diff --git a/CHANGELOG.md b/CHANGELOG.md
index b497bda..99809d4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,24 @@
 # Changelog for TogetheROS
 
+v2.1.0 (2023-09-14)
+------------------
+
+功能变更：
+
+- `tros-ros-base`更新到最新ROS2 foxy源码，兼容最新ROS2 foxy软件包。
+- 使用ROS2 foxy软件包只`source /opt/tros/setup.bash`即可，不再需要使用脚本建立软链接。
+
+新增功能：
+
+- 文本转语音`hobot_tts` node新增参数指定播放音频设备。
+- 新增大语言模型`hobot_llm` node，可在端侧体验LLM。
+- 图像编解码`hobot_codec` node配置参数`in_format`新增`jpeg-compressed`配置项，同时根据配置项选择订阅的话题数据类型。
+
+问题修复：
+
+- MIPI图像采集`hobot_mipi_cam` node修复发送RGB格式数据消息step字段设置错误问题。
+
+
 v2.0.2 (2023-08-28)
 ------------------
 
diff --git a/ros2_release.repos b/ros2_release.repos
index a757db6..5a4c920 100755
--- a/ros2_release.repos
+++ b/ros2_release.repos
@@ -2,7 +2,7 @@ repositories:
   ament/ament_cmake:
     type: git
     url: https://github.com/ament/ament_cmake.git
-    version: 0.9.9
+    version: 0.9.12
   ament/ament_index:
     type: git
     url: https://github.com/ament/ament_index.git
@@ -10,7 +10,7 @@ repositories:
   ament/ament_lint:
     type: git
     url: https://github.com/ament/ament_lint.git
-    version: 0.9.6
+    version: 0.9.8
   ament/ament_package:
     type: git
     url: https://github.com/ament/ament_package.git
@@ -18,7 +18,7 @@ repositories:
   ament/google_benchmark_vendor:
     type: git
     url: https://github.com/ament/google_benchmark_vendor.git
-    version: 0.0.7
+    version: 0.0.3
   ament/googletest:
     type: git
     url: https://github.com/ament/googletest.git
@@ -34,19 +34,15 @@ repositories:
   eProsima/Fast-DDS:
     type: git
     url: https://github.com/eProsima/Fast-DDS.git
-    version: v2.1.1
+    version: 4ae06e7ea27b7836959605d66ae13a7a05205443
   eProsima/foonathan_memory_vendor:
     type: git
     url: https://github.com/eProsima/foonathan_memory_vendor.git
-    version: v1.1.0
-  eProsima/compatibility:
-    type: git
-    url: https://github.com/foonathan/compatibility.git
-    version: master
+    version: v1.3.1
   eclipse-cyclonedds/cyclonedds:
     type: git
     url: https://github.com/eclipse-cyclonedds/cyclonedds.git
-    version: 0.7.0
+    version: d8a7d0efc4ece884e8eecdbe021036fc7a51346f
   osrf/osrf_pycommon:
     type: git
     url: https://github.com/osrf/osrf_pycommon.git
@@ -74,7 +70,7 @@ repositories:
   box/hobot_codec:
     type: git
     url: https://github.com/HorizonRDK/hobot_codec.git
-    version: tros_2.1.1rc1
+    version: tros_2.1.2
   box/hobot_hdmi:
     type: git
     url: https://github.com/HorizonRDK/hobot_hdmi.git
@@ -162,7 +158,7 @@ repositories:
   box/hobot_tts:
     type: git
     url: https://github.com/HorizonRDK/hobot_tts.git
-    version: tros_2.0.1
+    version: tros_2.0.2
   box/hobot_vio:
     type: git
     url: https://github.com/HorizonRDK/hobot_vio.git
@@ -190,15 +186,15 @@ repositories:
   box/ros-tooling/libstatistics_collector:
     type: git
     url: https://github.com/ros-tooling/libstatistics_collector.git
-    version: 1.0.1
+    version: 1.0.2
   box/ros-tracing/ros2_tracing:
     type: git
     url: https://github.com/ros2/ros2_tracing.git
-    version: 1.0.5
+    version: 1.0.6
   ros/class_loader:
     type: git
     url: https://github.com/ros/class_loader.git
-    version: 2.0.2
+    version: 2.0.3
   ros/kdl_parser:
     type: git
     url: https://github.com/ros/kdl_parser.git
@@ -218,19 +214,19 @@ repositories:
   ros/ros_environment:
     type: git
     url: https://github.com/ros/ros_environment.git
-    version: 2.5.0
+    version: 2.5.1
   ros/ros_tutorials:
     type: git
     url: https://github.com/ros/ros_tutorials.git
-    version: 1.2.5
+    version: 1.2.6
   ros/urdfdom:
     type: git
     url: https://github.com/ros/urdfdom.git
-    version: 2.3.3
+    version: f02b6d04dd8237c6a2567c9f861bf61d8a2bb210
   ros/urdfdom_headers:
     type: git
     url: https://github.com/ros/urdfdom_headers.git
-    version: 1.0.5
+    version: 8ec38993c21c6913602b9519ca07e4e018af88b5
   tools/benchmark:
     type: git
     url: https://github.com/HorizonRDK/benchmark.git
@@ -254,7 +250,7 @@ repositories:
   tros/demos:
     type: git
     url: https://github.com/ros2/demos.git
-    version: 0.9.3
+    version: 0.9.4
   tros/eigen3_cmake_module:
     type: git
     url: https://github.com/ros2/eigen3_cmake_module.git
@@ -270,15 +266,15 @@ repositories:
   tros/geometry2:
     type: git
     url: https://github.com/ros2/geometry2.git
-    version: 0.13.13
+    version: 0.13.14
   tros/launch:
     type: git
     url: https://github.com/ros2/launch.git
-    version: 0.10.8
+    version: 0.10.10
   tros/launch_ros:
     type: git
     url: https://github.com/ros2/launch_ros.git
-    version: 0.11.6
+    version: 0.11.7
   tros/libyaml_vendor:
     type: git
     url: https://github.com/ros2/libyaml_vendor.git
@@ -286,19 +282,19 @@ repositories:
   tros/message_filters:
     type: git
     url: https://github.com/ros2/message_filters.git
-    version: 3.2.5
+    version: 3.2.7
   tros/mimick_vendor:
     type: git
     url: https://github.com/ros2/mimick_vendor.git
-    version: 0.2.7
+    version: 0.2.6
   tros/orocos_kinematics_dynamics:
     type: git
     url: https://github.com/ros2/orocos_kinematics_dynamics.git
-    version: 3.3.2
+    version: 3.3.5
   tros/performance_test_fixture:
     type: git
     url: https://github.com/ros2/performance_test_fixture.git
-    version: 0.0.8
+    version: 0.2.0
   tros/python_cmake_module:
     type: git
     url: https://github.com/ros2/python_cmake_module.git
@@ -318,11 +314,11 @@ repositories:
   tros/rclcpp:
     type: git
     url: https://github.com/HorizonRDK/rclcpp.git
-    version: tros_1.1.6a
+    version: develop
   tros/rclpy:
     type: git
     url: https://github.com/ros2/rclpy.git
-    version: 1.0.8
+    version: 1.0.13
   tros/rcpputils:
     type: git
     url: https://github.com/ros2/rcpputils.git
@@ -330,7 +326,7 @@ repositories:
   tros/rcutils:
     type: git
     url: https://github.com/ros2/rcutils.git
-    version: 1.1.3
+    version: 1.1.5
   tros/realtime_support:
     type: git
     url: https://github.com/ros2/realtime_support.git
@@ -338,7 +334,7 @@ repositories:
   tros/rmw:
     type: git
     url: https://github.com/ros2/rmw.git
-    version: 1.0.3
+    version: 1.0.4
   tros/rmw_connext:
     type: git
     url: https://github.com/ros2/rmw_connext.git
@@ -354,7 +350,7 @@ repositories:
   tros/rmw_fastrtps:
     type: git
     url: https://github.com/ros2/rmw_fastrtps.git
-    version: 1.3.0
+    version: 1.3.2
   tros/rmw_implementation:
     type: git
     url: https://github.com/ros2/rmw_implementation.git
@@ -362,11 +358,11 @@ repositories:
   tros/ros1_bridge:
     type: git
     url: https://github.com/ros2/ros1_bridge.git
-    version: 0.9.6
+    version: 0.9.7
   tros/ros2cli:
     type: git
     url: https://github.com/ros2/ros2cli.git
-    version: 0.9.11
+    version: 0.9.13
   tros/ros2cli_common_extensions:
     type: git
     url: https://github.com/ros2/ros2cli_common_extensions.git
@@ -382,7 +378,7 @@ repositories:
   tros/rosidl:
     type: git
     url: https://github.com/ros2/rosidl.git
-    version: 1.2.1
+    version: 1.3.1
   tros/rosidl_dds:
     type: git
     url: https://github.com/ros2/rosidl_dds.git
@@ -394,7 +390,7 @@ repositories:
   tros/rosidl_python:
     type: git
     url: https://github.com/ros2/rosidl_python.git
-    version: 0.9.5
+    version: 0.9.7
   tros/rosidl_runtime_py:
     type: git
     url: https://github.com/ros2/rosidl_runtime_py.git
@@ -402,7 +398,7 @@ repositories:
   tros/rosidl_typesupport:
     type: git
     url: https://github.com/ros2/rosidl_typesupport.git
-    version: 1.0.2
+    version: 1.0.3
   tros/rosidl_typesupport_connext:
     type: git
     url: https://github.com/ros2/rosidl_typesupport_connext.git
@@ -418,7 +414,7 @@ repositories:
   tros/rviz:
     type: git
     url: https://github.com/ros2/rviz.git
-    version: 8.2.6
+    version: 8.2.8
   tros/spdlog_vendor:
     type: git
     url: https://github.com/ros2/spdlog_vendor.git
@@ -441,8 +437,8 @@ repositories:
     version: 0.7.4
   tros/tinyxml_vendor:
     type: git
-    url: https://github.com/HorizonRDK/tinyxml_vendor.git
-    version: tros_2.0.0
+    url: https://github.com/ros2/tinyxml_vendor.git
+    version: 0.8.2
   tros/tlsf:
     type: git
     url: https://github.com/ros2/tlsf.git
@@ -458,7 +454,7 @@ repositories:
   tros/yaml_cpp_vendor:
     type: git
     url: https://github.com/ros2/yaml_cpp_vendor.git
-    version: 7.0.2
+    version: 7.0.3
   tools/FlameGraph:
     type: git
     url: https://github.com/brendangregg/FlameGraph.git
@@ -471,6 +467,10 @@ repositories:
     type: git
     url: https://github.com/HorizonRDK/hobot_visualization.git
     version: tros_2.0.2
+  tools/Breakpad:
+    type: git
+    url: https://github.com/HorizonRDK/breakpad.git
+    version: develop
   box/hobot_sensor/hobot_rgbd_cam:
     type: git
     url: https://github.com/HorizonRDK/hobot_rgbd_cam.git
@@ -478,7 +478,7 @@ repositories:
   box/hobot_sensor/hobot_mipi_cam:
     type: git
     url: https://github.com/HorizonRDK/hobot_mipi_cam.git
-    version: tros_2.1.5
+    version: tros_2.1.6
   box/hobot_sensor/hobot_imu_sensor:
     type: git
     url: https://github.com/HorizonRDK/hobot_imu_sensor.git
@@ -491,6 +491,10 @@ repositories:
     type: git
     url: https://github.com/HorizonRDK/hobot_stereo_usb_cam.git
     version: tros_2.0.1rc1
+  box/hobot_llm:
+    type: git
+    url: https://github.com/HorizonRDK/hobot_llm.git
+    version: tros_2.0.0
   ../../sysroot_docker:
     type: git
     url: https://github.com/HorizonRDK/sysroot_docker.git