diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index e5d5eea..9f1011c 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -3,7 +3,7 @@ name: CI micro-ROS Agent
 on:
     pull_request:
       branches:
-        - 'main'
+        - 'iron'
     schedule:
       - cron: '33 6 * * *'
 
@@ -14,16 +14,16 @@ jobs:
       strategy:
         fail-fast: false
         matrix:
-          os: [ ubuntu-20.04 ]
-          ros_distribution: [ rolling ]
+          os: [ ubuntu-latest ]
+          ros_distribution: [ iron ]
           include:
-            - docker_image: ubuntu:22.04
-              ros_distribution: rolling
+            - docker_image: ubuntu:jammy
+              ros_distribution: iron
       container:
-        image: ubuntu:22.04
+        image: ubuntu:jammy
       steps:
-      - uses: actions/checkout@v2
-      - uses: ros-tooling/setup-ros@0.3.2
+      - uses: actions/checkout@v3
+      - uses: ros-tooling/setup-ros@0.7.1
         with:
           use-ros2-testing: false
           required-ros-distributions: ${{ matrix.ros_distribution }}
@@ -31,7 +31,7 @@ jobs:
         run: |
           apt-get install ros-${{ matrix.ros_distribution }}-micro-ros-msgs
           apt-get install ros-${{ matrix.ros_distribution }}-rmw-fastrtps-cpp
-      - uses : ros-tooling/action-ros-ci@0.2.5
+      - uses : ros-tooling/action-ros-ci@0.3.6
         with:
           package-name: "micro_ros_agent"
           target-ros2-distro: ${{ matrix.ros_distribution }}
diff --git a/micro_ros_agent/CHANGELOG.rst b/micro_ros_agent/CHANGELOG.rst
index ba2ec5c..7833fb4 100644
--- a/micro_ros_agent/CHANGELOG.rst
+++ b/micro_ros_agent/CHANGELOG.rst
@@ -2,6 +2,23 @@
 Changelog for package micro-ros_agent
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+4.0.4 (2024-01-29)
+------------------
+* Fix thread include (`#216 <https://github.com/micro-ROS/micro-ROS-Agent/issues/216>`_)
+  * Fix thread include
+  * Update CI
+  * Revert "Fix thread include"
+  This reverts commit 1427fb6246c46a0b5851a017ddc886abd80d895b.
+  * fix
+  * Fix
+  ---------
+* Contributors: Pablo Garrido
+
+4.0.3 (2023-06-06)
+------------------
+* Add empty type key hash to GraphCache (`#189 <https://github.com/micro-ROS/micro-ROS-Agent/issues/189>`_)
+* Contributors: Antonio Cuadros
+
 4.0.2 (2022-09-28)
 ------------------
 * Fix Datawriter destruction (`#169 <https://github.com/micro-ROS/micro-ROS-Agent/issues/169>`_) (`#170 <https://github.com/micro-ROS/micro-ROS-Agent/issues/170>`_)
diff --git a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
index d6df8d0..d9cf095 100644
--- a/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
+++ b/micro_ros_agent/include/agent/graph_manager/graph_manager.hpp
@@ -65,6 +65,7 @@
 #include <string>
 #include <memory>
 #include <map>
+#include <thread>
 
 namespace uros {
 namespace agent {
diff --git a/micro_ros_agent/package.xml b/micro_ros_agent/package.xml
index 1896959..accb6f3 100644
--- a/micro_ros_agent/package.xml
+++ b/micro_ros_agent/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>micro_ros_agent</name>
-  <version>4.0.2</version>
+  <version>4.0.4</version>
   <description>micro-ROS Agent package</description>
   <maintainer email="pablogarrido@eprosima.com">Pablo Garrido</maintainer>
   <maintainer email="antoniocuadros@eprosima.com">Antonio Cuadros</maintainer>