diff --git a/README.md b/README.md
index f7730bc..c271500 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@
 **Docker hub: [koide3/glim_ros1](https://hub.docker.com/repository/docker/koide3/glim_ros1/tags), [koide3/glim_ros2](https://hub.docker.com/repository/docker/koide3/glim_ros2/tags)**  
 **Related packges:** [gtsam_points](https://github.com/koide3/gtsam_points), [glim](https://github.com/koide3/glim), [glim_ros1](https://github.com/koide3/glim_ros1), [glim_ros2](https://github.com/koide3/glim_ros2), [glim_ext](https://github.com/koide3/glim_ext)
 
-Tested on Ubuntu 22.04 /24.04 with CUDA 12.2, and NVIDIA Jetson Orin.
+Tested on Ubuntu 22.04 /24.04 with CUDA 12.2 / 12.5, and NVIDIA Jetson Orin (Jetpack 6.0).
 
 If you find this package useful for your project, please consider leaving a comment [here](https://github.com/koide3/glim/issues/19). It would help the author receive recognition in his organization and keep working on this project.
 
diff --git a/docs/index.md b/docs/index.md
index 462619f..f5f1bc2 100644
--- a/docs/index.md
+++ b/docs/index.md
@@ -15,7 +15,7 @@
     - RGB-D camera (e.g., Microsoft Azure Kinect)
 - ***Extensibility:*** GLIM provides the global callback slot mechanism that allows to access the internal states of the mapping process and insert additional constraints to the factor graph. We also release [glim_ext](https://github.com/koide3/glim_ext) that offers example implementations of several extension functions (e.g., explicit loop detection, LiDAR-Visual-Inertial odometry estimation).
 
-Tested on Ubuntu 22.04 / 24.04 with CUDA 12.2, and NVIDIA Jetson Orin.
+Tested on Ubuntu 22.04 / 24.04 with CUDA 12.2 / 12.5, and NVIDIA Jetson Orin (Jetpack 6.0).
 
 [![Build test status](assets/build.svg)](https://github.com/koide3/glim/actions/workflows/build.yml)
 [![ROS1](assets/ros1.svg)](https://github.com/koide3/glim_ros1/actions/workflows/docker_push.yml)
diff --git a/docs/installation.md b/docs/installation.md
index 5746441..df215f8 100644
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -1,7 +1,5 @@
 
-GLIM is tested on Ubuntu 22.04 / 24.04 with CUDA 12.2 / 12.5, and NVIDIA Jetson Orin (JetPack 6.0).
-
-You can build and install GLIM from source code, or install pre-built binaries from PPA.
+GLIM is tested on Ubuntu 22.04 / 24.04 with CUDA 12.2 / 12.5, and NVIDIA Jetson Orin (JetPack 6.0). You can build and install GLIM from source code, or install pre-built binaries from PPA.
 
 ## Install from source
 
@@ -97,7 +95,7 @@ sudo apt install curl gpg
 ```bash
 # Choose one of the follows
 
-# Automatically select ubuntu version via online script
+# Automatically setup PPA via online script
 curl -s https://koide3.github.io/ppa/setup_ppa.sh | sudo bash
 
 # Manually setup PPA for Ubuntu 24.04
@@ -125,12 +123,23 @@ sudo apt install -y libgtsam-points-cuda-12.2-dev  # with CUDA 12.2
 sudo apt install -y libgtsam-points-cuda-12.5-dev  # with CUDA 12.5
 ```
 
-### Install GLIM for ROS2
+### Install GLIM for ROS
 
 ```bash
 # Choose one of the follows
+
+# ROS2 jazzy (Ubuntu 24.04)
+sudo apt install -y ros-jazzy-glim-ros             # Without CUDA
+sudo apt install -y ros-jazzy-glim-ros-cuda12.5    # With CUDA 12.5
+
+# ROS2 humble (Ubuntu 22.04)
 sudo apt install -y ros-humble-glim-ros            # Without CUDA
 sudo apt install -y ros-humble-glim-ros-cuda12.2   # With CUDA 12.2
 sudo apt install -y ros-humble-glim-ros-cuda12.5   # With CUDA 12.5
+
+# ROS1 noetic (Ubuntu 20.04)
+sudo apt install -y ros-noetic-glim-ros            # Without CUDA
+sudo apt install -y ros-noetic-glim-ros-cuda12.2   # With CUDA 12.2
+sudo apt install -y ros-noetic-glim-ros-cuda12.5   # With CUDA 12.5
 ```
 
diff --git a/mkdocs.yml b/mkdocs.yml
index 31ba5f6..f4d3b63 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -49,8 +49,8 @@ nav:
     - 'installation.md'
     - 'docker.md'
     - 'quickstart.md'
-    - 'demo.md'
     - 'parameters.md'
+    - 'demo.md'
     - 'extend.md'
     - 'extensions.md'
     - 'faq.md'