diff --git a/README.md b/README.md
index f99d7f6..de9b4f7 100644
--- a/README.md
+++ b/README.md
@@ -17,19 +17,19 @@ Iron | Fortress | [iron](https://github.com/ros-controls/gz_ros2_control/tree/ir
 Iron | Garden | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source |
 Iron | Harmonic | [iron](https://github.com/ros-controls/gz_ros2_control/tree/iron) | only from source |
 Jazzy | Harmonic | [jazzy](https://github.com/ros-controls/gz_ros2_control/tree/jazzy) | https://packages.ros.org | `ros-jazzy-gz-ros2-control`
-Rolling | Harmonic | [master](https://github.com/ros-controls/gz_ros2_control/tree/master) | https://packages.ros.org | `ros-rolling-gz-ros2-control`
+Rolling | Harmonic | [rolling](https://github.com/ros-controls/gz_ros2_control/tree/rolling) | https://packages.ros.org | `ros-rolling-gz-ros2-control`
 
 ## Build status
 
 ROS 2 Distro | Branch | Build status | Documentation
 :----------: | :----: | :----------: | :-----------:
-**Rolling** | [`master`](https://github.com/ros-controls/gz_ros2_control/tree/master) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/rolling/index.html) <br /> [API Reference](https://control.ros.org/rolling/doc/api/index.html)
-**Jazzy** | [`jazzy`](https://github.com/ros-controls/gz_ros2_control/tree/jazzy) | [![gazebo_ros2_control CI - Jazzy](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-jazzy.yaml/badge.svg?branch=master)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-jazzy.yaml) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html)
+**Rolling** | [`rolling`](https://github.com/ros-controls/gz_ros2_control/tree/rolling) | [![gazebo_ros2_control CI - Rolling](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml/badge.svg?branch=rolling)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-rolling.yaml) | [Documentation](https://control.ros.org/rolling/index.html) <br /> [API Reference](https://control.ros.org/rolling/doc/api/index.html)
+**Jazzy** | [`jazzy`](https://github.com/ros-controls/gz_ros2_control/tree/jazzy) | [![gazebo_ros2_control CI - Jazzy](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-jazzy.yaml/badge.svg?branch=rolling)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-jazzy.yaml) | [Documentation](https://control.ros.org/jazzy/index.html) <br /> [API Reference](https://control.ros.org/jazzy/doc/api/index.html)
 **Iron** | [`iron`](https://github.com/ros-controls/gz_ros2_control/tree/iron) | [![gazebo_ros2_control CI - Iron](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml/badge.svg?branch=iron)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-iron.yaml) | [Documentation](https://control.ros.org/iron/index.html) <br /> [API Reference](https://control.ros.org/iron/doc/api/index.html)
 **Humble** | [`humble`](https://github.com/ros-controls/gz_ros2_control/tree/humble) | [![ign_ros2_control CI - Humble](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml/badge.svg?branch=humble)](https://github.com/ros-controls/gz_ros2_control/actions/workflows/ci-humble.yaml) | [Documentation](https://control.ros.org/humble/index.html) <br /> [API Reference](https://control.ros.org/humble/doc/api/index.html)
 
 ## Documentation
-See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/master/doc/gz_ros2_control/doc/index.html)
+See the [documentation file](doc/index.rst) or [control.ros.org](https://control.ros.org/rolling/doc/gz_ros2_control/doc/index.html)
 
 # Compile from source
 
@@ -37,12 +37,12 @@ Note that `gz_ros2_control` depends on the version of Gazebo that is
 provided by the Gazebo Vendor packages [`gz_plugin_vendor`](https://github.com/gazebo-release/gz_plugin_vendor) and [`gz_sim_vendor`](https://github.com/gazebo-release/gz_sim_vendor).
 Currently, for ROS 2 Jazzy and Rolling, the Gazebo version is Harmonic.
 
-To compile `gz_ros2_control` from source, create a workspace, clone the repo and compile it:
+To compile `gz_ros2_control` from source, create a workspace, clone the correct branch of this repo and compile it:
 
 ```bash
 mkdir -p ~/gz_ros2_control_ws/src
 cd ~/gz_ros2_control_ws/src
-git clone https://github.com/ros-controls/gz_ros2_control
+git clone https://github.com/ros-controls/gz_ros2_control -b {ROS_DISTRO}
 rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
 cd ~/gz_ros2_control_ws
 colcon build