diff --git a/Dockerfile b/Dockerfile
index acd117a..051338f 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM osrf/ros:iron-desktop-full AS base-ros-nvim
+FROM osrf/ros:jazzy-desktop-full AS base-ros-nvim
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update \
     && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
@@ -31,7 +31,7 @@ RUN apt-get update \
     
 
 FROM base-ros-nvim AS base-ros-nvim-graphics
-ARG ROS_DISTR=iron
+ARG ROS_DISTR=jazzy
 ENV ROS_DISTR=$ROS_DISTR
 ENV NVIDIA_VISIBLE_DEVICES \
     ${NVIDIA_VISIBLE_DEVICES:-all}
@@ -48,9 +48,10 @@ RUN apt-get update \
 RUN apt-get update \
     && apt-get -y install --no-install-recommends apt-utils dialog 2>&1 \
     && apt-get install -y \
-    libgl1-mesa-dri \
-    libgl1-mesa-glx \
-    # libglx-mesa0 \
+    #libgl1-mesa-dri \
+    #libgl1-mesa-glx \
+    libglx-mesa0 \
+    libusb-1.0-0-dev \
     mesa-utils \
     mesa-utils-extra \
     python3-pip \
@@ -77,13 +78,26 @@ RUN apt-get update \
     ros-${ROS_DISTR}-ros-gz \
     pre-commit \
     python3-transforms3d \
-    && pip3 install --no-cache --force-reinstall pre-commit \
+    # && pip3 install --no-cache --force-reinstall pre-commit \
 #   && rosdep install --from-paths /ros2_underlay/src -y --ignore-src \
 #   && rosdep install --from paths /ros2/src -y --ignore-src \
     && apt-get autoremove -y \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+RUN echo "deb [ signed-by=/etc/apt/keyrings/hippocampus-robotics.asc ] https://repositories.hippocampus-robotics.net/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/hippocampus.list \
+    && curl https://repositories.hippocampus-robotics.net/hippo-archive.key -o /etc/apt/keyrings/hippocampus-robotics.asc \
+    && rm /etc/ros/rosdep/sources.list.d/20-default.list \
+    && rosdep init \
+    && echo "yaml https://raw.githubusercontent.com/HippoCampusRobotics/hippo_infrastructure/main/rosdep-${ROS_DISTRO}.yaml" > /etc/ros/rosdep/sources.list.d/50-hippocampus-packages.list
+
+RUN apt-get update \
+    && apt-get install -y \
+    ros-jazzy-hippo-full \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
 FROM base-ros-nvim-graphics AS individual
 ARG USERNAME=ros-user
 ARG USER_UID=1000
@@ -118,13 +132,9 @@ RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/
     && git clone https://github.com/sindresorhus/pure.git "$HOME/.zsh/pure" \
     && echo "source /opt/ros/$ROS_DISTR/setup.zsh" >> /home/$USERNAME/.zshrc \
     # && pip3 install yapf pre-commit ruff \
-    && git clone https://github.com/HippoCampusRobotics/hippo_core.git "$HOME/hippo_core" \
-    && ls $HOME/hippo_core/hippo_common/scripts \
-    && $HOME/hippo_core/hippo_common/scripts/install_scripts.sh \
-    && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/6055b3168d4f0a8cd764ebc481280219/ros-iron-px4-msgs_2.0.1-0jammy_amd64.deb \
-    # && sudo wget https://hippocampusrobotics.github.io/docs/_downloads/286cb880b68d2c4b6c6d9e6730fab199/ros-jazzy-px4-msgs_2.0.1-0noble_amd64.deb \
-    # && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0noble_amd64.deb \
-    && sudo apt-get install ./ros-${ROS_DISTR}-px4-msgs_2.0.1-0jammy_amd64.deb \
+    && git clone https://github.com/HippoCampusRobotics/hippo_common.git "$HOME/hippo_common" \
+    && ls $HOME/hippo_common/scripts \
+    && $HOME/hippo_common/scripts/install_scripts.sh \
     && sudo apt install asciinema \
     && sudo apt-get autoremove -y \
     && sudo apt-get clean -y \
diff --git a/build b/build
index 732bb14..fd4068a 100755
--- a/build
+++ b/build
@@ -1,4 +1,4 @@
 #!/usr/bin/bash
 
-docker pull osrf/ros:iron-desktop-full
+docker pull osrf/ros:jazzy-desktop-full
 docker compose build --pull
diff --git a/entrypoint.sh b/entrypoint.sh
index 4c1c93d..9930160 100644
--- a/entrypoint.sh
+++ b/entrypoint.sh
@@ -17,10 +17,10 @@ echo "alias rosdep-underlay=\"env -i UNDERLAY_DIR=\$UNDERLAY_DIR HOME=\$HOME USE
 echo 'source $HOME/uuv/ros2_underlay/install/setup.zsh' >> ~/.zshrc
 echo 'source $HOME/uuv/ros2/install/local_setup.zsh' >> ~/.zshrc
 echo 'export RCUTILS_COLORIZED_OUTPUT=1' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 ros2)"' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 colcon)"' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 build-ros)"' >> ~/.zshrc
-echo 'eval "$(register-python-argcomplete3 clean-ros)"' >> ~/.zshrc
+echo 'eval "$(register-python-argcomplete ros2)"' >> ~/.zshrc
+echo 'eval "$(register-python-argcomplete colcon)"' >> ~/.zshrc
+echo 'eval "$(register-python-argcomplete build-ros)"' >> ~/.zshrc
+echo 'eval "$(register-python-argcomplete clean-ros)"' >> ~/.zshrc
 echo "bindkey '^ ' autosuggest-toggle" >> ~/.zshrc