diff --git a/built_packages b/built_packages
index 685fc7398..9d870d9c5 100755
--- a/built_packages
+++ b/built_packages
@@ -9,8 +9,8 @@ https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f
 https://github.com/eProsima/Micro-XRCE-DDS-Client.git 83f129a80770a09aac9e823896ecbf6a0eddf0fc
 https://github.com/micro-ROS/micro_ros_msgs.git 4594d9db17db735b1e655141fb4afb4cdcfc5789
 https://github.com/micro-ROS/micro_ros_utilities aa799eea0a63edfc1665cdcb1e9053827b69c730
-https://github.com/micro-ROS/rcl 754611a018a67e9f8d75b45bc140210cb2c10afa
-https://github.com/micro-ROS/rcutils 9b5bd96bf22c1934c82692c17ea8bbef1bd4d980
+https://github.com/micro-ROS/rcl 8f2fd763347d83b21e3b90760f283d4468b60b55
+https://github.com/micro-ROS/rcutils d911c12358ba7846195baa0d0e293a0169f6fa7d
 https://github.com/micro-ROS/rmw-microxrcedds.git 554445fe739e4c5bcb27753ffbe21e03bb2c3c1f
 https://github.com/micro-ROS/rosidl_typesupport.git 23f15cd3897f81f7e4938c303a7abbe7d06801ec
 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 6243b9f89e40ba4742c757951d7195f3d7745819
@@ -19,7 +19,7 @@ https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa42465
 https://github.com/ros2/common_interfaces.git 784c48971ed8e95d27f86df26d4e893adddf433d
 https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f
 https://github.com/ros2/libyaml_vendor.git dbba913fdbdcfb5388c335619ca66eb4d891e59e
-https://github.com/ros2/rcl.git 052342084df07e1149d14d5f24e84df52c69f077
+https://github.com/ros2/rcl.git 7927b7649b2f1089c87492ed6b22a919a5d0dbed
 https://github.com/ros2/rcl_interfaces.git 003987ecb81a32802ab27dd6d325b8c6b8b813cc
 https://github.com/ros2/rcl_logging.git 128d88e6e4ad6df97405564afbdffa2ebc167814
 https://github.com/ros2/rclc 995cda8c68456c7477ed103d9419a161fd068960
diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a
index ae6f46e9b..1bb228f1d 100755
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diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a
index 63837d96e..fded89253 100755
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diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a
index b5be9d5f6..beadaac73 100755
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diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a
index e85eb04e8..9022182c4 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a
index 521244db6..38a10c5c3 100755
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diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a
index 220860b90..80d31a761 100755
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diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a
index ef16e56fa..c0fb33369 100755
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diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a
index 639a0ff09..c75ded216 100755
Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ
diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a
index bbe33ad75..065ebeac8 100755
Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ
diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a
index 4e28392a0..c82c033b5 100755
Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a
index 4e28392a0..c82c033b5 100755
Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ
diff --git a/src/rcl_action/version.h b/src/rcl_action/version.h
index cfce35759..dd9de28e6 100755
--- a/src/rcl_action/version.h
+++ b/src/rcl_action/version.h
@@ -25,11 +25,11 @@
 
 /// \def RCL_ACTION_VERSION_PATCH
 /// Defines RCL_ACTION version patch number
-#define RCL_ACTION_VERSION_PATCH (3)
+#define RCL_ACTION_VERSION_PATCH (4)
 
 /// \def RCL_ACTION_VERSION_STR
 /// Defines RCL_ACTION version string
-#define RCL_ACTION_VERSION_STR "9.2.3"
+#define RCL_ACTION_VERSION_STR "9.2.4"
 
 /// \def RCL_ACTION_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_ACTION is greater than or equal to
diff --git a/src/rcl_lifecycle/version.h b/src/rcl_lifecycle/version.h
index d331bbd5b..ac8d01706 100755
--- a/src/rcl_lifecycle/version.h
+++ b/src/rcl_lifecycle/version.h
@@ -25,11 +25,11 @@
 
 /// \def RCL_LIFECYCLE_VERSION_PATCH
 /// Defines RCL_LIFECYCLE version patch number
-#define RCL_LIFECYCLE_VERSION_PATCH (3)
+#define RCL_LIFECYCLE_VERSION_PATCH (4)
 
 /// \def RCL_LIFECYCLE_VERSION_STR
 /// Defines RCL_LIFECYCLE version string
-#define RCL_LIFECYCLE_VERSION_STR "9.2.3"
+#define RCL_LIFECYCLE_VERSION_STR "9.2.4"
 
 /// \def RCL_LIFECYCLE_VERSION_GTE
 /// Defines a macro to check whether the version of RCL_LIFECYCLE is greater than or equal to
diff --git a/src/rcutils/env.h b/src/rcutils/env.h
index b82b3e0c8..154aa6661 100755
--- a/src/rcutils/env.h
+++ b/src/rcutils/env.h
@@ -55,6 +55,36 @@ RCUTILS_WARN_UNUSED
 bool
 rcutils_set_env(const char * env_name, const char * env_value);
 
+/// Set or un-set a process-scoped environment variable while specifying overwrite behavior.
+/**
+ * This function modifies the environment variables for the current process by
+ * copying given string values into the process' global environment variable
+ * store.
+ *
+ * \par Thread Safety:
+ * This function is not thread-safe. Take care not to modify the environment variables while
+ * another thread might be reading or writing environment variables.
+ *
+ * \par Platform Consistency:
+ * The behavior when setting a variable to an empty string (`""`) differs
+ * between platforms. On Windows, the variable is un-set (as if \p env_value was
+ * `NULL`), while on other platforms the variable is set to an empty string as
+ * expected.
+ *
+ * \param[in] env_name Name of the environment variable to modify.
+ * \param[in] env_value Value to set the environment variable to, or `NULL` to
+ *   un-set.
+ * \param[in] overwrite If true, the environemnt variable value will not be overwritten
+ *   if previously set.
+ * \return `true` if success, or
+ * \return `false` if env_name is invalid or NULL, or
+ * \return `false` on failure.
+ */
+RCUTILS_PUBLIC
+RCUTILS_WARN_UNUSED
+bool
+rcutils_set_env_overwrite(const char * env_name, const char * env_value, bool overwrite);
+
 /// Retrieve the value of the given environment variable if it exists, or "".
 /** The c-string which is returned in the env_value output parameter is only
  * valid until the next time this function is called, because it is a direct