diff --git a/CATKIN_IGNORE b/CATKIN_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/COLCON_IGNORE b/COLCON_IGNORE
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/COLCON_IGNORE.README b/COLCON_IGNORE.README
new file mode 100644
index 0000000000..859582b4ef
--- /dev/null
+++ b/COLCON_IGNORE.README
@@ -0,0 +1,7 @@
+Since 2024-Jul, MRPT is no longer built as a monolithic ROS package. Instead,
+please, clone the new repository: 
+
+   https://github.com/MRPT/mrpt-ros
+
+which leads to generating finer-grained MRPT ROS packages.
+
diff --git a/appveyor.yml b/appveyor.yml
index 19fe3ea869..2c1f92dfd3 100644
--- a/appveyor.yml
+++ b/appveyor.yml
@@ -1,5 +1,5 @@
 # version format
-version: 2.13.5-{branch}-build{build}
+version: 2.13.6-{branch}-build{build}
 
 os: Visual Studio 2019
 
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index 7d063af1ea..403930c483 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -1,5 +1,14 @@
 \page changelog Change Log
 
+# Version 2.13.6: Released Aug 14th, 2024
+- Build system:
+  - This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
+    - https://github.com/MRPT/mrpt_ros
+    - https://github.com/MRPT/python_mrpt_ros
+- BUG FIXES:
+  - CWaypointsNavigator::waypoints_navigationStep() stops aligning with target after the waypoint is considered as reached.
+  - Fix FTBFS in Debian sid (g++-14) due to missing ``#include <iomanip>``.
+
 # Version 2.13.5: Released Aug 5th, 2024
 - Changes in libraries:
   - \ref mrpt_ros2bridge_grp:
diff --git a/libs/nav/src/reactive/CWaypointsNavigator.cpp b/libs/nav/src/reactive/CWaypointsNavigator.cpp
index 8361c0783f..49cbcfd399 100644
--- a/libs/nav/src/reactive/CWaypointsNavigator.cpp
+++ b/libs/nav/src/reactive/CWaypointsNavigator.cpp
@@ -239,6 +239,8 @@ void CWaypointsNavigator::waypoints_navigationStep()
                    " segment-to-target dist: "
                 << dist2target << ", allowed_dist: " << wp.allowed_distance);
 
+            m_is_aligning = false;
+
             wp.reached = true;
             wp.skipped = false;
             wp.timestamp_reach = mrpt::Clock::now();
diff --git a/libs/obs/src/CObservationGPS.cpp b/libs/obs/src/CObservationGPS.cpp
index b46b4e5175..33cdd1a4ed 100644
--- a/libs/obs/src/CObservationGPS.cpp
+++ b/libs/obs/src/CObservationGPS.cpp
@@ -14,7 +14,7 @@
 #include <mrpt/serialization/CArchive.h>
 #include <mrpt/serialization/optional_serialization.h>
 
-#include <iomanip>
+#include <iomanip>  // for setprecision(), etc.
 
 using namespace std;
 using namespace mrpt;
diff --git a/libs/poses/src/CPose3D.cpp b/libs/poses/src/CPose3D.cpp
index 6babb2c4db..fdfe26552c 100644
--- a/libs/poses/src/CPose3D.cpp
+++ b/libs/poses/src/CPose3D.cpp
@@ -36,7 +36,7 @@
 #include <Eigen/Dense>
 #include <algorithm>  // for move
 #include <cmath>      // for fabs
-#include <iomanip>    // for operator<<
+#include <iomanip>    // for setprecision(), etc.
 #include <limits>     // for numeric_...
 #include <ostream>    // for operator<<
 #include <string>     // for allocator
diff --git a/libs/poses/src/CPose3DQuat.cpp b/libs/poses/src/CPose3DQuat.cpp
index ebb938d607..6fd1c70064 100644
--- a/libs/poses/src/CPose3DQuat.cpp
+++ b/libs/poses/src/CPose3DQuat.cpp
@@ -16,7 +16,7 @@
 #include <mrpt/serialization/CSerializable.h>
 
 #include <Eigen/Dense>
-#include <iomanip>
+#include <iomanip>  // for setprecision(), etc.
 #include <limits>
 
 using namespace std;
diff --git a/libs/poses/src/Lie/LieTraits_unittest.cpp b/libs/poses/src/Lie/LieTraits_unittest.cpp
index b4f4cba593..6a7ff91b47 100644
--- a/libs/poses/src/Lie/LieTraits_unittest.cpp
+++ b/libs/poses/src/Lie/LieTraits_unittest.cpp
@@ -15,6 +15,7 @@
 #include <mrpt/poses/Lie/SE.h>
 
 #include <Eigen/Dense>
+#include <iomanip>  // for setprecision(), etc.
 
 using namespace mrpt;
 using namespace mrpt::poses;
diff --git a/package.xml b/package.xml
deleted file mode 100644
index 868d3f9523..0000000000
--- a/package.xml
+++ /dev/null
@@ -1,89 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<!-- This is a ROS package file, intended to allow MRPT 2.x to be built
-     side-by-side to real ROS packages in a catkin/ament environment.
-     Real MRPT ROS packages are found elsewhere: https://github.com/mrpt-ros-pkg
--->
-<package format="3">
-  <name>mrpt2</name>
-  <!-- Before updating version number, read [MRPT_ROOT]/version_prefix.txt first -->
-  <version>2.13.5</version>
-  <description>Mobile Robot Programming Toolkit (MRPT) version 2.x</description>
-
-  <author email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</author>
-  <maintainer email="joseluisblancoc@gmail.com">Jose-Luis Blanco-Claraco</maintainer>
-
-  <url type="website">https://www.mrpt.org/</url>
-  <url type="bugtracker">https://github.com/MRPT/mrpt/issues</url>
-
-  <license>BSD</license>
-
-  <!-- Deps required by user code (they are in public headers or built as ROS (vs system) packages -->
-  <depend>eigen</depend>
-  <depend>geometry_msgs</depend>
-  <depend>glut</depend>
-  <depend>libglfw3-dev</depend>
-  <depend>libxrandr</depend>
-  <depend>libxxf86vm</depend>
-  <depend>nav_msgs</depend>
-  <depend>opengl</depend>
-  <depend>sensor_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>stereo_msgs</depend>
-  <depend>suitesparse</depend>
-  <depend>tf2_msgs</depend>
-  <depend>tf2</depend>
-
-  <!-- COMMON DEPS: This ensures we have ROS_DISTRO, etc. env vars -->
-  <build_depend>ros_environment</build_depend>
-
-  <!-- Deps required by building only -->
-  <build_depend>assimp-dev</build_depend>
-  <build_depend>ffmpeg</build_depend>
-  <build_depend>libfreenect-dev</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">libfyaml-dev</build_depend>
-  <build_depend>libjpeg</build_depend>
-  <build_depend>libjsoncpp-dev</build_depend>
-  <build_depend>libopenni2-dev</build_depend>
-  <build_depend>libpcap</build_depend>
-  <build_depend>libudev-dev</build_depend>
-  <build_depend>libusb-1.0-dev</build_depend>
-  <build_depend>pkg-config</build_depend>
-  <build_depend>pybind11-dev</build_depend>
-  <build_depend>python3-pip</build_depend>
-  <build_depend>tinyxml2</build_depend>
-  <build_depend>wx-common</build_depend>
-  <build_depend>wxwidgets</build_depend>
-  <build_depend>zlib</build_depend>
-
-  <!--  <build_depend>libqt5-opengl-dev</build_depend> -->
-  <!--  <build_depend>qtbase5-dev</build_depend> -->
-
-  <!-- Required for cmake scripts to find ament_cmake and then realize we are in ROS 2, not ROS 1 -->
-  <build_depend condition="$ROS_VERSION == 2">ament_cmake</build_depend>
-
-  <!-- Deps for ros1bridge/ros2bridge -->
-  <depend>cv_bridge</depend>
-  <depend>libopencv-dev</depend>
-  <depend>liboctomap-dev</depend>
-  <!--<depend>pcl_conversions</depend> WAS: To run unit tests only -->
-
-  <depend condition="$ROS_VERSION == 1">rosbag_storage</depend>
-  <depend condition="$ROS_VERSION == 2">rosbag2_storage</depend>
-  <depend condition="$ROS_VERSION == 1">roscpp</depend>
-  <depend condition="$ROS_VERSION == 2">rclcpp</depend>
-
-  <!-- for rosbag2rawlog (ROS 1 only, ROS 2 version lives in the mrpt_navigation repository) -->
-  <depend condition="$ROS_VERSION == 1">tf2_geometry_msgs</depend>
-
-  <doc_depend>doxygen</doc_depend>
-
-  <!-- Minimum entries to release non-catkin pkgs: -->
-  <buildtool_depend>cmake</buildtool_depend>
-  <export>
-    <build_type>cmake</build_type>
-    <rosdoc config="doc/rosdoc.yaml" />
-  </export>
-  <!-- End -->
-
-</package>
diff --git a/version_prefix.txt b/version_prefix.txt
index 61a0865ae4..a011a46c6f 100644
--- a/version_prefix.txt
+++ b/version_prefix.txt
@@ -1,4 +1,4 @@
-2.13.5
+2.13.6
 # IMPORTANT: This file is parsed by CMake, don't add any comment to
 # the first line.
 # This file is used in both Windows and Linux scripts to automatically