diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 29bd8b034..ee04454c0 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -20,7 +20,7 @@ jobs:
       - name: Install clang-format
         run: |
           wget -O - https://apt.llvm.org/llvm-snapshot.gpg.key | sudo apt-key add -
-          sudo add-apt-repository 'deb https://apt.llvm.org/jammy/ llvm-toolchain-jammy-18 main'
+          sudo add-apt-repository 'deb https://apt.llvm.org/noble/ llvm-toolchain-noble-18 main'
           sudo apt-get update
           sudo apt-get install -y clang-format-18
       - name: Install shellcheck
@@ -31,39 +31,54 @@ jobs:
       - name: Run Style Check
         run: ./style.sh
 
-  ci:
-    name: Build
-    runs-on: ubuntu-latest
-    needs: style
+  build-native:
+    name: Build (native Ubuntu 24)
+    runs-on: ubuntu-24.04
     container:
-      image: umrover1/ros2-ci:jammy
-      # GitHub is silly and requires us to be running as root for their checkout action
-      # Our docker container exports the user mrover, so we have to specific this explicitly
+      image: umrover1/ros2-ci:noble
+      # by pass github's dubious ownership check
       options: --user root
+    needs: style
+    env:
+      # directory owned by mrover so CI can write to it and use caching
+      # this is new for ubuntu 24
+      HOME: /home/mrover
     steps:
       - uses: actions/checkout@v7
-        with:
-          # Re-enable when we put the simulator in the CI pipeline.
-          # lfs: "true"
-          # This makes sure that $GITHUB_WORKSPACE is the catkin workspace path
-          path: "src/mrover"
+        # Re-enable lfs: "true" when we put the simulator in the CI pipeline.
       - name: Compiler Cache
-        if: github.event.pull_request.draft == false
         uses: hendrikmuhs/ccache-action@v1.2.23
       - name: Dawn Cache
         if: github.event.pull_request.draft == false
         uses: actions/cache@v6
         with:
-          path: src/mrover/deps/dawn-prebuilt
-          key: dawn-${{ hashFiles('src/mrover/scripts/setup_dawn.sh') }}
+          path: deps/dawn-prebuilt
+          key: dawn-${{ hashFiles('scripts/setup_dawn.sh') }}
       - name: Setup Dawn
-        if: github.event.pull_request.draft == false
         run: ./scripts/setup_dawn.sh
-        working-directory: "${{ github.workspace }}/src/mrover"
+      - name: Manif Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/manif-src
+          key: manif-${{ hashFiles('scripts/setup_manif.sh') }}
+      - name: Setup Manif
+        run: ./scripts/setup_manif.sh
+      - name: Imgui Cache
+        uses: actions/cache@v6
+        with:
+          path: deps/imgui-src
+          key: imgui-${{ hashFiles('scripts/setup_imgui.sh') }}
+      - name: Setup Imgui
+        run: ./scripts/setup_imgui.sh
+      - name: Pip Cache
+        uses: actions/cache@v6
+        with:
+          path: /home/mrover/.cache/pip
+          key: pip-${{ hashFiles('pyproject.toml', 'esw/fw/tools/pyproject.toml') }}
+          restore-keys: |
+            pip-
+      - name: Compiler Cache
+        uses: hendrikmuhs/ccache-action@v1.2.23
       - name: Build
-        if: github.event.pull_request.draft == false
         shell: bash
-        run: . /opt/ros/humble/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && cd $GITHUB_WORKSPACE/src/mrover/ && ./build.sh
-      # - name: Test
-      #   if: github.event.pull_request.draft == false
-      #   run: . /opt/ros/noetic/setup.sh && . /home/mrover/ros2_ws/src/mrover/venv/bin/activate && . $GITHUB_WORKSPACE/devel/setup.sh && catkin test && rostest mrover integration.test --text
+        run: source /opt/ros/jazzy/setup.bash && source /home/mrover/mrover-ros2/venv/bin/activate && ./build.sh Release
diff --git a/.gitignore b/.gitignore
index c5d292aed..2c84894a4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -5,7 +5,8 @@
 
 # Downloaded prebuilt dependencies
 /deps/dawn-prebuilt/
-/deps/.fetchcontent/
+/deps/manif-src/
+/deps/imgui-src/
 
 # Common IDE's, ideally this should be in global gitignore per user
 .vscode/
@@ -55,4 +56,4 @@ data/raw-pano-images
 .dynamixel_sdk/
 
 # Persistent esw mrover_can FetchContent cache (survives a clean build, not tracked)
-/.cache/esw/
\ No newline at end of file
+/deps/.fetchcontent/esw/
\ No newline at end of file
diff --git a/.vscode/launch.json b/.vscode/launch.json
index cead30732..bf5f806e2 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -8,14 +8,14 @@
             "name": "(gdb) Launch",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceFolder}/../../install/Debug/mrover/lib/mrover/${input:myStringInput}",
+            "program": "${workspaceFolder}/install/Debug/mrover/lib/mrover/${input:myStringInput}",
             "args": [],
             "stopAtEntry": false,
             "cwd": "${fileDirname}",
             "environment": [
                 {
                     "name": "LD_LIBRARY_PATH",
-                    "value": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib"
+                    "value": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib"
                 },
                 {
                     "name": "ROS_DOMAIN_ID",
@@ -44,7 +44,7 @@
             "program": "${file}",
             "console": "integratedTerminal",
             "env": {
-                "LD_LIBRARY_PATH": "${workspaceFolder}/../../install/Debug/mrover/lib:/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/aarch64-linux-gnu:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib",
+                "LD_LIBRARY_PATH": "${workspaceFolder}/install/Debug/mrover/lib:/opt/ros/jazzy/opt/rviz_ogre_vendor/lib:/opt/ros/jazzy/lib/aarch64-linux-gnu:/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib",
                 "ROS_DOMAIN_ID": "5"
             }
         }
@@ -56,7 +56,7 @@
             "type": "command",
             "command": "file-selector.fileSelect",
             // exclude the absolute prefix path here
-            "args": "../../install/Debug/mrover/lib/mrover"
+            "args": "install/Debug/mrover/lib/mrover"
         }
     ]
 }
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
index 8feda2f95..bcd1e518c 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -6,17 +6,17 @@
     "python.analysis.inlayHints.variableTypes": true,
     "python.analysis.inlayHints.callArgumentNames": "all",
     "python.analysis.inlayHints.functionReturnTypes": true,
-    // ~/ros2_ws/install/{profile}/mrover/lib/python3.10/site-packages is already in PYTHONPATH,
+    // ~/mrover-ros2/install/{profile}/mrover/lib/python3.12/site-packages is already in PYTHONPATH,
     // but Pylance currently has a bug where it cannot handle the symlinks in it.
     // Below we are just putting directly where those symlinks go for all build profiles
     "python.analysis.extraPaths": [
-        "/opt/ros/humble/lib/python3/dist-packages",
-        "../../install/Debug/mrover/lib/python3.10/site-packages",
-        "../../install/Release/mrover/lib/python3.10/site-packages",
-        "../../install/RelWithDebInfo/mrover/lib/python3.10/site-packages",
-        "../../build/Debug/mrover/rosidl_generator_py",
-        "../../build/Release/mrover/rosidl_generator_py",
-        "../../build/RelWithDebInfo/mrover/rosidl_generator_py",
+        "/opt/ros/jazzy/lib/python3/dist-packages",
+        "install/Debug/mrover/lib/python3.12/site-packages",
+        "install/Release/mrover/lib/python3.12/site-packages",
+        "install/RelWithDebInfo/mrover/lib/python3.12/site-packages",
+        "build/Debug/mrover/rosidl_generator_py",
+        "build/Release/mrover/rosidl_generator_py",
+        "build/RelWithDebInfo/mrover/rosidl_generator_py",
     ],
     "[python]": {
         "editor.defaultFormatter": "ms-python.black-formatter",
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 12834dcd4..01b45d991 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.25)
 project(mrover VERSION 2025.0.0 LANGUAGES C CXX)
 
 # Supress ROS CMake warning about Python.
-cmake_policy(SET CMP0148 OLD)
+cmake_policy(SET CMP0148 NEW)
 
 set(CMAKE_CXX_STANDARD 23)
 set(CXX_STANDARD_REQUIRED ON)
@@ -31,9 +31,6 @@ if (APPLE)
     # Ensures that homebrew packages are never used over miniforge packages.
     # TODO (ali): Pretty sure this doesn't do anything on macs
     set(CMAKE_IGNORE_PATH /opt/homebrew)
-    # Find mamba python
-    find_package(PythonLibs REQUIRED)
-    # link_libraries(${PYTHON_LIBRARIES})
 endif ()
 
 if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@@ -74,8 +71,10 @@ find_package(tf2 REQUIRED)
 find_package(tf2_ros REQUIRED)
 find_package(urdf REQUIRED)
 find_package(std_srvs REQUIRED)
+find_package(ament_index_cpp REQUIRED)
 find_package(magic_enum REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
+find_package(yaml-cpp REQUIRED)
 find_package(dynamixel_sdk REQUIRED)
 
 if (MROVER_SIMULATOR)
@@ -91,7 +90,7 @@ if (NOT APPLE)
 endif()
 
 if (MROVER_SIMULATOR)
-    set(Dawn_ROOT "${CMAKE_CURRENT_LIST_DIR}/deps/dawn-prebuilt")
+    list(PREPEND CMAKE_PREFIX_PATH "${CMAKE_CURRENT_LIST_DIR}/deps/dawn-prebuilt")
     find_package(Dawn QUIET)
     if (NOT Dawn_FOUND)
         message(FATAL_ERROR "Dawn not found. Run 'scripts/setup_dawn.sh' before building.")
@@ -99,21 +98,17 @@ if (MROVER_SIMULATOR)
     add_library(webgpu ALIAS dawn::webgpu_dawn)
 endif ()
 
-include(FetchContent)
-
-set(FETCHCONTENT_BASE_DIR "${CMAKE_CURRENT_LIST_DIR}/deps/.fetchcontent")
-set(FETCHCONTENT_UPDATES_DISCONNECTED ON)
-
-FetchContent_Declare(manif
-    GIT_REPOSITORY https://github.com/artivis/manif.git
-    GIT_TAG        0.0.5
-    GIT_SHALLOW    TRUE
-    SYSTEM
-)
-set(BUILD_TESTING_PREV ${BUILD_TESTING})
-set(BUILD_TESTING OFF)
-FetchContent_MakeAvailable(manif)
-set(BUILD_TESTING ${BUILD_TESTING_PREV})
+find_package(manif QUIET)
+if (NOT manif_FOUND)
+    if (NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/deps/manif-src/CMakeLists.txt")
+        message(FATAL_ERROR "manif not found. Run 'scripts/setup_manif.sh' before building.")
+    endif ()
+    set(BUILD_TESTING_PREV ${BUILD_TESTING})
+    set(BUILD_TESTING OFF)
+    add_subdirectory("${CMAKE_CURRENT_LIST_DIR}/deps/manif-src" "${CMAKE_CURRENT_BINARY_DIR}/manif-build" EXCLUDE_FROM_ALL SYSTEM)
+    set(BUILD_TESTING ${BUILD_TESTING_PREV})
+    add_library(MANIF::manif ALIAS manif)
+endif ()
 
 find_package(PkgConfig REQUIRED)
 pkg_search_module(NetLink libnl-3.0 IMPORTED_TARGET QUIET)
@@ -123,13 +118,10 @@ pkg_search_module(GstApp gstreamer-app-1.0 IMPORTED_TARGET QUIET)
 pkg_search_module(LibUdev libudev IMPORTED_TARGET QUIET)
 
 if (MROVER_SIMULATOR)
-    FetchContent_Declare(
-        imgui
-        GIT_REPOSITORY https://github.com/ocornut/imgui.git
-        GIT_TAG        v1.92.8
-        GIT_SHALLOW    TRUE
-    )
-    FetchContent_MakeAvailable(imgui)
+    if (NOT EXISTS "${CMAKE_CURRENT_LIST_DIR}/deps/imgui-src/imgui.cpp")
+        message(FATAL_ERROR "imgui not found. Run 'scripts/setup_imgui.sh' before building.")
+    endif ()
+    set(imgui_SOURCE_DIR "${CMAKE_CURRENT_LIST_DIR}/deps/imgui-src")
     # avoid fetching in imgui_demo.cpp and unnecessarily compiling it
     add_library(imgui STATIC
         ${imgui_SOURCE_DIR}/imgui.cpp
@@ -205,7 +197,23 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     DEPENDENCIES nav_msgs sensor_msgs geometry_msgs action_msgs
 )
 
-# Starter project 
+# rosidl sets raw source-prefixed paths on INTERFACE_INCLUDE_DIRECTORIES, which
+# CMP0052 rejects. The policy explicitly permits such paths when wrapped in
+# $<BUILD_INTERFACE:...>, marking them as build-only (not exported).
+if(TARGET ${PROJECT_NAME}__rosidl_generator_py)
+    get_target_property(_py_iid ${PROJECT_NAME}__rosidl_generator_py INTERFACE_INCLUDE_DIRECTORIES)
+    if(_py_iid)
+        set(_py_iid_wrapped "")
+        foreach(_dir IN LISTS _py_iid)
+            list(APPEND _py_iid_wrapped "$<BUILD_INTERFACE:${_dir}>")
+        endforeach()
+        set_target_properties(${PROJECT_NAME}__rosidl_generator_py PROPERTIES
+            INTERFACE_INCLUDE_DIRECTORIES "${_py_iid_wrapped}"
+        )
+    endif()
+endif()
+
+# Starter project
 # TODO (ali): delete once AutonomyStarterProject.cmake is fixed
 mrover_add_node(starter_project_perception ${CMAKE_CURRENT_LIST_DIR}/starter_project/autonomy/src/*.cpp)
 target_link_libraries(starter_project_perception ${OpenCV_LIBS})
@@ -243,18 +251,23 @@ mrover_add_header_only_library(units units)
 mrover_add_header_only_library(loop_profiler loop_profiler)
 mrover_add_header_only_library(parameter_utils parameter_utils)
 mrover_add_header_only_library(gst_utils gst_utils)
-target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum PkgConfig::Gst PkgConfig::GstApp)
+if (Gst_FOUND AND GstApp_FOUND)
+    target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum PkgConfig::Gst PkgConfig::GstApp)
+else ()
+    target_link_libraries(gst_utils INTERFACE magic_enum::magic_enum)
+endif ()
 
 # Simulator
 
 if (MROVER_SIMULATOR)
     mrover_add_node(simulator simulator/*.cpp simulator simulator/pch.hpp)
-    ament_target_dependencies(simulator rclcpp rclcpp_components nav_msgs sensor_msgs geometry_msgs tf2 tf2_ros urdf yaml_cpp_vendor)
+    ament_target_dependencies(simulator rclcpp rclcpp_components nav_msgs sensor_msgs geometry_msgs tf2 tf2_ros urdf yaml_cpp_vendor ament_index_cpp)
     target_link_libraries(simulator
         assimp::assimp glfw3webgpu webgpu glfw webgpu_hpp imgui
         ${BULLET_LIBRARIES}
         lie Eigen3::Eigen
         opencv_core opencv_imgcodecs opencv_imgproc
+        yaml-cpp::yaml-cpp
         loop_profiler
         parameter_utils
     )
@@ -416,12 +429,12 @@ if (MROVER_BUILD_ESW AND NetLink_FOUND AND NetLinkRoute_FOUND)
     ament_target_dependencies(can_bridge rclcpp)
 endif ()
 
-# Teleop Qt5 Camera Client
-find_package(Qt5 5.15 REQUIRED COMPONENTS Widgets Multimedia MultimediaWidgets)
+# Teleop Qt6 Camera Client
+find_package(Qt6 REQUIRED COMPONENTS Widgets Multimedia MultimediaWidgets)
 
 mrover_add_node(camera_client teleoperation/camera_client/*.*pp teleoperation/camera_client/include/pch.hpp)
 target_include_directories(camera_client PRIVATE teleoperation/camera_client/include)
-target_link_libraries(camera_client gst_utils Qt::Widgets Qt::Multimedia Qt::MultimediaWidgets opencv_core opencv_imgcodecs)
+target_link_libraries(camera_client gst_utils Qt6::Widgets Qt6::Multimedia Qt6::MultimediaWidgets opencv_core opencv_imgcodecs)
 ament_target_dependencies(camera_client rclcpp std_srvs sensor_msgs)
 set_target_properties(camera_client PROPERTIES
     AUTOMOC ON
diff --git a/Dockerfile b/Dockerfile
index 5430ce86c..da66bbfdf 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-FROM ubuntu:jammy
+FROM ubuntu:noble
 
 # DEBIAN_FRONTEND=noninteractive prevents apt from asking for user input
 # software-properties-common is needed for apt-add-repository
@@ -8,13 +8,13 @@ RUN apt-get update -y && apt-get install software-properties-common sudo -y
 RUN apt-add-repository ppa:ansible/ansible -y && apt-get install -y git git-lfs ansible
 
 RUN useradd --create-home --shell /bin/zsh mrover
-# using per user rule over sudo group because a later group rule can require a
-# password and beat an earlier NOPASSWD one for the same group
+# using per user rule over sudo group because noble's default %sudo rule
+# requires a password and beats a NOPASSWD one for the same group
 RUN echo 'mrover ALL=(ALL) NOPASSWD:ALL' > /etc/sudoers.d/mrover && chmod 0440 /etc/sudoers.d/mrover
 
 USER mrover
-RUN mkdir -p /home/mrover/ros2_ws/src/mrover
-WORKDIR /home/mrover/ros2_ws/src/mrover
+RUN mkdir -p /home/mrover/mrover-ros2
+WORKDIR /home/mrover/mrover-ros2
 # Defines the APT packages that need to be installed
 # rosdep is called from Ansible to install them
 ADD --chown=mrover:mrover ./package.xml .
@@ -26,6 +26,7 @@ ADD --chown=mrover:mrover ./mrover ./mrover
 ADD --chown=mrover:mrover ./ansible ./ansible
 ADD --chown=mrover:mrover ./ansible.sh .
 ADD --chown=mrover:mrover ./pkg ./pkg
+ADD --chown=mrover:mrover ./scripts ./scripts
 # clean in the same layer so apt cache/lists don't just get removed later and still count towards size
 RUN ./ansible.sh ci.yml && sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
 
diff --git a/ansible.sh b/ansible.sh
index f85ce24c3..d05c389df 100755
--- a/ansible.sh
+++ b/ansible.sh
@@ -7,7 +7,6 @@ if [ "$#" -le 0 ]; then
     exit 1
 fi
 
-readonly MROVER_PATH=$(dirname "$0")
-readonly ROS2_WS_PATH=$(realpath "${MROVER_PATH}"/../..)
+readonly MROVER_PATH=$(dirname "$(realpath "$0")")
 
-ansible-playbook -i "localhost," -c local -K "${MROVER_PATH}"/ansible/"$1" --extra-vars "ros2_workspace=${ROS2_WS_PATH} $2"
+ansible-playbook -i "localhost," -c local -K "${MROVER_PATH}"/ansible/"$1" --extra-vars "mrover_repo=${MROVER_PATH}" ${2:+"$2"}
diff --git a/ansible/basestation.yml b/ansible/basestation.yml
index 7b468046d..100db349e 100644
--- a/ansible/basestation.yml
+++ b/ansible/basestation.yml
@@ -1,7 +1,7 @@
 ---
 - hosts: all
-  vars:
-    ubuntu_release: focal
+  vars_files:
+    - vars/native.yml
   roles:
     # - dev
     - basestation_networks
diff --git a/ansible/build.yml b/ansible/build.yml
index 43f98c9ad..d8f18d67e 100644
--- a/ansible/build.yml
+++ b/ansible/build.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: humble
-    ubuntu_release: jammy
+  vars_files:
+    - vars/native.yml
   roles:
     - build
diff --git a/ansible/ci.yml b/ansible/ci.yml
index afcbed9e3..a3f13c51e 100644
--- a/ansible/ci.yml
+++ b/ansible/ci.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: humble
-    ubuntu_release: jammy
+  vars_files:
+    - vars/native.yml
   roles:
     - ci
diff --git a/ansible/dev.yml b/ansible/dev.yml
index 738e55bf9..22c1bb6c9 100644
--- a/ansible/dev.yml
+++ b/ansible/dev.yml
@@ -1,8 +1,7 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: humble
-    ubuntu_release: jammy
+  vars_files:
+    - vars/native.yml
   roles:
     - build
     - dev
diff --git a/ansible/esw.yml b/ansible/esw.yml
index 3743db0e3..0ec975565 100644
--- a/ansible/esw.yml
+++ b/ansible/esw.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: noetic
-    ubuntu_release: focal
+  vars_files:
+    - vars/native.yml
   roles:
     - esw
diff --git a/ansible/jetson.yml b/ansible/jetson.yml
index 4da65ff3a..e38901972 100644
--- a/ansible/jetson.yml
+++ b/ansible/jetson.yml
@@ -1,7 +1,6 @@
 ---
 - hosts: all
-  vars:
-    ros_distro: noetic
-    ubuntu_release: focal
+  vars_files:
+    - vars/native.yml
   roles:
     - jetson_networks
diff --git a/ansible/jetson_build.yml b/ansible/jetson_build.yml
index 9d62181bc..0a100f3a1 100644
--- a/ansible/jetson_build.yml
+++ b/ansible/jetson_build.yml
@@ -1,8 +1,8 @@
 ---
 - hosts: all
+  vars_files:
+    - vars/native.yml
   vars:
-    ros_distro: humble
-    ubuntu_release: jammy
     ifname: eth0
   roles:
     - jetson_pre_build
diff --git a/ansible/percep.yml b/ansible/percep.yml
index 8ca278301..aa4d182c6 100644
--- a/ansible/percep.yml
+++ b/ansible/percep.yml
@@ -4,5 +4,4 @@
     ros_distro: humble
     ubuntu_release: jammy
   roles:
-    - build
     - percep_build
diff --git a/ansible/requirements.yml b/ansible/requirements.yml
new file mode 100644
index 000000000..72fe72dfb
--- /dev/null
+++ b/ansible/requirements.yml
@@ -0,0 +1,2 @@
+collections:
+  - name: community.general
diff --git a/ansible/roles/basestation_networks/tasks/main.yml b/ansible/roles/basestation_networks/tasks/main.yml
index 078a90b53..1602b119b 100644
--- a/ansible/roles/basestation_networks/tasks/main.yml
+++ b/ansible/roles/basestation_networks/tasks/main.yml
@@ -1,6 +1,6 @@
 - name: Wired Connection
-  become: True
-  nmcli:
+  become: true
+  community.general.nmcli:
     conn_name: MRover
     state: present
     type: ethernet
@@ -20,7 +20,7 @@
 
 - name: Create MRover Group
   become: true
-  group:
+  ansible.builtin.group:
     name: "mrover"
     state: present
 
diff --git a/ansible/roles/build/tasks/main.yml b/ansible/roles/build/tasks/main.yml
index 8fc782dc7..27825247d 100644
--- a/ansible/roles/build/tasks/main.yml
+++ b/ansible/roles/build/tasks/main.yml
@@ -1,69 +1,31 @@
-# Allows us to install Python versions newer than 3.10
-- name: Add Python PPA Key
-  become: True
-  apt_key:
-    keyserver: keyserver.ubuntu.com
-    id: F23C5A6CF475977595C89F51BA6932366A755776
-    keyring: /usr/share/keyrings/deadsnakes-ppa-keyring.gpg
-
-- name: Add Python PPA
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/deadsnakes-ppa-keyring.gpg] http://ppa.launchpad.net/deadsnakes/ppa/ubuntu {{ ubuntu_release }} main
-
-# Allows us to install G++13, so we can use an updated libstdc++ which provides more standard library features (C++20)
-- name: Add GCC PPA Key
-  become: True
-  apt_key:
-    keyserver: keyserver.ubuntu.com
-    id: 60C317803A41BA51845E371A1E9377A2BA9EF27F
-    keyring: /usr/share/keyrings/ubuntu-toolchain-r-ppa-keyring.gpg
-
-- name: Add GCC PPA
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/ubuntu-toolchain-r-ppa-keyring.gpg] http://ppa.launchpad.net/ubuntu-toolchain-r/test/ubuntu {{ ubuntu_release }} main
-
-- name: Add LLVM APT Key
-  become: True
-  apt_key:
-    url: https://apt.llvm.org/llvm-snapshot.gpg.key
-    id: 6084F3CF814B57C1CF12EFD515CF4D18AF4F7421
-    keyring: /usr/share/keyrings/llvm-archive-keyring.gpg
+- name: Install python3-debian
+  become: true
+  ansible.builtin.apt:
+    name: python3-debian
+    state: present
 
 # Allows us to install LLVM tools
-- name: Add LLVM APT List
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/llvm-archive-keyring.gpg] https://apt.llvm.org/{{ ubuntu_release }}/ llvm-toolchain-{{ ubuntu_release }}-18 main
-    filename: llvm
-
-- name: Add CMake APT Key
-  become: True
-  apt_key:
-    url: https://apt.kitware.com/keys/kitware-archive-latest.asc
-    id: 4DBEBE3EEC96E7B8C6EC5BE99E92FDC6C5B9BA75
-    keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
-
-# Allows us to install CMake versions newer than 3.22
-- name: Add CMake APT List
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ubuntu_release }} main
-    filename: kitware
-
-- name: Add ROS APT Key
-  become: True
-  apt_key:
-    url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
-    id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
-    keyring: /usr/share/keyrings/ros-archive-keyring.gpg
-
-- name: Add ROS APT List
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ubuntu_release }} main
-    filename: ros
+- name: Add LLVM APT Repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: llvm
+    types: deb
+    uris: "https://apt.llvm.org/{{ ubuntu_release }}/"
+    suites: "llvm-toolchain-{{ ubuntu_release }}-18"
+    components: main
+    signed_by: https://apt.llvm.org/llvm-snapshot.gpg.key
+  register: llvm_repo
+
+- name: Add ROS APT Repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: ros
+    types: deb
+    uris: http://packages.ros.org/ros2/ubuntu
+    suites: "{{ ubuntu_release }}"
+    components: main
+    signed_by: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
+  register: ros_repo
 
 - name: Sync APT Preferences
   become: true
@@ -72,18 +34,25 @@
     dest: /etc/apt/preferences.d
     recursive: true
 
+# deb822_repository doesn't call apt update, do so manually
+- name: Update APT Cache if Repos Changed
+  become: true
+  ansible.builtin.apt:
+    update_cache: true
+  when: llvm_repo.changed or ros_repo.changed
+
 - name: Upgrade APT Packages
-  become: True
-  apt:
+  become: true
+  ansible.builtin.apt:
     cache_valid_time: 604800
-    state: latest
+    state: present
     upgrade: yes
 
 - name: Install APT Packages
-  become: True
-  apt:
+  become: true
+  ansible.builtin.apt:
     cache_valid_time: 604800
-    state: latest
+    state: present
     name:
       - zsh
       - fzf
@@ -122,51 +91,48 @@
       - libgstreamer-plugins-base1.0-dev
       - vainfo
       - x264
-      - ros-humble-ros-base
-      - ros-humble-rviz2
-      - ros-humble-xacro
-      - ros-humble-magic-enum
-      - ros-humble-rtcm-msgs
-      - ros-humble-dynamixel-sdk
+      - ros-{{ ros_distro }}-ros-base
+      - ros-{{ ros_distro }}-rviz2
+      - ros-{{ ros_distro }}-xacro
+      - ros-{{ ros_distro }}-magic-enum
+      - ros-{{ ros_distro }}-rtcm-msgs
+      - ros-{{ ros_distro }}-dynamixel-sdk
       # TODO (ali): why does this need to be installed manually
       - libboost-dev
-      - qtbase5-dev
-      - qtmultimedia5-dev
-      - libqt5multimedia5-plugins
-      - python3-pyqt5
-
-# manif's build backend now requires packaging>=26.2, temp upgrade for ubuntu 22
-- name: Upgrade pip for manifpy build isolation
-  become: True
-  pip:
-    name: pip
-    state: latest
+      - qt6-base-dev
+      - qt6-multimedia-dev
 
 - name: Install manifpy
-  become: True
-  pip:
-    name: "git+https://github.com/artivis/manif.git@0.0.5"
+  become: true
+  ansible.builtin.command: pip install --break-system-packages "git+https://github.com/artivis/manif.git@0.0.5"
 
 - name: Download prebuilt Dawn
-  command: ./scripts/setup_dawn.sh
+  ansible.builtin.command: ./scripts/setup_dawn.sh
+  args:
+    chdir: "{{ mrover_repo }}"
+
+- name: Download manif source
+  ansible.builtin.command: ./scripts/setup_manif.sh
+  args:
+    chdir: "{{ mrover_repo }}"
+
+- name: Download imgui source
+  ansible.builtin.command: ./scripts/setup_imgui.sh
   args:
-    chdir: "{{ ansible_env.HOME }}/ros2_ws/src/mrover/"
+    chdir: "{{ mrover_repo }}"
 
 - name: Initialize rosdep
-  become: True
-  command: rosdep init
+  become: true
+  ansible.builtin.command: rosdep init
   args:
     # This command will be skipped if this file already exists
     creates: /etc/ros/rosdep/sources.list.d/20-default.list
 
 - name: Update rosdep
-  command: rosdep update
-
-# - name: Install ROS Packages
-#   # command: rosdep install --from-paths {{ ros2_workspace }}/src --ignore-src -y --rosdistro={{ ros_distro }}
+  ansible.builtin.command: rosdep update
 
 - name: Set G++ 13 as Default
-  become: True
+  become: true
   alternatives:
     name: g++
     path: /usr/bin/g++-13
@@ -174,7 +140,7 @@
     priority: 130
 
 - name: Set GCC 13 as Default
-  become: True
+  become: true
   alternatives:
     name: gcc
     path: /usr/bin/gcc-13
@@ -182,7 +148,7 @@
     priority: 130
 
 - name: Set clang++18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang++
     path: /usr/bin/clang++-18
@@ -190,7 +156,7 @@
     priority: 180
 
 - name: Set clang-18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang
     path: /usr/bin/clang-18
@@ -198,7 +164,7 @@
     priority: 180
 
 - name: Set clangd 18 as Default
-  become: True
+  become: true
   alternatives:
     name: clangd
     path: /usr/bin/clangd-18
@@ -206,7 +172,7 @@
     priority: 180
 
 - name: Set LLD 18 as Default
-  become: True
+  become: true
   alternatives:
     name: lld
     path: /usr/bin/lld-18
@@ -214,7 +180,7 @@
     priority: 180
 
 - name: Set clang-tidy 18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang-tidy
     path: /usr/bin/clang-tidy-18
@@ -222,32 +188,32 @@
     priority: 180
 
 - name: Setup Python Virtual Environment
-  pip:
+  ansible.builtin.pip:
     name:
       # Installs from pyproject.toml
-      - "{{ ros2_workspace }}/src/mrover[dev]"
-    virtualenv: "{{ ros2_workspace }}/src/mrover/venv"
-    virtualenv_command: /usr/bin/python3.10 -m venv
+      - "{{ mrover_repo }}[dev]"
+    virtualenv: "{{ mrover_repo }}/venv"
+    virtualenv_command: /usr/bin/python3 -m venv
 
 - name: Install Chromium
-  become: True
-  snap:
+  become: true
+  ansible.builtin.snap:
     name: chromium
 
 - name: Download Bun installer
-  get_url:
+  ansible.builtin.get_url:
     url: https://bun.sh/install
     dest: /tmp/bun_install.sh
-    mode: '0755'
+    mode: "0755"
 
 - name: Install or Upgrade Bun
-  shell: /tmp/bun_install.sh
+  ansible.builtin.shell: /tmp/bun_install.sh
   args:
     executable: /bin/bash
   environment:
     BUN_INSTALL: "{{ ansible_env.HOME }}/.bun"
 
 - name: Install Bun Packages
-  command: "{{ ansible_env.HOME }}/.bun/bin/bun install"
+  ansible.builtin.command: "{{ ansible_env.HOME }}/.bun/bin/bun install"
   args:
-    chdir: "{{ ansible_env.HOME }}/ros2_ws/src/mrover/teleoperation/basestation_gui/frontend"
+    chdir: "{{ mrover_repo }}/teleoperation/basestation_gui/frontend"
diff --git a/ansible/roles/ci/tasks/main.yml b/ansible/roles/ci/tasks/main.yml
index 45899c6cb..6ec5a7d32 100644
--- a/ansible/roles/ci/tasks/main.yml
+++ b/ansible/roles/ci/tasks/main.yml
@@ -1,58 +1,41 @@
-# # Allows us to install Python versions newer than 3.10 (unused since Ubuntu 22 upgrade)
-# - name: Add Python PPA
-#   become: True
-#   apt_repository:
-#     repo: ppa:deadsnakes/ppa
-
-# Allows us to install G++13, so we can use an updated libstdc++ which provides more standard library features (C++20)
-- name: Add GCC PPA
-  become: True
-  apt_repository:
-    repo: ppa:ubuntu-toolchain-r/test
-
-- name: Add LLVM APT Key
-  become: True
-  ansible.builtin.get_url:
-    url: https://apt.llvm.org/llvm-snapshot.gpg.key
-    dest: /usr/share/keyrings/llvm-archive-keyring.asc
-    mode: '0644'
+- name: Install python3-debian
+  become: true
+  ansible.builtin.apt:
+    name: python3-debian
+    state: present
 
 # Allows us to install LLVM tools
-- name: Add LLVM APT List
-  become: True
-  apt_repository:
-    repo: "deb [signed-by=/usr/share/keyrings/llvm-archive-keyring.asc] https://apt.llvm.org/{{ ubuntu_release }}/ llvm-toolchain-{{ ubuntu_release }}-18 main"
-    filename: llvm
-
-- name: Add CMake APT Key
-  become: True
-  apt_key:
-    url: https://apt.kitware.com/keys/kitware-archive-latest.asc
-    keyring: /usr/share/keyrings/kitware-archive-keyring.gpg
-
-# Allows us to install CMake versions newer than 3.22
-- name: Add CMake APT List
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ {{ ubuntu_release }} main
-    filename: kitware
-
-- name: Add ROS APT Key
-  become: True
-  ansible.builtin.get_url:
-    url: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
-    dest: /usr/share/keyrings/ros-archive-keyring.gpg
-    mode: '0644'
-
-- name: Add ROS APT List
-  become: True
-  apt_repository:
-    repo: "deb [signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu {{ ubuntu_release }} main"
-    filename: ros
+- name: Add LLVM APT Repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: llvm
+    types: deb
+    uris: "https://apt.llvm.org/{{ ubuntu_release }}/"
+    suites: "llvm-toolchain-{{ ubuntu_release }}-18"
+    components: main
+    signed_by: https://apt.llvm.org/llvm-snapshot.gpg.key
+  register: llvm_repo
+
+- name: Add ROS APT Repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: ros
+    types: deb
+    uris: http://packages.ros.org/ros2/ubuntu
+    suites: "{{ ubuntu_release }}"
+    components: main
+    signed_by: https://raw.githubusercontent.com/ros/rosdistro/master/ros.key
+  register: ros_repo
+
+- name: Update APT Cache if Repos Changed
+  become: true
+  ansible.builtin.apt:
+    update_cache: true
+  when: llvm_repo.changed or ros_repo.changed
 
 - name: Install APT Packages
-  become: True
-  apt:
+  become: true
+  ansible.builtin.apt:
     cache_valid_time: 604800
     state: present
     name:
@@ -92,40 +75,49 @@
       - libgstreamer-plugins-base1.0-dev
       # - vainfo
       # - x264
-      - ros-humble-ros-base
-      - ros-humble-rviz2
-      - ros-humble-xacro
-      - ros-humble-rtcm-msgs
-      - ros-humble-magic-enum
-      - ros-humble-dynamixel-sdk
+      - ros-{{ ros_distro }}-ros-base
+      - ros-{{ ros_distro }}-rviz2
+      - ros-{{ ros_distro }}-xacro
+      - ros-{{ ros_distro }}-rtcm-msgs
+      - ros-{{ ros_distro }}-magic-enum
+      - ros-{{ ros_distro }}-dynamixel-sdk
       # TODO (ali): why does this need to be installed manually
       - libboost-dev
-      - qtmultimedia5-dev
-
-# manif's build backend now requires packaging>=26.2, upgrade it
-- name: Upgrade pip for manifpy build isolation
-  become: True
-  pip:
-    name: pip
-    state: latest
+      - qt6-multimedia-dev
 
 - name: Install manifpy
-  become: True
-  pip:
+  become: true
+  ansible.builtin.pip:
     name: "git+https://github.com/artivis/manif.git@0.0.5"
+    extra_args: "--break-system-packages"
+
+- name: Download prebuilt Dawn
+  ansible.builtin.command: ./scripts/setup_dawn.sh
+  args:
+    chdir: "{{ mrover_repo }}"
+
+- name: Download manif source
+  ansible.builtin.command: ./scripts/setup_manif.sh
+  args:
+    chdir: "{{ mrover_repo }}"
+
+- name: Download imgui source
+  ansible.builtin.command: ./scripts/setup_imgui.sh
+  args:
+    chdir: "{{ mrover_repo }}"
 
 - name: Initialize rosdep
-  become: True
-  command: rosdep init
+  become: true
+  ansible.builtin.command: rosdep init
   args:
     # This command will be skipped if this file already exists
     creates: /etc/ros/rosdep/sources.list.d/20-default.list
 
 - name: Update rosdep
-  command: rosdep update
+  ansible.builtin.command: rosdep update
 
 - name: Set G++ 13 as Default
-  become: True
+  become: true
   alternatives:
     name: g++
     path: /usr/bin/g++-13
@@ -133,7 +125,7 @@
     priority: 130
 
 - name: Set GCC 13 as Default
-  become: True
+  become: true
   alternatives:
     name: gcc
     path: /usr/bin/gcc-13
@@ -141,7 +133,7 @@
     priority: 130
 
 - name: Set clang++18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang++
     path: /usr/bin/clang++-18
@@ -149,7 +141,7 @@
     priority: 180
 
 - name: Set clang-18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang
     path: /usr/bin/clang-18
@@ -165,7 +157,7 @@
 #     priority: 180
 
 - name: Set LLD 18 as Default
-  become: True
+  become: true
   alternatives:
     name: lld
     path: /usr/bin/lld-18
@@ -173,7 +165,7 @@
     priority: 180
 
 - name: Set clang-tidy 18 as Default
-  become: True
+  become: true
   alternatives:
     name: clang-tidy
     path: /usr/bin/clang-tidy-18
@@ -181,9 +173,9 @@
     priority: 180
 
 - name: Setup Python Virtual Environment
-  pip:
+  ansible.builtin.pip:
     name:
       # Installs from pyproject.toml
-      - "{{ ros2_workspace }}/src/mrover[dev]"
-    virtualenv: "{{ ros2_workspace }}/src/mrover/venv"
+      - "{{ mrover_repo }}[dev]"
+    virtualenv: "{{ mrover_repo }}/venv"
     virtualenv_command: /usr/bin/python3 -m venv
diff --git a/ansible/roles/dev/files/home/.oh-my-zsh/custom/themes/mrover.zsh-theme b/ansible/roles/dev/files/home/.oh-my-zsh/custom/themes/mrover.zsh-theme
index 955a03d74..767f6b70d 100644
--- a/ansible/roles/dev/files/home/.oh-my-zsh/custom/themes/mrover.zsh-theme
+++ b/ansible/roles/dev/files/home/.oh-my-zsh/custom/themes/mrover.zsh-theme
@@ -1,9 +1,10 @@
 function get_build_profile() {
-  if [[ -v MROVER_BUILD_PROFILE ]] && [[ "$PWD" == "${MROVER_ROS2_WS_PATH}/src/mrover" ]]; then
+  if [[ -v MROVER_BUILD_PROFILE ]] && [[ "$PWD" == "${MROVER_REPO}" ]]; then
     echo "%F{green}[${MROVER_BUILD_PROFILE}]%f "
-  fi 
+  fi
 }
 
+
 PROMPT="%(?:%{$fg_bold[green]%}➜ :%{$fg_bold[red]%}➜ ) %{$fg[yellow]%}%m %{$fg[gray]%}at %{$fg[yellow]%}%d%{$reset_color%}"
 PROMPT+=' $(git_prompt_info)'
 PROMPT+='$(get_build_profile)'
diff --git a/ansible/roles/dev/files/home/.zshrc b/ansible/roles/dev/files/home/.zshrc
index e1e581a6d..9e771ed4f 100644
--- a/ansible/roles/dev/files/home/.zshrc
+++ b/ansible/roles/dev/files/home/.zshrc
@@ -1,4 +1,4 @@
 export ZSH="$HOME/.oh-my-zsh"
 ZSH_THEME="mrover"
-plugins=(git virtualenvwrapper fzf zsh-autosuggestions zsh-syntax-highlighting)
+plugins=(git fzf zsh-autosuggestions zsh-syntax-highlighting)
 source $ZSH/oh-my-zsh.sh
diff --git a/ansible/roles/dev/tasks/apt.yml b/ansible/roles/dev/tasks/apt.yml
new file mode 100644
index 000000000..955d8851d
--- /dev/null
+++ b/ansible/roles/dev/tasks/apt.yml
@@ -0,0 +1,48 @@
+- name: Install python3-debian
+  become: true
+  ansible.builtin.apt:
+    name: python3-debian
+    state: present
+
+- name: Add GitHub CLI apt repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: github-cli
+    types: deb
+    uris: https://cli.github.com/packages
+    suites: stable
+    components: main
+    signed_by: https://cli.github.com/packages/githubcli-archive-keyring.gpg
+  register: github_cli_repo
+
+- name: Add VSCode apt repo
+  become: true
+  ansible.builtin.deb822_repository:
+    name: vscode
+    types: deb
+    uris: https://packages.microsoft.com/repos/code
+    suites: stable
+    components: main
+    architectures: [amd64, arm64, armhf]
+    signed_by: https://packages.microsoft.com/keys/microsoft.asc
+  register: vscode_repo
+
+- name: Update APT Cache if Repos Changed
+  become: true
+  ansible.builtin.apt:
+    update_cache: true
+  when: github_cli_repo.changed or vscode_repo.changed
+
+- name: Install apt packages
+  become: true
+  ansible.builtin.apt:
+    cache_valid_time: 3600
+    state: present
+    name:
+      - zsh
+      - fzf
+      - tmux
+      - htop
+      - gh
+      - code
+      - git-lfs
diff --git a/ansible/roles/dev/tasks/main.yml b/ansible/roles/dev/tasks/main.yml
index 72483afbe..894b4f7bb 100644
--- a/ansible/roles/dev/tasks/main.yml
+++ b/ansible/roles/dev/tasks/main.yml
@@ -1,93 +1,86 @@
-- name: Oh-My-Zsh
-  git:
+- name: Install platform-specific packages
+  # dnf5 hosts get the same tasks as dnf, no dnf5.yml needed
+  ansible.builtin.include_tasks:
+    file: "{{ 'dnf' if ansible_pkg_mgr == 'dnf5' else ansible_pkg_mgr }}.yml"
+
+- name: Install oh-my-zsh
+  ansible.builtin.git:
     repo: https://github.com/ohmyzsh/ohmyzsh.git
     dest: ~/.oh-my-zsh
     version: master
 
-- name: Dotfiles
-  synchronize:
-    # The trailing slash is very important here
-    # It tells rsync to copy only the CONTENTS of the folder and not the folder itself
-    # This is vital to make sure this works will any usernames
-    src: files/home/
-    dest: ~/
-    recursive: true
-    # .zshrc is handled below instead of being overwritten outright, so a
-    # user's own customizations to it survive re-runs
-    rsync_opts:
-      - "--exclude=.zshrc"
+- name: Install zsh-autosuggestions
+  ansible.builtin.git:
+    repo: https://github.com/zsh-users/zsh-autosuggestions
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-autosuggestions
 
-- name: Source mrover tmux config
-  blockinfile:
-    path: ~/.tmux.conf
-    marker: "# {mark} MROVER"
-    block: source-file ~/.mrover.tmux.conf
-    create: true
+- name: Install zsh-syntax-highlighting
+  ansible.builtin.git:
+    repo: https://github.com/zsh-users/zsh-syntax-highlighting
+    dest: ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting
 
-- name: Source mrover zshenv
-  blockinfile:
-    path: ~/.zshenv
-    marker: "# {mark} MROVER"
-    block: source ~/ros2_ws/src/mrover/scripts/mrover.zshenv # hardcoded for now, change in re-arch
-    create: true
+- name: Deploy mrover oh-my-zsh theme
+  ansible.builtin.copy:
+    src: files/home/.oh-my-zsh/custom/themes/mrover.zsh-theme
+    dest: ~/.oh-my-zsh/custom/themes/mrover.zsh-theme
 
 - name: Check for existing zshrc
-  stat:
+  ansible.builtin.stat:
     path: ~/.zshrc
   register: zshrc_stat
 
 - name: Deploy default oh-my-zsh zshrc for fresh installs
-  copy:
+  ansible.builtin.copy:
     src: files/home/.zshrc
     dest: ~/.zshrc
   when: not zshrc_stat.stat.exists
 
-- name: ZSH Automatic Suggestions Plugin
-  git:
-    repo: https://github.com/zsh-users/zsh-autosuggestions
-    dest: ~/.oh-my-zsh/custom/plugins/zsh-autosuggestions
-
-- name: ZSH Syntax Highlighting Plugin
-  git:
-    repo: https://github.com/zsh-users/zsh-syntax-highlighting
-    dest: ~/.oh-my-zsh/custom/plugins/zsh-syntax-highlighting
+- name: Wire mrover shell env
+  ansible.builtin.blockinfile:
+    path: ~/.zshrc
+    marker: "# {mark} MROVER"
+    block: |
+      export MROVER_REPO="{{ mrover_repo }}"
+      source "${MROVER_REPO}/scripts/mrover.zshenv"
+    create: true
 
-- name: Use ZSH as a default shell
-  become: true
-  command: chsh --shell /usr/bin/zsh {{ ansible_user_id }}
+- name: Deploy mrover tmux config
+  ansible.builtin.copy:
+    src: files/home/.mrover.tmux.conf
+    dest: ~/.mrover.tmux.conf
 
-- name: GitHub CLI APT Key
-  become: True
-  apt_key:
-    url: https://cli.github.com/packages/githubcli-archive-keyring.gpg
-    keyring: /usr/share/keyrings/githubcli-archive-keyring.gpg
+- name: Source mrover tmux config
+  ansible.builtin.blockinfile:
+    path: ~/.tmux.conf
+    marker: "# {mark} MROVER"
+    block: source-file ~/.mrover.tmux.conf
+    create: true
 
-- name: GitHub APT List
-  become: True
-  apt_repository:
-    repo: deb [signed-by=/usr/share/keyrings/githubcli-archive-keyring.gpg] https://cli.github.com/packages stable main
-    filename: github-cli
+- name: Locate zsh binary
+  ansible.builtin.command: which zsh
+  register: zsh_path
+  changed_when: false
 
-- name: Add VSCode APT Key
+- name: Set zsh as default shell
   become: true
-  apt_key:
-    url: https://packages.microsoft.com/keys/microsoft.asc
-    keyring: /usr/share/keyrings/packages.microsoft.gpg
+  ansible.builtin.user:
+    name: "{{ ansible_facts['user_id'] }}"
+    shell: "{{ zsh_path.stdout }}"
 
-- name: Add VSCode APT List
-  become: true
-  apt_repository:
-    filename: vscode
-    repo: "deb [arch=amd64,arm64,armhf signed-by=/usr/share/keyrings/packages.microsoft.gpg] https://packages.microsoft.com/repos/code stable main"
+- name: Initialize Git LFS
+  ansible.builtin.command: git lfs install
+  args:
+    chdir: "{{ mrover_repo }}"
 
-- name: Install APT Packages
-  become: true
-  apt:
-    cache_valid_time: 604800
-    state: latest
-    name:
-      - gh
-      - code
+- name: Pull Git LFS objects
+  ansible.builtin.command: git lfs pull
+  args:
+    chdir: "{{ mrover_repo }}"
+
+- name: Initialize Git submodules
+  ansible.builtin.command: git submodule update --init --recursive
+  args:
+    chdir: "{{ mrover_repo }}"
 
-- name: Install vscode debugger extension
-  command: code --install-extension ../pkg/file-selector-0.0.1.vsix
+- name: Install VSCode extension
+  ansible.builtin.command: code --install-extension {{ mrover_repo }}/pkg/file-selector-0.0.1.vsix
diff --git a/ansible/roles/jetson_build/tasks/main.yml b/ansible/roles/jetson_build/tasks/main.yml
index c2acd26ff..55de439dc 100644
--- a/ansible/roles/jetson_build/tasks/main.yml
+++ b/ansible/roles/jetson_build/tasks/main.yml
@@ -5,7 +5,7 @@
 
 - name: Download CUDA Keyring
   get_url:
-    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/arm64/cuda-keyring_1.1-1_all.deb
+    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/arm64/cuda-keyring_1.1-1_all.deb
     dest: /tmp/cuda-keyring_1.1-1_all.deb
 
 - name: Install CUDA Keyring
@@ -25,13 +25,13 @@
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/5.1/l4t36.4/jetsons
-    dest: /tmp/ZED_SDK_Tegra_L4T36.4_v5.1.2.zstd.run
+    url: https://download.stereolabs.com/zedsdk/5.4/l4t39.2/jetsons
+    dest: /tmp/ZED_SDK_Tegra_L4T39.2_v5.4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/ZED_SDK_Tegra_L4T36.4_v5.1.2.zstd.run -- silent
+  command: /tmp/ZED_SDK_Tegra_L4T39.2_v5.4.1.zstd.run -- silent
   args:
     creates: /usr/local/zed
 
@@ -61,7 +61,7 @@
   become: true
   command: ./ansible/roles/jetson_build/files/scripts/build_opencv.sh
   args:
-    chdir: "{{ ansible_env.HOME }}/ros2_ws/src/mrover/"
+    chdir: "{{ mrover_repo }}"
     creates: /usr/local/include/opencv4
 
 - name: Sync Bin
diff --git a/ansible/roles/jetson_flash/tasks/main.yml b/ansible/roles/jetson_flash/tasks/main.yml
index 2608a449a..ef8c789d8 100644
--- a/ansible/roles/jetson_flash/tasks/main.yml
+++ b/ansible/roles/jetson_flash/tasks/main.yml
@@ -106,14 +106,14 @@
   command: ./ansible/roles/jetson_flash/files/scripts/build_jetson_kernel.sh
   failed_when: False # this is not ideal
   args:
-    chdir: "{{ ansible_env.HOME }}/ros2_ws/src/mrover/"
+    chdir: "{{ mrover_repo }}"
     # no creates here because it is always desired to recompile the kernel if running this ansible
 
 - name: Build PCAN
   become: true
   command: ./ansible/roles/jetson_flash/files/scripts/build_pcan_drivers.sh {{ pcan_version_major }} {{ pcan_version_minor }} {{ pcan_version_patch }}
   args:
-    chdir: "{{ ansible_env.HOME }}/ros2_ws/src/mrover/"
+    chdir: "{{ mrover_repo }}"
     # no creates here because we always rebuild
 
 - name: Flash Jetson
diff --git a/ansible/roles/jetson_networks/tasks/main.yml b/ansible/roles/jetson_networks/tasks/main.yml
index 5ef3e5e06..a0e2ee4bc 100644
--- a/ansible/roles/jetson_networks/tasks/main.yml
+++ b/ansible/roles/jetson_networks/tasks/main.yml
@@ -1,6 +1,6 @@
 - name: Wired Connection
-  become: True
-  nmcli:
+  become: true
+  community.general.nmcli:
     conn_name: MRover
     state: present
     type: ethernet
diff --git a/ansible/roles/percep_build/tasks/main.yml b/ansible/roles/percep_build/tasks/main.yml
index 075627ec4..f6fb094c8 100644
--- a/ansible/roles/percep_build/tasks/main.yml
+++ b/ansible/roles/percep_build/tasks/main.yml
@@ -3,34 +3,45 @@
 #   apt:
 #     name: nvidia-driver-{{driver_edition}}
 #
+- name: Check NVIDIA Driver Install
+  ansible.builtin.command: nvidia-smi
+  register: nvidia_smi_output
+  ignore_errors: true
+  changed_when: false
+
+- name: Check Driver Status
+  ansible.builtin.fail:
+    msg: "NVIDIA driver is not installed or nvidia-smi is not in PATH. Install nvidia drivers before running this playbook"
+  when: nvidia_smi_output.rc != 0
+
 - name: Download CUDA Keyring
   get_url:
-    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb
+    url: https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2404/x86_64/cuda-keyring_1.1-1_all.deb
     dest: /tmp/cuda-keyring_1.1-1_all.deb
 
 - name: Install CUDA Keyring
   become: true
-  apt:
+  ansible.builtin.apt:
     deb: /tmp/cuda-keyring_1.1-1_all.deb
 
 - name: Install APT Packages
-  become: True
-  apt:
+  become: true
+  ansible.builtin.apt:
     update_cache: true
     state: latest
     name:
-      - cuda-12-3
+      - cuda-toolkit-13-2
       - g++-9
       - zstd # Required to unpack ZED installer
 
 - name: ZED SDK Download
   get_url:
-    url: https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu22
-    dest: /tmp/ZED_SDK_Ubuntu22_cuda12.1_v4.1.4.zstd.run
+    url: https://download.stereolabs.com/zedsdk/5.4/cu13/ubuntu24
+    dest: ~/Downloads/ZED_SDK_Ubuntu24_cuda13.0_tensorrt10.13_v5.4.1.zstd.run
     mode: 0755
 
 - name: ZED SDK Install
   # Silent mode prevents any user input prompting
-  command: /tmp/ZED_SDK_Ubuntu22_cuda12.1_v4.1.4.zstd.run -- silent
+  command: ~/Downloads/ZED_SDK_Ubuntu24_cuda13.0_tensorrt10.13_v5.4.1.zstd.run
   args:
     creates: /usr/local/zed
diff --git a/ansible/roles/science_networks/tasks/main.yml b/ansible/roles/science_networks/tasks/main.yml
index 6042dbfa7..33c61fbc5 100644
--- a/ansible/roles/science_networks/tasks/main.yml
+++ b/ansible/roles/science_networks/tasks/main.yml
@@ -1,6 +1,6 @@
 - name: Wired Connection
-  become: True
-  nmcli:
+  become: true
+  community.general.nmcli:
     conn_name: MRover
     state: present
     type: ethernet
diff --git a/ansible/science.yml b/ansible/science.yml
index b03381daa..67d693e1e 100644
--- a/ansible/science.yml
+++ b/ansible/science.yml
@@ -1,7 +1,7 @@
 ---
 - hosts: all
-  vars:
-    ubuntu_release: focal
+  vars_files:
+    - vars/native.yml
   roles:
     # - dev
     - science_networks
diff --git a/ansible/vars/native.yml b/ansible/vars/native.yml
new file mode 100644
index 000000000..fce641ae3
--- /dev/null
+++ b/ansible/vars/native.yml
@@ -0,0 +1,2 @@
+ros_distro: jazzy
+ubuntu_release: noble
diff --git a/bootstrap.sh b/bootstrap.sh
index e44322998..b95f39355 100755
--- a/bootstrap.sh
+++ b/bootstrap.sh
@@ -1,67 +1,39 @@
 #!/usr/bin/env bash
-
-# Run on a fresh Ubuntu 22 install.
-# Installs Ansible and Git, then clones the mrover repo
-# Ansible will be used to finish configuring the system
+# First-time native Ubuntu 24 setup. 
+# Ensures git is installed, clones the repo, then runs setup.sh.
+# If you already have the repo, just run setup.sh directly.
 
 # See: https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/
 set -Eeuo pipefail
 
 readonly RED_BOLD='\033[1;31m'
-readonly BLUE_BOLD='\033[1;34m'
 readonly GREY_BOLD='\033[1;30m'
-readonly YELLOW_BOLD='\033[1;33m'
 readonly NC='\033[0m'
 
+if ! grep -q '^VERSION_CODENAME=noble' /etc/os-release 2>/dev/null; then
+  echo -e "${RED_BOLD}This script requires Ubuntu 24.04.${NC}"
+  exit 1
+fi
+
 echo -e "${GREY_BOLD}Ensuring SSH keys are set up ...${NC}"
 if [ ! -f ~/.ssh/id_ed25519 ] && [ ! -f ~/.ssh/id_rsa ]; then
   echo -e "${RED_BOLD}Please see: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent${NC}"
   exit 1
 fi
 
-PPAS=(
-  ansible/ansible
-  git-core/ppa
-)
-NEED_APT_UPDATE=false
-for PPA in "${PPAS[@]}"; do
-  if ! grep -q "^deb .*${PPA}" /etc/apt/sources.list /etc/apt/sources.list.d/*;
-  then
-    echo -e "${GREY_BOLD}Adding PPA: ${PPA}${NC}"
-    sudo apt-add-repository ppa:"${PPA}" -y
-    NEED_APT_UPDATE=true
-  fi
-done
-
-if [ "${NEED_APT_UPDATE}" = true ]; then
-    sudo apt update
-fi
-sudo apt install -y ansible git git-lfs
-
-readonly DEFAULT_CATKIN_PATH=~/ros2_ws
-
-echo -e "${BLUE_BOLD}[ADVANCED] Enter path to ROS workspace... [leave blank for ${DEFAULT_CATKIN_PATH}]:${NC}"
-read -r CATKIN_PATH
-if [ -z "${CATKIN_PATH}" ]; then
-  CATKIN_PATH=${DEFAULT_CATKIN_PATH}
+# git via PPA
+if ! grep -rq "^deb .*git-core/ppa" /etc/apt/sources.list /etc/apt/sources.list.d/ 2>/dev/null; then
+  echo -e "${GREY_BOLD}Adding PPA: git-core/ppa${NC}"
+  sudo apt-add-repository ppa:git-core/ppa -y
+  sudo apt update
 fi
-echo -e "${GREY_BOLD}Using ${CATKIN_PATH} as ROS workspace${NC}"
+sudo apt install -y git git-lfs
 
-readonly MROVER_PATH=${CATKIN_PATH}/src/mrover
-FIRST_TIME_SETUP=false
+readonly MROVER_PATH=~/mrover-ros2
 
-if [ ! -d "${MROVER_PATH}" ]; then
-  echo -e "${GREY_BOLD}Creating ROS workspace ...${NC}"
-  mkdir -p "${CATKIN_PATH}"/src
-  git clone git@github.com:umrover/mrover-ros2 "${CATKIN_PATH}"/src/mrover
-  cd "${CATKIN_PATH}"/src/mrover
-  FIRST_TIME_SETUP=true
+if [ ! -d "${MROVER_PATH}/.git" ]; then
+  echo -e "${GREY_BOLD}Cloning mrover-ros2 ...${NC}"
+  git clone git@github.com:umrover/mrover-ros2 "${MROVER_PATH}"
 fi
 
-echo -e "${GREY_BOLD}Using Ansible to finish up ...${NC}"
-"${MROVER_PATH}"/ansible.sh dev.yml
-
-if [ "${FIRST_TIME_SETUP}" ]; then
-  echo -e "${GREY_BOLD}All done! Welcome to MRover!${NC}"
-  echo -e "${YELLOW_BOLD}Please log out and back in!${NC}"
-fi
+exec "${MROVER_PATH}/setup.sh"
diff --git a/build.sh b/build.sh
index 00500639a..76aa6d075 100755
--- a/build.sh
+++ b/build.sh
@@ -16,9 +16,6 @@ fi
 
 echo "Using build profile: $build_profile"
 
-# Build in the colcon workspace, not the package
-pushd ../..
-
 # Set C/C++ compilers
 export CC=clang
 export CXX=clang++
@@ -37,4 +34,4 @@ COLCON_EXTENSION_BLOCKLIST=colcon_core.event_handler.desktop_notification colcon
 
 rm -rf "$(pwd)/build/$build_profile/mrover/.cmake/api"
 
-ln -sf "$(pwd)/build/$build_profile/compile_commands.json" "$(pwd)/src/mrover/compile_commands.json"
+ln -sf "$(pwd)/build/$build_profile/mrover/compile_commands.json" "$(pwd)/compile_commands.json"
diff --git a/clean.sh b/clean.sh
index 2b3e7d5db..d10f34f85 100755
--- a/clean.sh
+++ b/clean.sh
@@ -7,6 +7,4 @@ if [[ "${1:-}" == "--esw" ]]; then
     rm -rf deps/.fetchcontent/esw
 fi
 
-pushd ../..
-
-rm -rf build install log
+rm -rf build install log compile_commands.json
diff --git a/perception/panorama.py b/perception/panorama.py
index 934041f64..065f643bd 100755
--- a/perception/panorama.py
+++ b/perception/panorama.py
@@ -2,7 +2,6 @@
 
 import rclpy
 from rclpy.node import Node
-from ament_index_python import get_package_share_directory
 
 from sensor_msgs.msg import PointCloud2, Image
 from std_msgs.msg import Header
@@ -285,8 +284,8 @@ def end_callback(self, _, response):
 
         # Save the images
         unique_id = "{date:%Y-%m-%d_%H:%M:%S}".format(date=datetime.datetime.now())
-        share_dir = get_package_share_directory("mrover")
-        new_path = f"{share_dir}/../../../../../src/mrover/data/raw-pano-images/{unique_id}/"
+        mrover_repo = os.environ.get("MROVER_REPO", os.path.expanduser("~/mrover-ros2"))
+        new_path = f"{mrover_repo}/data/raw-pano-images/{unique_id}/"
         os.mkdir(new_path)
         for i, img in enumerate(self.img_list):
             name = f"{new_path}/{str(i).zfill(2)}.png" # TODO: pathlib
diff --git a/scripts/fix_sudo_become.sh b/scripts/fix_sudo_become.sh
new file mode 100755
index 000000000..7795a9f62
--- /dev/null
+++ b/scripts/fix_sudo_become.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/env bash
+# Run this manually if ./ansible.sh prompts for the become password more
+# than once during a single run: https://github.com/ansible/ansible/issues/85536
+
+set -Eeuo pipefail
+
+readonly SUDOERS_FILE="/etc/sudoers.d/mrover-timestamp-type"
+
+echo "Defaults timestamp_type=global" | sudo tee "${SUDOERS_FILE}" >/dev/null
+sudo chmod 0440 "${SUDOERS_FILE}"
+sudo visudo -c
diff --git a/scripts/mrover.zshenv b/scripts/mrover.zshenv
index 9a43b57fa..69ea7625d 100644
--- a/scripts/mrover.zshenv
+++ b/scripts/mrover.zshenv
@@ -1,17 +1,18 @@
 # MRover ROS
-readonly MROVER_ROS2_WS_PATH="$HOME/ros2_ws"
+export MROVER_REPO="${MROVER_REPO:-$HOME/mrover-ros2}"
+readonly MROVER_REPO
 
-source /opt/ros/humble/setup.zsh
+source /opt/ros/jazzy/setup.zsh
 
 export ROS_DOMAIN_ID=5
 export COLCON_TRACE=0
 
-remove_ros2_ws_from_path(){
-    export ${1}="$(echo ${(P)1} | tr ':' '\n' | grep -v "ros2_ws" | paste -s -d ':')"
+remove_mrover_from_path(){
+    export ${1}="$(echo ${(P)1} | tr ':' '\n' | grep -vF "${MROVER_REPO}" | paste -s -d ':')"
 }
 
 source_mrover_overlay(){
-    source ~/ros2_ws/src/mrover/venv/bin/activate
+    source "${MROVER_REPO}/venv/bin/activate"
 
     build_profiles=("RelWithDebInfo" "Release" "Debug")
     unset MROVER_BUILD_PROFILE
@@ -19,7 +20,7 @@ source_mrover_overlay(){
     target_file=""
 
     for profile in "${build_profiles[@]}"; do
-        file="${MROVER_ROS2_WS_PATH}/install/${profile}/setup.zsh"
+        file="${MROVER_REPO}/install/${profile}/setup.zsh"
 
         if [ -f "${file}" ]; then
             if [[ -z "${target_file}" ]]; then
@@ -33,15 +34,17 @@ source_mrover_overlay(){
     done
 
     # clean up current ROS environment
-    remove_ros2_ws_from_path LD_LIBRARY_PATH
-    remove_ros2_ws_from_path AMENT_PREFIX_PATH
-    remove_ros2_ws_from_path PYTHONPATH
-    remove_ros2_ws_from_path COLCON_PREFIX_PATH
-    remove_ros2_ws_from_path CMAKE_PREFIX_PATH
+    remove_mrover_from_path LD_LIBRARY_PATH
+    remove_mrover_from_path AMENT_PREFIX_PATH
+    remove_mrover_from_path PYTHONPATH
+    remove_mrover_from_path COLCON_PREFIX_PATH
+    remove_mrover_from_path CMAKE_PREFIX_PATH
 
     if [ -f "${target_file}" ]; then
         source "${target_file}" >> /dev/null
     fi
+
+    command -v register-python-argcomplete3 &>/dev/null && command -v colcon &>/dev/null && eval "$(register-python-argcomplete3 colcon)"
 }
 
 # cuda
@@ -53,14 +56,15 @@ export BUN_INSTALL="$HOME/.bun"
 export PATH="$BUN_INSTALL/bin:$PATH"
 [ -s "$BUN_INSTALL/_bun" ] && source "$BUN_INSTALL/_bun"
 
-alias mrover="cd ~/ros2_ws/src/mrover && source_mrover_overlay"
-function build_mrover() {
-    ./build.sh ${1} && mrover
+alias mrover="cd ${MROVER_REPO} && source_mrover_overlay"
+
+build_mrover(){
+    cd "${MROVER_REPO}" && ./build.sh "${1}" && mrover
 }
-alias clean_mrover="./clean.sh && mrover"
 
-# ros2 completions
+alias clean_mrover="cd ${MROVER_REPO} && ./clean.sh && mrover"
+
 if command -v register-python-argcomplete3 &>/dev/null; then
     eval "$(register-python-argcomplete3 ros2)"
-    eval "$(register-python-argcomplete3 colcon)"
+    command -v colcon &>/dev/null && eval "$(register-python-argcomplete3 colcon)"
 fi
diff --git a/scripts/pano-copy.sh b/scripts/pano-copy.sh
index 6e6e6ba09..2ee07861a 100755
--- a/scripts/pano-copy.sh
+++ b/scripts/pano-copy.sh
@@ -7,7 +7,7 @@ FOLDER=~/Desktop/science_$(date +%Y-%m-%d_%H-%M-%S)
 mkdir $FOLDER
 
 # shellcheck disable=SC2086
-scp -r jetson:/home/mrover/ros2_ws/src/mrover/data/raw-pano-images $FOLDER
+scp -r jetson:/home/mrover/mrover-ros2/data/raw-pano-images $FOLDER
 
 now_secs=$(date +%s)
 today=$(date +%Y-%m-%d)
diff --git a/scripts/setup_dawn.sh b/scripts/setup_dawn.sh
index 447fbe72b..371cca353 100755
--- a/scripts/setup_dawn.sh
+++ b/scripts/setup_dawn.sh
@@ -40,6 +40,7 @@ if [ -d "${tmpdir}/dawn/lib64" ] && [ ! -e "${tmpdir}/dawn/lib" ]; then
 fi
 
 rm -rf "${DEST}"
+mkdir -p "$(dirname "${DEST}")"
 mv "${tmpdir}/dawn" "${DEST}"
 
 echo "${DAWN_SHA}" > "${VERSION_FILE}"
diff --git a/scripts/setup_imgui.sh b/scripts/setup_imgui.sh
new file mode 100755
index 000000000..c529cc0ee
--- /dev/null
+++ b/scripts/setup_imgui.sh
@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+# Clones the imgui source to deps/imgui-src/ so build.sh never needs network access.
+
+set -Eeuo pipefail
+
+readonly IMGUI_TAG="v1.92.8"
+
+readonly REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+readonly DEST="${REPO_ROOT}/deps/imgui-src"
+readonly VERSION_FILE="${DEST}/.version"
+
+if [ -f "${VERSION_FILE}" ] && [ "$(cat "${VERSION_FILE}")" = "${IMGUI_TAG}" ]; then
+    exit 0
+fi
+
+tmpdir=$(mktemp -d)
+trap 'rm -rf "${tmpdir}"' EXIT
+
+echo "Cloning imgui ${IMGUI_TAG}..."
+git clone --quiet --depth 1 --branch "${IMGUI_TAG}" https://github.com/ocornut/imgui.git "${tmpdir}/imgui"
+
+rm -rf "${DEST}"
+mkdir -p "$(dirname "${DEST}")"
+mv "${tmpdir}/imgui" "${DEST}"
+
+echo "${IMGUI_TAG}" > "${VERSION_FILE}"
+echo "imgui ${IMGUI_TAG} installed."
diff --git a/scripts/setup_manif.sh b/scripts/setup_manif.sh
new file mode 100755
index 000000000..0f529990a
--- /dev/null
+++ b/scripts/setup_manif.sh
@@ -0,0 +1,27 @@
+#!/usr/bin/env bash
+# Clones the manif source to deps/manif-src/ so build.sh never needs network access.
+
+set -Eeuo pipefail
+
+readonly MANIF_TAG="0.0.5"
+
+readonly REPO_ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+readonly DEST="${REPO_ROOT}/deps/manif-src"
+readonly VERSION_FILE="${DEST}/.version"
+
+if [ -f "${VERSION_FILE}" ] && [ "$(cat "${VERSION_FILE}")" = "${MANIF_TAG}" ]; then
+    exit 0
+fi
+
+tmpdir=$(mktemp -d)
+trap 'rm -rf "${tmpdir}"' EXIT
+
+echo "Cloning manif ${MANIF_TAG}..."
+git clone --quiet --depth 1 --branch "${MANIF_TAG}" https://github.com/artivis/manif.git "${tmpdir}/manif"
+
+rm -rf "${DEST}"
+mkdir -p "$(dirname "${DEST}")"
+mv "${tmpdir}/manif" "${DEST}"
+
+echo "${MANIF_TAG}" > "${VERSION_FILE}"
+echo "manif ${MANIF_TAG} installed."
diff --git a/setup.sh b/setup.sh
new file mode 100755
index 000000000..274f82913
--- /dev/null
+++ b/setup.sh
@@ -0,0 +1,43 @@
+#!/usr/bin/env bash
+# Native Ubuntu 24 setup. Run after cloning. 
+
+set -Eeuo pipefail
+
+readonly CYAN='\033[1;36m'
+readonly GREEN='\033[1;32m'
+readonly RED='\033[1;31m'
+readonly NC='\033[0m'
+
+if ! grep -q '^VERSION_CODENAME=noble' /etc/os-release 2>/dev/null; then
+  echo -e "${RED}This script requires Ubuntu 24.${NC}" >&2
+  exit 1
+fi
+
+if ! command -v ansible-playbook >/dev/null 2>&1; then
+  echo -e "${CYAN}Installing Ansible ...${NC}"
+  if ! grep -rq "^deb .*ansible/ansible" /etc/apt/sources.list /etc/apt/sources.list.d/ 2>/dev/null; then
+    sudo apt-add-repository ppa:ansible/ansible -y
+    sudo apt update
+  fi
+  sudo apt install -y ansible
+fi
+
+if ! command -v git-lfs >/dev/null 2>&1; then
+  echo -e "${CYAN}Installing git-lfs ...${NC}"
+  sudo apt install -y git-lfs
+fi
+
+readonly MROVER_PATH=$(dirname "$(realpath "$0")")
+cd "${MROVER_PATH}"
+
+echo -e "${CYAN}Installing Ansible collections ...${NC}"
+ansible-galaxy collection install -r ansible/requirements.yml
+
+echo -e "${CYAN}Running Ansible ...${NC}"
+"${MROVER_PATH}/ansible.sh" dev.yml
+
+echo ""
+echo -e "${GREEN}================================================================${NC}"
+echo -e "${GREEN}  Done! Log out and back in to apply shell changes.${NC}"
+echo -e "${GREEN}================================================================${NC}"
+echo ""
diff --git a/teleoperation/camera_client/src/GstVideoWidgets.cpp b/teleoperation/camera_client/src/GstVideoWidgets.cpp
index 09a49e828..205d870e4 100644
--- a/teleoperation/camera_client/src/GstVideoWidgets.cpp
+++ b/teleoperation/camera_client/src/GstVideoWidgets.cpp
@@ -70,7 +70,7 @@ auto GstVideoWidget::applyPipeline() -> void {
         flipElement = " ! videoflip method=counterclockwise";
     }
 
-    mPlayer->setMedia(QUrl(std::format("gst-pipeline: {} ! videoconvert ! xvimagesink name=\"qtvideosink\" sync=false", mBasePipeline, flipElement).c_str()));
+    mPlayer->setSource(QUrl(std::format("gst-pipeline: {} ! videoconvert ! xvimagesink name=\"qtvideosink\" sync=false", mBasePipeline, flipElement).c_str()));
     play();
 }