ros2/rosidl_dds.git 772632eb729ab48f368a0862659224be80caf56b
 https://github.com/ros2/rosidl_defaults.git 1c730458cbee50e2941f67e441e0fd5a3d3c7e6b
 https://github.com/ros2/rosidl_dynamic_typesupport.git 7f3466266dd11baf29d3b2d82ee22c93104d7675
 https://github.com/ros2/test_interface_files.git a565a8927962e5bcbd5667b884a0f0652568c177
-https://github.com/ros2/unique_identifier_msgs.git b17c29fcc3d584bd834dbc422e763c1235e315e9
+https://github.com/ros2/unique_identifier_msgs.git b4779af6b3d3c45e710802a0e7f86113da281ae8
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index 1e2f8831..7454049e 100755
Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ
diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index efd8ff38..b2d72b5c 100755
Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ
diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index 4570df4a..3af10b7d 100755
Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index ae059105..7f90fc4c 100755
Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 815a48d2..c6606c03 100755
Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ
diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index fb5c7ab7..a681b865 100755
Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ
diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index 02c0ec10..c323a0f0 100755
Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ
diff --git a/src/tracetools/tracetools.h b/src/tracetools/tracetools.h
index eab8016b..44063095 100755
--- a/src/tracetools/tracetools.h
+++ b/src/tracetools/tracetools.h
@@ -142,6 +142,12 @@ extern "C"
  */
 TRACETOOLS_PUBLIC bool ros_trace_compile_status(void);
 
+/// Get tracing runtime status.
+/**
+ * \return `true` if tracing is enabled, `false` otherwise
+ */
+TRACETOOLS_PUBLIC bool ros_trace_runtime_status(void);
+
 /// `rcl_init`
 /**
  * Initialisation for the whole process.