diff --git a/defaults/main.yml b/defaults/main.yml
index 93835bb..8031510 100644
--- a/defaults/main.yml
+++ b/defaults/main.yml
@@ -1,4 +1,6 @@
 ---
 # defaults file for ansible-role-install-ros2-ubuntu
-install_ros2_distro: "dashing"
-install_ros2: "ros-base"
\ No newline at end of file
+install_ros2_distro: "galactic"
+install_ros2: "ros-base"
+install_ros2_rti_connext: true
+install_ros2_rti_fastrtps: false
diff --git a/meta/main.yml b/meta/main.yml
index 88bba14..6e8fc58 100644
--- a/meta/main.yml
+++ b/meta/main.yml
@@ -39,6 +39,7 @@ galaxy_info:
       versions:
       - bionic
       - focal
+      - jammy
 
   galaxy_tags:
     # Maximum 20 tags per role.
@@ -50,6 +51,7 @@ galaxy_info:
     - dds
     - rti
     - connext
+    - fastrtps
 
 dependencies:
   # List your role dependencies here, one per line. Be sure to remove the '[]' above,
diff --git a/tasks/main.yml b/tasks/main.yml
index 999afb3..1007bd7 100644
--- a/tasks/main.yml
+++ b/tasks/main.yml
@@ -15,8 +15,9 @@
   with_items:
     - { os_release: "bionic", ros2_distro: "dashing" }
     - { os_release: "focal", ros2_distro: "foxy" }
+    - { os_release: "jammy", ros2_distro: "galactic" }
 
-- name: "Install ROS2 '{{ install_ros2_distro }}'"
+- name: "Install ROS2 '{{ install_ros2_distro }}' on '{{ ansible_distribution_release }}'"
   include_role:
     name: itnok.manage_pkg_ubuntu
   vars:
@@ -38,6 +39,7 @@
   package_facts:
     manager: auto
 
+
 - name: "Set 'install_ros2_rti_connext_pkg' to 'ros-{{ install_ros2_distro }}-rmw-connext-cpp'"
   set_fact:
     install_ros2_rti_connext_pkg: "ros-{{ install_ros2_distro }}-rmw-connext-cpp"
@@ -53,4 +55,22 @@
         - "yes"
     echo: true
     timeout: 600
-  when: ansible_facts.packages[install_ros2_rti_connext_pkg] is not defined
+  when: install_ros2_rti_connext and ansible_facts.packages[install_ros2_rti_connext_pkg] is not defined
+
+
+- name: "Set 'install_ros2_rti_fastrtps_pkg' to 'ros-{{ install_ros2_distro }}-rmw-fastrtps-cpp'"
+  set_fact:
+    install_ros2_rti_fastrtps_pkg: "ros-{{ install_ros2_distro }}-rmw-fastrtps-cpp"
+
+- name: "Install Eproxima FastRTPS DDS & middleware for ROS2 if not present"
+  expect:
+    command: "apt install -y --install-recommends {{ install_ros2_rti_fastrtps_pkg }}"
+    responses:
+      "--More--": [ " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " ", " " ]
+      "Do you accept the terms of this license agreement.*":
+        - "yes"
+        - "yes"
+        - "yes"
+    echo: true
+    timeout: 600
+  when: install_ros2_rti_fastrtps and ansible_facts.packages[install_ros2_rti_fastrtps_pkg] is not defined