diff --git a/.github/workflows/config.yml b/.github/workflows/config.yml
index d842f67..e0bcc1e 100644
--- a/.github/workflows/config.yml
+++ b/.github/workflows/config.yml
@@ -6,64 +6,114 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - OS: ubuntu-18.04
+          - OS: ubuntu:18.04
             ROS_DISTRO: melodic
-          - OS: ubuntu-20.04
+          - OS: ubuntu:20.04
             ROS_DISTRO: noetic
 
-    runs-on: ${{ matrix.OS }}
+    runs-on: ubuntu-latest
+    container:
+      image: ${{ matrix.OS }}
+      volumes:
+        - /tmp/node20:/__e/node20
     steps:
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          ls -lar /__e/node20 &&
+          apt update -y && apt install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
       - name: Checkout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Setup ROS
         run: |
-            sudo apt update -y
-            sudo apt install -y curl gnupg
-            sudo apt install -y xvfb
-            echo "deb http://packages.ros.org/ros/ubuntu  $(lsb_release -sc) main" | sudo tee /etc/apt/sources.list.d/ros-latest.list
-            curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+            apt update -y
+            apt install -y curl gnupg lsb-release
+            apt install -y xvfb
+            echo "deb http://packages.ros.org/ros/ubuntu  $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros-latest.list
+            curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
             #
-            sudo apt update -y
-            sudo apt install -y python-catkin-tools python-rosdep || sudo apt install -y python3-catkin-tools python3-rosdep
-            sudo apt install -y ros-${{ matrix.ROS_DISTRO }}-catkin
-            sudo  rosdep init
-            rosdep update
-            rosdep install --from-path . --ignore-src --rosdistro ${{ matrix.ROS_DISTRO }} -r -y
+            apt update -y
+            apt install -y python-catkin-tools python-rosdep || apt install -y python3-catkin-tools python3-rosdep
+            apt install -y ros-${{ matrix.ROS_DISTRO }}-catkin
+            rosdep init
+            rosdep update --include-eol-distros
+            rosdep install --from-path $GITHUB_WORKSPACE --ignore-src --rosdistro ${{ matrix.ROS_DISTRO }} -r -y
       - name: Run catkin build
+        shell: bash
         run: |
             source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
             mkdir -p ~/ws/src/
             cp -r $GITHUB_WORKSPACE ~/ws/src/
-            cd ~/ws/; catkin build
+            cd ~/ws/; catkin build -vis --no-status
       - name: Run catkin run_test
+        shell: bash
         run: |
           source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
           cd ~/ws/; xvfb-run --auto-servernum catkin run_tests
       - name: Run catkin test results
+        shell: bash
         run: |
           source /opt/ros/${{ matrix.ROS_DISTRO }}/setup.bash
           cd ~/ws/; catkin_test_results --all build
 
   check_python2:
     runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+      volumes:
+        - /tmp/node20:/__e/node20
     name: check_python2
 
     steps:
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          ls -lar /__e/node20 &&
+          apt update -y && apt install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+      - name: Set up a Git safe directory
+        run: |
+          apt update -q && apt install -y -q git
+          git config --global --add safe.directory "${GITHUB_WORKSPACE}"
       - name: Chcekout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Check Python2
         run: |
-          sudo apt update -q && sudo apt install -y -q python2
+          apt update -q && apt install -y -q python2
           python2 -m compileall .
 
   check_python3:
     runs-on: ubuntu-latest
+    container:
+      image: ubuntu:20.04
+      volumes:
+        - /tmp/node20:/__e/node20
     name: check_python3
 
     steps:
+      - name: Try to replace `node` with an glibc 2.17
+        shell: bash
+        run: |
+          ls -lar /__e/node20 &&
+          apt update -y && apt install -y curl &&
+          curl -Lo /tmp/node.tar.gz https://unofficial-builds.nodejs.org/download/release/v20.17.0/node-v20.17.0-linux-x64-glibc-217.tar.gz &&
+          cd /__e/node20 &&
+          tar -x --strip-components=1 -f /tmp/node.tar.gz &&
+          ls -lar /__e/node20/bin/
+      - name: Set up a Git safe directory
+        run: |
+          apt update -q && apt install -y -q git
+          git config --global --add safe.directory "${GITHUB_WORKSPACE}"
       - name: Chcekout
-        uses: actions/checkout@v2
+        uses: actions/checkout@v4
       - name: Check Python3
         run: |
-          sudo apt update -q && sudo apt install -y -q python3 git 2to3
+          apt update -q && apt install -y -q python3 git 2to3
           bash -c "ret=0; trap 'ret=1' ERR; python3 -m compileall .; 2to3 -w -f except -f execfile -f has_key -f import -f raw_input -f zip .; git diff --exit-code . > /dev/null; echo Exitting with \$ret; exit \$ret"
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 54a551c..b54826d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -10,7 +10,7 @@ install(
 )
 
 install(
-  DIRECTORY resource
+  DIRECTORY resource rqt_perspectives
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
   FILES_MATCHING
   PATTERN "*.ui"
diff --git a/package.xml b/package.xml
index 513e3f4..0df1bed 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="3">
   <name>rqt_joint_trajectory_plot</name>
 
   <version>0.0.5</version>
@@ -14,22 +14,25 @@
   <!-- <url type="website">http://wiki.ros.org/rqt_joint_trajectory_plot</url> -->
 
   <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>g++-static</buildtool_depend>
 
   <build_depend>rospy</build_depend>
   <build_depend>rqt_gui</build_depend>
   <build_depend>rqt_gui_py</build_depend>
-  <build_depend>roslint</build_depend>
   <build_depend>roslaunch</build_depend>
 
-  <run_depend>control_msgs</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>rqt_gui</run_depend>
-  <run_depend>rqt_gui_py</run_depend>
-  <run_depend>rqt_py_common</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>moveit_msgs</run_depend>
+  <exec_depend>control_msgs</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>rqt_gui</exec_depend>
+  <exec_depend>rqt_gui_py</exec_depend>
+  <exec_depend>rqt_py_common</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-matplotlib</exec_depend>
+  <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-matplotlib</exec_depend>
 
   <test_depend>rostest</test_depend>
+  <test_depend>roslint</test_depend>
   <test_depend>rosservice</test_depend>
 
   <export>
diff --git a/rqt_perspectives/3x_joint_trajectory_plot.perspective b/rqt_perspectives/3x_joint_trajectory_plot.perspective
index 182b0e4..23fb8bc 100644
--- a/rqt_perspectives/3x_joint_trajectory_plot.perspective
+++ b/rqt_perspectives/3x_joint_trajectory_plot.perspective
@@ -81,12 +81,12 @@
       "keys": {
         "geometry": {
           "type": "repr(QByteArray.hex)",
-          "repr(QByteArray.hex)": "QtCore.QByteArray('01d9d0cb0002000000000064000000cb000006cf0000043700000064000000f0000006cf0000043700000002000000000a00')",
+          "repr(QByteArray.hex)": "QtCore.QByteArray(b'01d9d0cb0002000000000064000000cb000006cf0000043700000064000000f0000006cf0000043700000002000000000a00')",
           "pretty-print": "     d     7 d     7     "
         },
         "state": {
           "type": "repr(QByteArray.hex)",
-          "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000000fd00000001000000030000066c0000031cfc0100000001fc000000000000066c0000010c00fffffffc0200000003fb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0031005f005f006d00610069006e005f00770069006400670065007401000000160000010e0000008c00fffffffb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0032005f005f006d00610069006e005f007700690064006700650074010000012a0000014d0000008c00fffffffb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0033005f005f006d00610069006e005f007700690064006700650074010000027d000000b50000008c00ffffff0000066c0000000000000004000000040000000800000008fc00000001000000030000000100000036004d0069006e0069006d0069007a006500640044006f0063006b00570069006400670065007400730054006f006f006c0062006100720000000000ffffffff0000000000000000')",
+          "repr(QByteArray.hex)": "QtCore.QByteArray(b'000000ff00000000fd00000001000000030000066c0000031cfc0100000001fc000000000000066c0000010c00fffffffc0200000003fb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0031005f005f006d00610069006e005f00770069006400670065007401000000160000010e0000008c00fffffffb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0032005f005f006d00610069006e005f007700690064006700650074010000012a0000014d0000008c00fffffffb0000007c007200710074005f006a006f0069006e0074005f007400720061006a006500630074006f00720079005f0070006c006f0074005f005f004a006f0069006e0074005400720061006a006500630074006f007200790050006c006f0074005f005f0033005f005f006d00610069006e005f007700690064006700650074010000027d000000b50000008c00ffffff0000066c0000000000000004000000040000000800000008fc00000001000000030000000100000036004d0069006e0069006d0069007a006500640044006f0063006b00570069006400670065007400730054006f006f006c0062006100720000000000ffffffff0000000000000000')",
           "pretty-print": "                   l                                                                                                                                                  * M                                                                      }       l                                                      "
         }
       },