diff --git a/README.md b/README.md
index 16847501b..7063027ef 100644
--- a/README.md
+++ b/README.md
@@ -5,6 +5,14 @@ It draws on the planning capabilities of [MoveIt](https://moveit.ros.org/) to so
 A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages.
 The framework enables the hierarchical organization of basic stages using *containers*, allowing for sequential as well as parallel compositions.
 
+## Branches
+
+This repository provides the following branches:
+
+- **master**: ROS 1 development
+- **ros2**: ROS 2 development, compatible with MoveIt 2 `main`
+- **humble**: ROS 2 stable branch for Humble support
+
 ## Videos
 
 - Demo video associated with [ICRA 2019 paper](https://pub.uni-bielefeld.de/download/2918864/2933599/paper.pdf)
diff --git a/core/src/task.cpp b/core/src/task.cpp
index d316fde33..f6c3b864d 100644
--- a/core/src/task.cpp
+++ b/core/src/task.cpp
@@ -267,7 +267,10 @@ void Task::preempt() {
 
 moveit::core::MoveItErrorCode Task::execute(const SolutionBase& s) {
 	actionlib::SimpleActionClient<moveit_task_constructor_msgs::ExecuteTaskSolutionAction> ac("execute_task_solution");
-	ac.waitForServer();
+	if (!ac.waitForServer(ros::Duration(0.5))) {
+		ROS_ERROR("Failed to connect to the 'execute_task_solution' action server");
+		return moveit::core::MoveItErrorCode::FAILURE;
+	}
 
 	moveit_task_constructor_msgs::ExecuteTaskSolutionGoal goal;
 	s.toMsg(goal.solution, pimpl()->introspection_.get());
diff --git a/visualization/motion_planning_tasks/src/task_panel.cpp b/visualization/motion_planning_tasks/src/task_panel.cpp
index fccba906e..a4518bc8c 100644
--- a/visualization/motion_planning_tasks/src/task_panel.cpp
+++ b/visualization/motion_planning_tasks/src/task_panel.cpp
@@ -87,8 +87,13 @@ TaskPanel::TaskPanel(QWidget* parent) : rviz::Panel(parent), d_ptr(new TaskPanel
 	Q_D(TaskPanel);
 
 	// sync checked tool button with displayed widget
+#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
+	connect(d->tool_buttons_group, &QButtonGroup::idClicked, d->stackedWidget,
+	        [d](int index) { d->stackedWidget->setCurrentIndex(index); });
+#else
 	connect(d->tool_buttons_group, static_cast<void (QButtonGroup::*)(int)>(&QButtonGroup::buttonClicked),
 	        d->stackedWidget, [d](int index) { d->stackedWidget->setCurrentIndex(index); });
+#endif
 	connect(d->stackedWidget, &QStackedWidget::currentChanged, d->tool_buttons_group,
 	        [d](int index) { d->tool_buttons_group->button(index)->setChecked(true); });
 
@@ -529,7 +534,7 @@ void TaskView::onExecCurrentSolution() const {
 	const DisplaySolutionPtr& solution = task->getSolution(current);
 
 	if (!d_ptr->exec_action_client_.waitForServer(ros::Duration(0.1))) {
-		ROS_ERROR("Failed to connect to task execution action");
+		ROS_ERROR("Failed to connect to the 'execute_task_solution' action server");
 		return;
 	}