diff --git a/harmonic/ros2_launch_gazebo.md b/harmonic/ros2_launch_gazebo.md
index 43d157b88..22be7dc88 100644
--- a/harmonic/ros2_launch_gazebo.md
+++ b/harmonic/ros2_launch_gazebo.md
@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -142,3 +142,40 @@ In the above launch files you may notice that the `create_own_container` argumen
 
 More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
+
+## Further Considerations for ROS2 Control
+
+ If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
+
+ It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
+
+     gz_bridge = Node(
+         package="ros_gz_bridge",
+         executable="parameter_bridge",
+         arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+         parameters=[{
+             "qos_overrides./tf_static.publisher.durability": "transient_local"
+         }],
+         output="screen",
+     )
+
+If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
+
+       [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
+
+ Timing Issues
+ -------------
+
+ By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
+
+ This results in logs like:
+
+     [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
+     [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
+
+ Eventually leading to a fatal error:
+
+     [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
+     [gazebo-1]   what():  can't compare times with different time sources
+
+ Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.
\ No newline at end of file
diff --git a/ionic/install_ubuntu.md b/ionic/install_ubuntu.md
index 4d8574f50..6911e8f0b 100644
--- a/ionic/install_ubuntu.md
+++ b/ionic/install_ubuntu.md
@@ -8,7 +8,7 @@ First install some necessary tools:
 
 ```bash
 sudo apt-get update
-sudo apt-get install lsb-release gnupg
+sudo apt-get install curl lsb-release gnupg
 ```
 
 Then install Gazebo Ionic:
diff --git a/ionic/ros2_launch_gazebo.md b/ionic/ros2_launch_gazebo.md
index f9f45205f..805d2417f 100644
--- a/ionic/ros2_launch_gazebo.md
+++ b/ionic/ros2_launch_gazebo.md
@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -143,3 +143,40 @@ In the above launch files you may notice that the `create_own_container` argumen
 
 More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
+
+## Further Considerations for ROS2 Control
+
+ If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
+
+ It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
+
+     gz_bridge = Node(
+         package="ros_gz_bridge",
+         executable="parameter_bridge",
+         arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+         parameters=[{
+             "qos_overrides./tf_static.publisher.durability": "transient_local"
+         }],
+         output="screen",
+     )
+
+If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
+
+       [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
+
+ Timing Issues
+ -------------
+
+ By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
+
+ This results in logs like:
+
+     [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
+     [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
+
+ Eventually leading to a fatal error:
+
+     [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
+     [gazebo-1]   what():  can't compare times with different time sources
+
+ Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.
\ No newline at end of file
diff --git a/jetty/install_ubuntu.md b/jetty/install_ubuntu.md
index eac9572dd..138e775a4 100644
--- a/jetty/install_ubuntu.md
+++ b/jetty/install_ubuntu.md
@@ -8,7 +8,7 @@ First install some necessary tools:
 
 ```bash
 sudo apt-get update
-sudo apt-get install lsb-release gnupg
+sudo apt-get install curl lsb-release gnupg
 ```
 
 Then install Gazebo Jetty:
diff --git a/jetty/ros2_integration.md b/jetty/ros2_integration.md
index 48f7e171b..a29517607 100644
--- a/jetty/ros2_integration.md
+++ b/jetty/ros2_integration.md
@@ -205,7 +205,7 @@ A video walk-through of this tutorial is available from our YouTube channel: [Ga
 Take a step further and try out demos from [`ros_gz_sim_demos`](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos).
 
 For the `sdf_parser` demo, install [`ros_gz`](https://github.com/gazebosim/ros_gz/tree/ros2) and the parser plugin `sdformat_urdf` from source in a colcon workspace.
-Read more about `sdformat_urdf` [here](https://github.com/ros/sdformat_urdf/blob/ros2/sdformat_urdf/README.md).
+Read more about `sdformat_urdf` [here](https://github.com/ros/sdformat_urdf/blob/rolling/sdformat_urdf/README.md).
 
 Run the demo launch file with the rviz launch argument set:
 
@@ -243,4 +243,4 @@ Gazebo implements these interfaces, enabling you to,
 - Retrieve simulator information
 
 For a full tutorial, including usage examples for each interface see
-[Use ROS 2 Simulation Interfaces with Gazebo](ros2_sim_interfaces).
\ No newline at end of file
+[Use ROS 2 Simulation Interfaces with Gazebo](ros2_sim_interfaces).
diff --git a/jetty/ros2_launch_gazebo.md b/jetty/ros2_launch_gazebo.md
index f9f45205f..69936f463 100644
--- a/jetty/ros2_launch_gazebo.md
+++ b/jetty/ros2_launch_gazebo.md
@@ -39,7 +39,7 @@ within this tag. Here's an example for launching Gazebo server:
   <arg name="container_name" default="ros_gz_container" />
   <arg name="create_own_container" default="False" />
   <arg name="use_composition" default="False" />
-  <gz_server 
+  <gz_server
     world_sdf_file="$(var world_sdf_file)"
     world_sdf_string="$(var world_sdf_string)"
     container_name="$(var container_name)"
@@ -128,7 +128,6 @@ def generate_launch_description():
     return ld
 ```
 
-
 ## Launching with ros_gz_bridge
 
 An example launch file for XML can be viewed [here](https://github.com/gazebosim/ros_gz/blob/jazzy/ros_gz_sim/launch/ros_gz_sim.launch)
@@ -143,3 +142,40 @@ In the above launch files you may notice that the `create_own_container` argumen
 
 More info about `ros_gz_bridge` can be viewed [here](ros2_integration).
 More info about composition can be viewed [here](ros2_overview.md#composition).
+
+## Further Considerations for ROS2 Control
+
+ If you're planning to use `ros2_control` with Gazebo, please take a look at the [example launch files](https://github.com/ros-controls/gz_ros2_control/tree/rolling/gz_ros2_control_demos/launch) in the `gz_ros2_control` repository
+
+ It is essential to publish the `/clock` topic for the `controller_manager` to function correctly:
+
+     gz_bridge = Node(
+         package="ros_gz_bridge",
+         executable="parameter_bridge",
+         arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
+         parameters=[{
+             "qos_overrides./tf_static.publisher.durability": "transient_local"
+         }],
+         output="screen",
+     )
+
+If you **do not** publish the `/clock` topic, the `controller_manager` will issue warnings or errors such as:
+
+       [gazebo-1] [WARN] [1744219953.983130822] [controller_manager]: No clock received, using time argument instead! Check your node's clock configuration (use_sim_time parameter) and if a valid clock source is available.
+
+ Timing Issues
+ -------------
+
+ By default, the `controller_manager` launched by `gz_ros2_control` has ``use_sim_time=true``. If for any reason this is set to ``false``, it will fall back to the system clock.
+
+ This results in logs like:
+
+     [gazebo-1] [INFO] [1744209678.974210234] [gz_ros_control]: Loading controller_manager
+     [gazebo-1] [INFO] [1744209679.000651931] [controller_manager]: Using Steady (Monotonic) clock for triggering controller manager cycles.
+
+ Eventually leading to a fatal error:
+
+     [gazebo-1] terminate called after throwing an instance of 'std::runtime_error'
+     [gazebo-1]   what():  can't compare times with different time sources
+
+ Ensure `use_sim_time` is correctly set to `true` when working with simulation time to avoid such mismatches.
\ No newline at end of file