diff --git a/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx b/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx
new file mode 100644
index 00000000..e21876e3
--- /dev/null
+++ b/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx
@@ -0,0 +1,8 @@
+You may see errors or warnings regarding `High execution jitter` from the `controller_manager` `Hardware Components Activity` or `Controllers Activity`. This is expected and can be ignored.
+
+<center>
+  <figure>
+    <img src={require("./img/jitter_error.png").default} />
+    <figcaption>Jitter Error</figcaption>
+  </figure>
+</center>
diff --git a/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/img/jitter_error.png b/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/img/jitter_error.png
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Binary files /dev/null and b/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/img/jitter_error.png differ
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/cockpit/ros2_diagnostics.mdx b/docs_versioned_docs/version-ros2jazzy/ros/cockpit/ros2_diagnostics.mdx
index eddbc256..49a62fce 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/cockpit/ros2_diagnostics.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/cockpit/ros2_diagnostics.mdx
@@ -4,6 +4,8 @@ sidebar_label: ROS 2 Diagnostics
 sidebar_position: 3
 ---
 
+import JitterError from "/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx";
+
 The [Cockpit ROS 2 Diagnostics](https://github.com/clearpathrobotics/cockpit-ros2-diagnostics) extension was developed by Clearpath Robotics to add more ROS specific functionality to Cockpit and specifically to help in monitoring and troubleshooting ROS 2 robots.
 
 ## Capture Diagnostics
@@ -22,6 +24,12 @@ Errors are unexpected situations that prevent normal operation of one or more fe
 
 Active errors and warnings are each separated into dedicated tables in order to bring emphasis to what issues need to be addressed on a given robot. Clicking on these errors and warnings opens the diagnostic details in the section below.
 
+:::note
+
+<JitterError />
+
+:::
+
 ## All Diagnostics
 
 This section displays all ROS 2 diagnostics in an expandable table. If a diagnostic is clicked, the diagnostic details are displayed in a drawer, including associated values.
diff --git a/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx b/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
index de8262f3..38ea1ed9 100644
--- a/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
+++ b/docs_versioned_docs/version-ros2jazzy/ros/troubleshooting.mdx
@@ -4,6 +4,8 @@ sidebar_label: Troubleshooting
 sidebar_position: 9
 ---
 
+import JitterError from "/docs_versioned_docs/version-ros2jazzy/components/troubleshooting/_jitter_error.mdx";
+
 The following are common problems our [support team](https://support.clearpathrobotics.com/hc/en-us)
 have received. Before [submitting a request](https://support.clearpathrobotics.com/hc/en-us/requests/new)
 please review the items below to see if they resolve your problem. If your problem is not resolved, download a [diagnostic capture](./cockpit/ros2_diagnostics.mdx#capture-diagnostics) from the [Cockpit webserver](./cockpit/overview.mdx) and attach it to the support request.
@@ -226,3 +228,7 @@ Fast CDR exception deserializing message of type rmw_dds_common::msg::dds_::Part
 ```
 
 It is recommended that all ROS 2 devices on a network use the same ROS 2 distribution and middleware.
+
+## Jitter Warning or Error
+
+<JitterError />
\ No newline at end of file