diff --git a/.github/workflows/rust.yml b/.github/workflows/rust.yml
index f413596e8..662ef293a 100644
--- a/.github/workflows/rust.yml
+++ b/.github/workflows/rust.yml
@@ -16,14 +16,9 @@ jobs:
     strategy:
       matrix:
         ros_distribution:
-          - foxy
           - humble
           - rolling
         include:
-          # Foxy Fitzroy (June 2020 - May 2023)
-          - docker_image: rostooling/setup-ros-docker:ubuntu-focal-ros-foxy-ros-base-latest
-            ros_distribution: foxy
-            ros_version: 2
           # Humble Hawksbill (May 2022 - May 2027)
           - docker_image: rostooling/setup-ros-docker:ubuntu-jammy-ros-humble-ros-base-latest
             ros_distribution: humble
diff --git a/Dockerfile b/Dockerfile
index 692bdc969..e3929e089 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ros:foxy as base
+FROM ros:humble as base
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Install dependencies
diff --git a/README.md b/README.md
index 41657dd76..7fb17a8db 100644
--- a/README.md
+++ b/README.md
@@ -33,7 +33,7 @@ Here are the steps for building the `ros2_rust` examples in a vanilla Ubuntu Foc
 <!--- These steps should be kept in sync with docs/Building.md --->
 ```shell
 # Install Rust, e.g. as described in https://rustup.rs/
-# Install ROS 2 as described in https://docs.ros.org/en/foxy/Installation.html
+# Install ROS 2 as described in https://docs.ros.org/en/humble/Installation.html
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
@@ -43,8 +43,8 @@ pip install git+https://github.com/colcon/colcon-ros-cargo.git
 
 mkdir -p workspace/src && cd workspace
 git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
-vcs import src < src/ros2_rust/ros2_rust_foxy.repos
-. /opt/ros/foxy/setup.sh
+vcs import src < src/ros2_rust/ros2_rust_humble.repos
+. /opt/ros/humble/setup.sh
 colcon build
 ```
 
diff --git a/docs/building.md b/docs/building.md
index 4202063d8..c57400b1c 100644
--- a/docs/building.md
+++ b/docs/building.md
@@ -2,7 +2,7 @@
 
 This is a more detailed guide on how to build ROS 2 packages written in Rust that expands on the minimal steps in the README.
 
-In this guide, the Foxy distribution of ROS 2 is used, but newer distributions can be used by simply replacing 'foxy' with the distribution name everywhere.
+In this guide, the Humble distribution of ROS 2 is used, but newer distributions can be used by simply replacing 'humble' with the distribution name everywhere.
 
 
 ## Choosing a workspace directory and cloning `ros2_rust`
@@ -24,7 +24,7 @@ git clone https://github.com/ros2-rust/ros2_rust.git src/ros2_rust
 
 ## Environment setup
 
-Building `rclrs` requires a standard [ROS 2 installation](https://docs.ros.org/en/foxy/Installation.html), and a few extensions.
+Building `rclrs` requires a standard [ROS 2 installation](https://docs.ros.org/en/humble/Installation.html), and a few extensions.
 These extensions are: `colcon-cargo`, `colcon-ros-cargo`, `cargo-ament-build`. The first two are `colcon` plugins, and the third is a `cargo` plugin.
 
 The `libclang` library is also required for automatically generating FFI bindings with `bindgen`. See the [`bindgen` docs](https://rust-lang.github.io/rust-bindgen/requirements.html) on how to install it. As a side note, on Ubuntu the `clang` package is not required, only the `libclang-dev` package.
@@ -41,7 +41,7 @@ The exact steps may differ between platforms, but as an example, here is how you
 <!--- These steps should be kept in sync with README.md --->
 ```shell
 # Install Rust, e.g. as described in https://rustup.rs/
-# Install ROS 2 as described in https://docs.ros.org/en/foxy/Installation.html
+# Install ROS 2 as described in https://docs.ros.org/en/humble/Installation.html
 # Assuming you installed the minimal version of ROS 2, you need these additional packages:
 sudo apt install -y git libclang-dev python3-pip python3-vcstool # libclang-dev is required by bindgen
 # Install these plugins for cargo and colcon:
@@ -75,7 +75,7 @@ As you can see, this maps the workspace directory to `/workspace` inside the con
 
 ```shell
 # Make sure to run this in the workspace directory
-vcs import src < src/ros2_rust/ros2_rust_foxy.repos
+vcs import src < src/ros2_rust/ros2_rust_humble.repos
 ```
 
 This uses the [`vcs` tool](https://github.com/dirk-thomas/vcstool), which is preinstalled in the Docker image.
@@ -87,13 +87,13 @@ The list of needed repositories should very rarely change, so you typically only
 ### Sourcing the ROS 2 installation
 
 Before building, the ROS 2 installation, and ideally _only_ the ROS 2 installation, should be sourced.
-Sourcing an installation populates a few environment variables such as `$AMENT_PREFIX_PATH`, so if you are not sure, you can check that the `$AMENT_PREFIX_PATH` environment variable contains the ROS 2 installation, e.g. `/opt/ros/foxy`.
+Sourcing an installation populates a few environment variables such as `$AMENT_PREFIX_PATH`, so if you are not sure, you can check that the `$AMENT_PREFIX_PATH` environment variable contains the ROS 2 installation, e.g. `/opt/ros/humble`.
 
 In the pre-made Docker image, sourcing is already done for you. Otherwise, if `$AMENT_PREFIX_PATH` is empty, you need to source the ROS 2 installation yourself:
 
 ```shell
-# You can also do `source /opt/ros/foxy/setup.bash` in bash
-. /opt/ros/foxy/setup.sh
+# You can also do `source /opt/ros/humble/setup.bash` in bash
+. /opt/ros/humble/setup.sh
 ````
 
 If `$AMENT_PREFIX_PATH` contains undesired paths, exit and reopen your shell. If the problem persists, it's probably because of a sourcing command in your `~/.bashrc` or similar.
diff --git a/rclrs/src/dynamic_message.rs b/rclrs/src/dynamic_message.rs
index 3997ad6e7..ba6dce1fc 100644
--- a/rclrs/src/dynamic_message.rs
+++ b/rclrs/src/dynamic_message.rs
@@ -9,9 +9,6 @@ use std::fmt::{self, Display};
 use std::path::PathBuf;
 use std::sync::Arc;
 
-#[cfg(ros_distro = "foxy")]
-use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMembers as rosidl_message_members_t;
-#[cfg(not(ros_distro = "foxy"))]
 use crate::rcl_bindings::rosidl_typesupport_introspection_c__MessageMembers_s as rosidl_message_members_t;
 use crate::rcl_bindings::*;
 
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
index 2cf90e843..4fd69a84e 100644
--- a/rclrs/src/lib.rs
+++ b/rclrs/src/lib.rs
@@ -73,11 +73,6 @@ pub fn spin_once(node: &Node, timeout: Option<Duration>) -> Result<(), RclrsErro
 /// This function additionally checks that the context is still valid.
 pub fn spin(node: &Node) -> Result<(), RclrsError> {
     // The context_is_valid functions exists only to abstract away ROS distro differences
-    #[cfg(ros_distro = "foxy")]
-    // SAFETY: No preconditions for this function.
-    let context_is_valid =
-        || unsafe { rcl_context_is_valid(&mut *node.rcl_context_mtx.lock().unwrap()) };
-    #[cfg(not(ros_distro = "foxy"))]
     // SAFETY: No preconditions for this function.
     let context_is_valid =
         || unsafe { rcl_context_is_valid(&*node.rcl_context_mtx.lock().unwrap()) };
diff --git a/rclrs/src/subscription/message_info.rs b/rclrs/src/subscription/message_info.rs
index 722089592..1c2ba9936 100644
--- a/rclrs/src/subscription/message_info.rs
+++ b/rclrs/src/subscription/message_info.rs
@@ -80,7 +80,6 @@ pub struct MessageInfo {
     ///   received messages.
     ///   Those might have already been taken by other messages that were received in between or lost.
     ///   `psn2 - psn1 - 1 = 0` if and only if the messages were sent by the publisher consecutively.
-    #[cfg(not(ros_distro = "foxy"))]
     pub publication_sequence_number: u64,
     /// Sequence number of the received message set by the subscription.
     ///
@@ -98,7 +97,6 @@ pub struct MessageInfo {
     ///
     /// - `rsn2 > rsn1` (except in the case of a wrap around)
     /// - `rsn2 = rsn1 + 1` if and only if both messages were received consecutively.
-    #[cfg(not(ros_distro = "foxy"))]
     pub reception_sequence_number: u64,
     /// An identifier for the publisher that sent the message.
     pub publisher_gid: PublisherGid,
@@ -123,9 +121,7 @@ impl MessageInfo {
         Self {
             source_timestamp,
             received_timestamp,
-            #[cfg(not(ros_distro = "foxy"))]
             publication_sequence_number: rmw_message_info.publication_sequence_number,
-            #[cfg(not(ros_distro = "foxy"))]
             reception_sequence_number: rmw_message_info.reception_sequence_number,
             publisher_gid,
         }
@@ -136,7 +132,6 @@ impl MessageInfo {
 mod tests {
     use super::*;
 
-    #[cfg(not(ros_distro = "foxy"))]
     #[test]
     fn negative_durations() {
         let rmw_message_info = rmw_message_info_t {
diff --git a/ros2_rust_foxy.repos b/ros2_rust_foxy.repos
deleted file mode 100644
index 3d70dc920..000000000
--- a/ros2_rust_foxy.repos
+++ /dev/null
@@ -1,25 +0,0 @@
-repositories:
-  ros2/common_interfaces:
-    type: git
-    url: https://github.com/ros2/common_interfaces.git
-    version: foxy
-  ros2/example_interfaces:
-    type: git
-    url: https://github.com/ros2/example_interfaces.git
-    version: foxy
-  ros2/rcl_interfaces:
-    type: git
-    url: https://github.com/ros2/rcl_interfaces.git
-    version: foxy
-  ros2/test_interface_files:
-    type: git
-    url: https://github.com/ros2/test_interface_files.git
-    version: foxy
-  ros2/rosidl_defaults:
-    type: git
-    url: https://github.com/ros2/rosidl_defaults.git
-    version: foxy
-  ros2/unique_identifier_msgs:
-    type: git
-    url: https://github.com/ros2/unique_identifier_msgs.git
-    version: foxy