diff --git a/.github/ci/packages.apt b/.github/ci/packages.apt
index 019b850e..e2ce8836 100644
--- a/.github/ci/packages.apt
+++ b/.github/ci/packages.apt
@@ -20,6 +20,6 @@ libwebsockets-dev
 libxi-dev
 libxmu-dev
 libyaml-dev
-python-yaml
+python3-yaml
 uuid-dev
 xvfb
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index bf593694..ba1eed61 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,3 +16,12 @@ jobs:
           codecov-enabled: true
           cppcheck-enabled: true
           cpplint-enabled: true
+  jammy-ci:
+    runs-on: ubuntu-latest
+    name: Ubuntu Jammy CI
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v2
+      - name: Compile and test
+        id: ci
+        uses: ignition-tooling/action-ignition-ci@jammy
diff --git a/Changelog.md b/Changelog.md
index 7cf20118..8e62241d 100644
--- a/Changelog.md
+++ b/Changelog.md
@@ -6,6 +6,16 @@
 
 ### Ignition Launch 5.X.X (20XX-XX-XX)
 
+### Ignition Launch 5.1.0 (2022-03-21)
+1. Use exec instead of popen to run ign-launch binary
+    * [Pull request #151](https://github.com/ignitionrobotics/ign-launch/pull/151)
+
+1. Expose headless_rendering sdf tag
+    * [Pull request #148](https://github.com/ignitionrobotics/ign-launch/pull/148)
+
+1. Remove spammy CMake message
+    * [Pull request #142](https://github.com/ignitionrobotics/ign-launch/pull/142)
+
 ### Ignition Launch 5.0.0 (2021-10-01)
 
 1. Port ign-launch to Windows
diff --git a/plugins/gazebo_server/GazeboServer.cc b/plugins/gazebo_server/GazeboServer.cc
index 56081e5f..950cdc85 100644
--- a/plugins/gazebo_server/GazeboServer.cc
+++ b/plugins/gazebo_server/GazeboServer.cc
@@ -334,6 +334,15 @@ bool GazeboServer::Load(const tinyxml2::XMLElement *_elem)
     serverConfig.AddPlugin({entityName, entityType, file, name, sdf});
   }
 
+  // Set headless rendering
+  elem = _elem->FirstChildElement("headless_rendering");
+  if (elem)
+  {
+    std::string str = elem->GetText();
+    serverConfig.SetHeadlessRendering(str == "1" ||
+        common::lowercase(str) == "true");
+  }
+
   // Create and run the simulation server
   this->server.reset(new gazebo::Server(serverConfig));
   this->server->Run(false, 0, !run);
diff --git a/src/cmd/cmdlaunch.rb.in b/src/cmd/cmdlaunch.rb.in
index 0e44e756..6f28304e 100755
--- a/src/cmd/cmdlaunch.rb.in
+++ b/src/cmd/cmdlaunch.rb.in
@@ -14,8 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-require 'open3'
-
 # Constants.
 LIBRARY_VERSION = '@PROJECT_VERSION_FULL@'
 COMMANDS = {
@@ -50,16 +48,6 @@ class Cmd
     end
 
     # Drop command from list of arguments
-    Open3.popen2e(exe_name, *args[1..-1]) do |_in, out_err, wait_thr|
-      begin
-        out_err.each do |line|
-          print line
-        end
-        exit(wait_thr.value.exitstatus)
-      rescue Interrupt => e
-        print e.message
-        exit(-1)
-      end
-    end
+    exec(exe_name, *args[1..-1])
   end
 end